Monitoring system for processing equipment

Abstract

To provide a monitoring system for treatment facility capable of easily monitoring a treatment station.SOLUTION: A system comprises: an unmanned aircraft; a flight control unit for causing the unmanned aircraft to fly along a flight route and to patrol monitoring points on the flight route; a detection device for detecting operating states of the monitoring points; and an abnormality diagnosis device for diagnosing presence or absence of abnormalities at the monitoring points. During a second or subsequent patrol of the unmanned aircraft, when a diagnosis result of the abnormality diagnosis device at the monitoring point that is obtained during at least a preceding patrol is either a possible abnormality or an abnormality, the flight control unit does not cause the unmanned aircraft to fly to the monitoring point which has been determined as either the possible abnormality or the abnormality, determines another monitoring point as a next flight destination, and causes the unmanned aircraft to fly to the determined next flight destination.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a monitoring system for processing equipment.

Background Art

[0002] Many rotating devices such as agitators, pumps, and dehydrators are used in water treatment facilities. In water supply facilities, sewage treatment facilities, and drainage treatment facilities in factories, etc., it is important to accurately grasp the state of rotating devices. Patent Document 1 discloses a condition monitoring method for monitoring the condition of a rolling bearing based on a physical quantity measured by a sensor installed in a test device, comprising: performing at least one fast Fourier transform on data of a measured waveform measured by the sensor to generate a transformed waveform; calculating a first feature quantity from partial waveforms of the transformed waveform in at least three feature quantity calculation ranges centered on at least three peaks of the transformed waveform; and detecting an abnormality of the rolling bearing using the first feature quantity.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In Patent Document 1, the state of a rotating device is grasped by a sensor installed in a test device. However, sensors must be provided for all rotating devices, and abnormal rotating devices must be searched for, making monitoring very difficult. The present invention has been made in view of the above problems, and an object thereof is to provide a monitoring system for processing equipment that can easily monitor a processing site.

Means for Solving the Problems

[0005] The monitoring system for the processing equipment is In a monitoring system for processing equipment that uses an unmanned aerial vehicle to monitor monitoring points set in each of multiple processing plants, the unmanned aerial vehicle is On a flight path connecting monitoring points set up at each of the multiple processing plants The A flight control unit for flying an unmanned aerial vehicle, wherein the monitoring points located along the flight route The A flight control unit that patrols the unmanned aircraft, and the monitoring points located along the flight route. In the case of abnormal candidate equipment A detection device for detecting the operating status, and the monitoring point The abnormal candidate device The system includes an abnormality diagnosis device for diagnosing the presence or absence of an abnormality, and the abnormality diagnosis device, based on the detection result of the detection device, the monitoring point The abnormal candidate device The flight control unit diagnoses the possibility of an abnormality or whether an abnormality exists, and causes the unmanned aircraft to circle the flight route at least twice. At the aforementioned monitoring point, a decision is made as to whether or not to direct the unmanned aircraft toward the abnormal candidate equipment in order to have the detection device detect the operational status of the abnormal candidate equipment. In subsequent patrols, if the diagnostic result of the abnormality detection device at the monitoring point obtained during the previous patrol indicates a possible abnormality or an abnormality, the monitoring point that was determined to have a possible abnormality or an abnormality In this case, without directing the unmanned aircraft toward the abnormal candidate equipment, The monitoring point Next The monitoring point is determined as the next flight destination, and the unmanned aircraft is directed to fly to the determined next flight destination.

[0006] The flight control unit, in the second and subsequent patrols, will control the unmanned aircraft to the next destination on the flight route. If the monitoring point is not directed towards the abnormal candidate device If a determination is made, the detection results of the detection device at the monitoring point obtained during the previous patrol will determine the next flight destination, which is the monitoring point on the flight route. Next The monitoring point is determined as the flight destination of the unmanned aerial vehicle, and the unmanned aerial vehicle is made to fly to the determined flight destination. The flight control unit, during the second and subsequent patrols, determines that if the diagnostic results of the anomaly diagnosis device at the monitoring point obtained during the previous patrol meet the pre-set conditions, it will fly the unmanned aircraft to the next monitoring point, which is the next flight destination on the flight route. The unmanned aerial vehicle is equipped with a storage device that stores the detection time of the detection device for the monitoring points set in the plurality of processing plants acquired during patrol, along with the detection result, as monitoring information. The flight control unit determines whether or not to fly the unmanned aerial vehicle to the monitoring point which is the next flight destination, based on the monitoring information stored in the storage device.

[0007] If, during the second or subsequent patrol, the flight control unit determines that the monitoring point where the abnormality diagnosis device detected a potential abnormality or abnormality during the previous patrol is the next flight destination, and the detection time of the detection device during the previous patrol is within a predetermined time period from the present, then the monitoring point where the abnormality was determined to be possible or abnormal may be detected. The aforementioned abnormal candidate equipment The unmanned aircraft Do not send them to the monitoring point Next The monitoring point is determined as the next flight destination, and the unmanned aircraft is directed to fly to the determined next flight destination.

[0008] In subsequent patrols, if the next flight destination is the monitoring point where the abnormality diagnostic device determined there was a potential abnormality or an abnormality during a previous patrol, and the detection time of the detection device during the previous patrol where the abnormality was determined to be possible or abnormal exceeds a predetermined time from the present, the flight control unit will control the unmanned aircraft to the monitoring point which is the next flight destination where the abnormality was determined to be possible or abnormal. Direct it towards the aforementioned abnormal candidate device. . The aforementioned monitoring point is a rotary-driven device installed in the processing plant. [Effects of the Invention]

[0009] According to the present invention, the processing plant can be easily monitored. [Brief explanation of the drawing]

[0010] [Figure 1] This is a diagram showing the monitoring system for the processing equipment. [Figure 2] This figure shows an example of a water treatment facility. [Figure 3] This is a diagram showing an example of the layout of a water treatment facility and the facility diagram of the water treatment facility as viewed from above. [Figure 4] This is an enlarged view of the unmanned aerial vehicle. [Figure 5A] This is a diagram showing the first detection device directed at the rotating equipment at the monitoring point Pn. [Figure 5B] This is a diagram showing the state where the second detection device is close to the abnormal candidate equipment. [Figure 6] This is a diagram showing an example of the spectrum of the vibration of the abnormal candidate equipment. [Figure 7A] This is a diagram showing the adsorption part (electromagnet) attached so that the adsorption surface faces outward (sideways). [Figure 7B] This is a diagram showing the adsorption part (electromagnet) attached so that the adsorption surface faces outward (upward). [Figure 7C] This is a diagram showing the adsorption part (electromagnet) attached to a stay protruding downward. [Figure 8] This is the operation flow of the unmanned aerial vehicle.

Embodiments for Carrying Out the Invention

[0011] Figure 1 is a diagram showing the monitoring system 1 of the treatment facility. The monitoring system 1 of the treatment facility shown in Figure 1 is a system for monitoring treatment facilities such as the water treatment facility 2. <着 First, taking the water treatment facility 2 as an example, the treatment facility will be described. As shown in Figures 2 and 3, the water treatment facility 2 is a facility for treating water, such as an upstream water treatment facility or a downstream water treatment facility. For example, when the water treatment facility 2 is a downstream water treatment facility, as shown in Figure 2, the water treatment facility 2 includes a plurality of treatment sites, for example, a water intake treatment site 11, a first sedimentation treatment site 12, a reaction treatment site 13, a second sedimentation treatment site 14, and a discharge treatment site 15.

[0012] The water intake treatment plant 11 is a treatment plant that takes in and treats sewage, and includes, for example, a first intake tank 11a and a second intake tank 11b. The first intake tank 11a and the second intake tank 11b are equipped with multiple rotating devices 21, such as pumps, that carry the sewage (treated water) from the water intake treatment plant 11 to the first sedimentation treatment plant 12. Note that the first intake tank 11a and the second intake tank 11b are just examples, and the number, location, size, etc., of the intake tanks are not limited.

[0013] The first sedimentation treatment plant 12 is a treatment plant for settling sludge and other materials contained in sewage (treated water), and includes a first sedimentation tank 12a, a second sedimentation tank 12b, and a third sedimentation tank 12c. The first sedimentation tank 12a, the second sedimentation tank 12b, and the third sedimentation tank 12c are equipped with multiple rotating devices 22, such as motors for driving scraping machines. Note that the first sedimentation tank 12a, the second sedimentation tank 12b, and the third sedimentation tank 12c are examples, and the number, location, size, etc., of the sedimentation tanks are not limited.

[0014] The reaction treatment plant 13 is a treatment plant that decomposes sewage (treated water) using microorganisms, and includes a first reaction tank 13a, a second reaction tank 13b, and a third reaction tank 13c. The first reaction tank 13a, the second reaction tank 13b, and the third reaction tank 13c are equipped with multiple rotating devices 23, such as motors that drive agitators for stirring the sewage (treated water). The first reaction tank 13a, the second reaction tank 13b, and the third reaction tank 13c are also equipped with multiple rotating devices 24, such as motors for blowers. The first reaction tank 13a, the second reaction tank 13b, and the third reaction tank 13c are examples, and the number of reaction tanks is not limited.

[0015] The second sedimentation treatment plant 14 is a treatment plant for settling the sludge (activated sludge) formed by the reaction treatment plant 13, and includes a first sedimentation tank 14a and a second sedimentation tank 14b. The first sedimentation tank 14a and the second sedimentation tank 14b are equipped with multiple rotating devices 25, such as motors for driving scraping machines. Note that the first sedimentation tank 14a and the second sedimentation tank 14b are examples. Sedimentation tanks 14a, 14b The number, position, and size of these elements are not limited.

[0016] The discharge treatment plant 15 is a treatment plant that performs final treatment on sewage (treated water), and includes a first discharge tank 15a and a second discharge tank 15b. The first discharge tank 15a and the second discharge tank 15b are equipped with multiple rotating devices 26, such as pumps, for discharging the sewage (treated water) from the discharge treatment plant 15 into the river. Note that the first discharge tank 15a and the second discharge tank 15b are examples, and the number, location, size, etc., of the discharge tanks are not limited.

[0017] The treatment facility monitoring system 1 is a system for monitoring equipment such as the water treatment facility 2. For example, the treatment facility monitoring system 1 is a system for monitoring equipment such as rotating machines 21-26 installed in the water treatment facility 2. For the sake of explanation, the monitoring of rotating machines 21-26 will be described, but the equipment is not limited to rotating machines 21-26; any equipment installed in the facility is acceptable.

[0018] As shown in Figure 4, the monitoring system 1 for the processing equipment includes a first detection device 31 and a second detection device 32. The first detection device 31 is a device that detects the first operating state of the rotating equipment 21-26 at a position away from the rotating equipment 21-26. The first detection device 31 is, for example, an imaging device such as a CCD camera or infrared camera, or a sound detection sensor, and detects the first operating state as an image of the rotating equipment 21-26 (equipment image), an image of the surroundings of the rotating equipment 21-26 including the processing area (surrounding image), or the sound of the rotating equipment 21-26 (drive sound).

[0019] The second detection device 32 is a device that detects the second operating state of the rotating equipment 21-26 by approaching it from a distance when it is determined that there is a possibility of an abnormality in the rotating equipment 21-26 based on the first operating state. The second detection device 32 is a device that detects vibrations when the rotating equipment 21-26 is rotating. The second detection device 32 is, for example, an acceleration detection sensor that detects the acceleration of the measurement part, a velocity detection sensor that detects the speed of the measurement part, a displacement detection sensor that detects the amount of displacement of the measurement part, etc. In other words, the second detection device 32 is a device that detects vibrations of the measurement part based on the acceleration of the measurement part, the speed of the measurement part, the amount of displacement of the measurement part, etc.

[0020] As shown in Figures 1 and 4, the first detection device 31 and the second detection device 32 are installed on the aircraft (unmanned aircraft) 70. Next, the aircraft (unmanned aircraft) 70 will be described. The unmanned aerial vehicle 70 is, for example, a multicopter. The unmanned aerial vehicle (multicopter) 70 has a main body 70a, arms 70b provided on the main body 70a, a plurality of rotors 70c provided on the arms 70b, and skids 70d provided on the main body 70a. The plurality of rotors 70c are devices that generate lift for flight. The unmanned aerial vehicle 70 is provided with at least two, preferably four or more rotors 70c. Each of the plurality of rotors 70c includes a rotor that provides rotational force and a blade (propeller) that rotates by the drive of a roller.

[0021] As shown in Figure 1, the unmanned aerial vehicle 70 includes a power storage device 71, a position detection device 73, a memory device 74, a communication device 75, and a control device (flight control unit) 76. The power storage device 71 is a device that stores electricity, such as a battery or capacitor. The power storage device 71 is, for example, inside the main body 70a or attached to the main body 70a. Furthermore, the position detection device 73 is a device that detects its own position (positioning information including latitude and longitude) using a satellite positioning system. be.The position detected by the position detection device 73 is sometimes called the "flight position." The position detection device 73 can also detect altitude information. 3 This could be a line tracer or a distance-detecting device.

[0022] The communication device 75 is a communication device (communication module) that performs either direct or indirect communication with external devices, and can perform wireless communication using, for example, the IEEE 802.11 series communication standards such as Wi-Fi (Wireless Fidelity, registered trademark), BLE (Bluetooth® Low Energy), LPWA (Low Power, Wide Area), and LPWAN (Low-Power Wide-Area Network). Alternatively, the communication device 75 may be a communication device (communication module) that performs wireless communication using a mobile phone network or a data communication network.

[0023] The control device (flight control unit) 76 is a device that controls multiple rotor blades 70c and is composed of a CPU and the like. When the unmanned aerial vehicle 70 has at least two rotor blades 70c, the control device (flight control unit) 76 outputs a control signal to the rotor, thereby making the rotation speed of one blade less than that of the other blade, causing the unmanned aerial vehicle to move toward one blade, or making the rotation speed of the other blade less than that of the first blade, causing the unmanned aerial vehicle to move toward the other blade. In other words, the control device (flight control unit) 76 controls the direction of travel of the unmanned aerial vehicle 70 by making the rotation speed of the blade on the direction of travel less than that of the blade on the opposite side of the direction of travel. In addition, the control device (flight control unit) 76 makes the unmanned aerial vehicle 70 hover by keeping the rotation speed of the multiple blades constant.

[0024] Furthermore, the unmanned aerial vehicle 70 may be an aircraft controlled by a remote control device or an aircraft that flies autonomously; it is not limited to such aircraft. As shown in Figure 4, the first detection device 31 is detachably attached to the lower part of the main body 70a of the unmanned aerial vehicle 70, or is provided on the main body 70a via a bracket 78. The first detection device 31 may also be built into the main body 70a. The first detection device 31 is swingable in the vertical direction Y1 or the horizontal direction X1 via the bracket 78, allowing the direction of imaging, the direction of sound collection, i.e., the direction of monitoring to be changed. The horizontal and vertical swinging of the first detection device 31 can be controlled by the control device (flight control unit) 76. For example, when the unmanned aerial vehicle 70 is controlled by a remote control device, the control device (flight control unit) 76 receives control signals transmitted from the remote control device via the communication device 75, and swings the first detection device 31 in the horizontal or vertical direction according to the acquired control signals.

[0025] The tip of the arm 70b of the unmanned aerial vehicle 70 is provided with a suction part that can be attached to rotating equipment 21-26. The suction part is an electromagnet 81, and a second detection device 32 is provided near the tip of the arm 70b and the electromagnet 81. When current is passed through a coil (not shown) of the electromagnet 81, a magnetic force is generated and at least the suction surface 81a becomes a magnet. When the supply of current to the coil is stopped, the magnetic force disappears and the suction surface 81a no longer functions as a magnet. The supply of current to the coil of the electromagnet 81 is performed by a control device (flight control unit) 76.

[0026] The monitoring system 1 for the treatment facility monitors the water treatment facility 2, etc., using a first detection device 31 and a second detection device 32. Monitoring can be performed by flying an unmanned aerial vehicle 70 equipped with the first detection device 31 and the second detection device 32 over the water treatment facility 2, for example, according to the flight route FR1 shown in Figure 3. The following explains how to set up the flight route FR1.

[0027] The monitoring system 1 for the processing equipment includes a computer 40 having a display device 41. The computer 40 is a fixed computer such as a cloud server or on-premise server, or a portable computer such as a smartphone, tablet, or laptop computer. The computer 40 has a flight creation unit 40A that creates the flight route FR1. The flight creation unit 40A consists of electrical and electronic circuits provided in the computer 40, a program stored in the computer 40, etc. The display device 41 consists of an LCD panel, an organic EL panel, etc. The computer 40 has a flight creation unit 40A that creates the flight route FR1.

[0028] When a predetermined operation is performed, the flight creation unit 40A displays the information on the display device 41 Set Fixed drawing face Display the setting drawing. on This is a diagram of the facilities D1 (treatment plant (water intake treatment plant 11, first sedimentation treatment plant 12, reaction treatment plant 13, second sedimentation treatment plant 14, discharge treatment plant 15) which is modeled after water treatment facility 2. ) A diagram (resembling the original) is displayed. Also, the setting drawing face Each field is associated with location information (latitude, longitude, altitude, X, Y, Z coordinate system, etc.). For example, when a location is selected on the screen by the pointer 42, the flight creation unit 40A sets the selected location as the flight location. When multiple flight locations are set, the flight creation unit 40A creates a line connecting the multiple flight locations as the flight route FR1. In this way, the flight creation unit 40A can create the flight route FR1 on the water treatment facility 2 (facility diagram D1).

[0029] Furthermore, the flight creation unit 40A sets any flight position among multiple flight positions as a monitoring point (monitoring point) Pn (n=1,2,3...). The monitoring point Pn indicates the position where the first detection device 31 detects the first operating state of the rotating equipment 21-26 (equipment image, surrounding image, drive sound, etc. of the rotating equipment 21-26), and the first stage of monitoring of the rotating equipment 21-26 is performed at the monitoring point Pn.

[0030] The flight creation unit 40A sets monitoring points Pn corresponding to each of the multiple treatment plants where the rotating equipment 21-26 is installed, i.e., the treatment tanks (11a, 11b, 12a, 12b, 12c, 13a, 13b, 13c, 14a, 14b, 15a, 15b). For example, in the water treatment facility 2 of Figure 3, the flight creation unit 40A sets 12 monitoring points Pn (n=1-12). The flight route FR1, which includes the monitoring points Pn set by the flight creation unit 40A, is transmitted to the unmanned aerial vehicle 70.

[0031] When the control unit (flight control unit) 76 of the unmanned aerial vehicle 70 acquires the flight route FR1, it causes the unmanned aerial vehicle 70 to take off from the takeoff and landing station 85 and fly toward the monitoring point Pn assigned to the flight route FR1. When the control unit (flight control unit) 76 reaches the monitoring point Pn, as shown in Figure 5A, the control unit (flight control unit) 76 directs the first detection device 31 toward the direction where the rotating equipment 21-26 is installed. The first detection device 31 detects the first operating state of the rotating equipment 21-26 (equipment image, surrounding image, drive sound, etc.). When the unmanned aerial vehicle 70 acquires the first operating state, it determines from the first operating state whether there is a possibility of an abnormality in the rotating equipment 21-26.

[0032] Specifically, the unmanned aerial vehicle 70 is equipped with an anomaly diagnosis device 79. The anomaly diagnosis device 79 consists of electrical and electronic circuits, a CPU, etc., and can determine abnormalities in the rotating equipment 21-26, etc. The anomaly diagnosis device 79 analyzes the equipment images of the rotating equipment 21-26 or the surrounding image images to determine whether there is a possibility of an abnormality based on the appearance of the rotating equipment 21-26. If the appearance of the rotating equipment 21-26 differs significantly from the appearance during the design phase or maintenance phase, for example, if deformation of the main body of the rotating equipment 21-26, deformation of the bearings or oil leakage, deformation of the control panel, etc. are observed, the anomaly diagnosis device 79 will determine that there is a possibility of an abnormality. On the other hand, if deformation of the main body of the rotating equipment 21-26, deformation of the bearings, deformation of the control panel, etc. are not observed, the anomaly diagnosis device 79 will determine that there is no possibility of an abnormality.

[0033] Alternatively, the malfunction diagnosis device 79 analyzes the sounds from the rotating equipment 21-26 and determines whether there is a possibility of a malfunction based on the sounds (drive sounds) generated from the rotating equipment 21-26. The malfunction diagnosis device 79 determines that there is a possibility of a malfunction if the drive sounds of the rotating equipment 21-26 differ significantly from those during design or maintenance, for example, if the drive sounds of the rotating equipment 21-26 are abnormal. On the other hand, the malfunction diagnosis device 79 determines that there is no possibility of a malfunction if the drive sounds of the rotating equipment 21-26 are not abnormal.

[0034] Furthermore, the determination of the possibility of an anomaly in the anomaly diagnosis device 79 described above is just one example and is not limited to it. For example, it can be applied to a trained model that judges anomalies from captured images (equipment images, ambient images) and driving sounds, and the trained model can be used to determine whether or not there is a possibility of a malfunction. The trained model can be constructed by inputting captured images (equipment images, ambient images) and driving sounds of the rotating equipment 21-26 at the time of malfunction into a computer or the like and performing deep learning.

[0035] If the malfunction diagnosis device 79 determines that there is a possibility of a malfunction in the rotating equipment 21-26, the control device (flight control unit) 76 of the unmanned aerial vehicle 70 flies the unmanned aerial vehicle 70 toward the rotating equipment (candidate malfunction equipment) that has been determined to be potentially malfunctioning. When the unmanned aerial vehicle 70 attaches to the candidate malfunction equipment, the second detection device 32 detects the second operating state (vibration) of the candidate malfunction equipment. As shown in Figure 3, for example, if the abnormal candidate equipment is a rotating machine 21a installed in the second water intake tank 11b, the unmanned aerial vehicle 70 deviates from the predetermined flight route FR1 and flies as shown in flight route FR2, approaching the rotating machine 21a. Also, as shown in Figure 5B, when the unmanned aerial vehicle 70 is close to the abnormal candidate equipment (rotating machine 21a), the suction point is identified by marker image recognition and detailed coordinate information. The control device (flight control unit) 76 causes the suction surface 81a to adhere to the body of the rotating machine 21a by passing current through the coil of the electromagnet 81. That is, the unmanned aerial vehicle 70 brings the second detection device 32 closer to the abnormal candidate equipment by adhering the electromagnet 81 to the abnormal candidate equipment (rotating machine 21a).

[0036] When the unmanned aerial vehicle 70 acquires a second operating state, it determines from that second operating state whether or not there is a possibility of an abnormality in the candidate equipment (rotating equipment 21a). The abnormality diagnosis device 79 diagnoses the abnormality of the candidate equipment (rotating equipment 21a) based on the second operating state. For example, if the second operating state (detection target) is vibration, the abnormality diagnosis device 79 performs a fast Fourier transform or the like on the vibration waveform to obtain the vibration spectrum (spectrum showing vibration intensity) of the candidate equipment (rotating equipment 21a) shown in Figure 6. The abnormality diagnosis device 79 determines that the candidate equipment (rotating equipment 21a) is abnormal if the vibration spectrum of the candidate equipment (rotating equipment 21a) at a predetermined frequency is above a threshold, and determines that the candidate equipment (rotating equipment 21a) is not abnormal if the vibration spectrum of the candidate equipment (rotating equipment 21a) is below the threshold.

[0037] Furthermore, the abnormality diagnosis device 79 described above does not limit the determination of abnormalities to just one example. For example, it can be applied to a trained model that determines abnormalities from the vibrations of the rotating equipment 21-26, and the trained model can be used to determine whether or not there is a malfunction. The trained model can be constructed by inputting vibration waveforms, etc., of the rotating equipment 21-26 when they malfunction into a computer and performing deep learning.

[0038] If the abnormality diagnosis device 79 detects that the candidate abnormality device (rotating device 21a) is abnormal, it transmits information (abnormality information) indicating that the candidate abnormality device (rotating device 21a) is abnormal to the computer 40. Upon receiving the abnormality information, the computer 40 displays the location of the candidate abnormality device (rotating device 21a) and a statement indicating that it is abnormal on the screen displayed by the display device 41. Furthermore, if the second operating state determines that the candidate malfunctioning equipment (rotating equipment 21a) is malfunctioning, the unmanned aerial vehicle 70 is attached to the candidate malfunctioning equipment (rotating equipment 21a), and the first detection device 31 is pointed towards the candidate malfunctioning equipment (rotating equipment 21a) to re-detect the first operating state of the candidate malfunctioning equipment (rotating equipment 21a), and the re-detected first operating state is transmitted to the computer 40. In this way, if the second operating state determines that the candidate malfunctioning equipment (rotating equipment 21a) is malfunctioning, it is possible to reconfirm what the first operating state was.

[0039] On the other hand, if the anomaly diagnosis device 79 determines that the candidate equipment for an anomaly (rotating equipment 21a) is not an anomaly, the control device (flight control unit) 76 stops applying current to the electromagnet 81, then causes the unmanned aircraft 70 to ascend away from the candidate equipment for an anomaly (rotating equipment 21a), flies along the flight route FR3 as shown in Figure 3, and returns to the flight route FR1. When the unmanned aircraft 70 returns to flight route FR1, the control device (flight control unit) 76 directs the unmanned aircraft 70 toward the next monitoring point P3. In the above embodiment, rotating equipment 21a was used as an example to describe the potential faulty equipment, but the potential faulty equipment is not limited, and flight routes FR2 and FR3 are examples only and are not limited.

[0040] Figures 7A to 7C show modified examples of the adsorption unit (electromagnet) 81 and the second detection device 32. As shown in Figure 7A, the suction part (electromagnet) 81 may be fixed to the arm 70b of the unmanned aerial vehicle 70 so that the suction surface 81a of the suction part (electromagnet) 81 faces sideways, and the second detection device 32 may be fixed so as to be aligned perpendicular to the suction part (electromagnet) 81.

[0041] As shown in Figure 7B, a stay 86 protruding upward from the main body 70a of the unmanned aerial vehicle 70 may be provided, and the suction part (electromagnet) 81 and the second detection device 32 may be fixed to the stay 86. In this case, the suction part (electromagnet) 81 is fixed to the stay 86 so that the suction surface 81a faces upward. As shown in Figure 7C, instead of the skid 70d, a stay 87 protruding downward from the main body 70a of the unmanned aircraft 70 may be provided, and the suction part (electromagnet) 81 and the second detection device 32 may be fixed to the stay 87. In this case, the suction part (electromagnet) 81 is fixed to the stay 87 so that the suction surface 81a faces downward.

[0042] Furthermore, as shown in Figures 7A to 7C, even if the suction surface 81a of the suction part (electromagnet) 81 and the outer surface of the second detection device 32 are aligned (the suction surface 81a and the outer surface of the second detection device 32 are on the same plane) (It is fine to make it so that it is the case, and the adsorption surface 81a and the second detection device 32 may be different.) Figure 8 shows the operation flow of the unmanned aerial vehicle 70 that monitors the water treatment facility 2. As shown in Figure 8, when the flight control unit 76 obtains the flight route FR1 (S1), it causes the unmanned aerial vehicle 70 to take off from the takeoff and landing station 85 and fly toward the monitoring point Pn (S2). The flight route FR1 may be obtained by querying the computer 40 from the unmanned aerial vehicle 70, or it may be transmitted from the computer 40 to the unmanned aerial vehicle 70.

[0043] When the unmanned aerial vehicle 70 reaches monitoring point Pn, the first detection device 31 detects a first operating state (equipment image, surrounding image, drive sound, etc.) (S3). Based on the first operating state, the anomaly diagnosis device 79 determines whether the rotating equipment corresponding to the processing area at monitoring point Pn may be malfunctioning (S4). If the rotating equipment is potentially malfunctioning (S4, Yes), the anomaly diagnosis device 79 sets the rotating equipment corresponding to the processing area at monitoring point Pn as a candidate malfunctioning equipment (S5), the flight control unit 76 flies the unmanned aerial vehicle 70 toward the candidate malfunctioning equipment (S6), and the second detection device 32 detects a second operating state (vibration) of the candidate malfunctioning equipment (S7). Based on the second operating state, the anomaly diagnosis device 79 determines whether the candidate malfunctioning equipment is malfunctioning (S8). If the candidate malfunctioning equipment is malfunctioning (S8, Yes), the unmanned aerial vehicle 70 transmits the location of the candidate malfunctioning equipment and anomaly information indicating the malfunction to the computer 40 via the communication device 75 (S9). Furthermore, if there is another rotating machine 21 corresponding to the processing area of ​​monitoring point Pn (S10, Yes), the flight control unit 76 flies the unmanned aircraft 70 toward the other rotating machine 21 (S11) and returns the processing to S5.

[0044] On the other hand, if there is no possibility of a malfunction in the rotating equipment (S4, No), the flight control unit 76 determines whether or not all monitoring points Pn have been monitored (S12). If not all monitoring points Pn have been monitored (S12, No), the flight control unit 76 increments n (S13) and returns to processing S2, causing the aircraft to fly toward the next monitoring point Pn. If all monitoring points Pn have been monitored (S12, Yes), the aircraft may return to the take-off / landing station 85 and land, or it may return to the first monitoring point P1 and repeat S2-S12 to monitor while patrolling, or it may patrol once each time the flight route FR1 is acquired. Alternatively, the normal results may be sent to the computer 40 all at once.

[0045] As described above, the unmanned aerial vehicle 70 can perform monitoring while moving along the monitoring point Pn set on the flight route FR1. The storage device 74 of the unmanned aerial vehicle 70 may store the first operating state and the second operating state along with the time as monitoring information each time it acquires the first operating state at monitoring point Pn, or each time it acquires the second operating state of the abnormal candidate equipment. In this case, when there is a possibility of an abnormality in the rotating equipment at monitoring point Pn (S4, Yes), the flight control unit 76 refers to the monitoring information corresponding to monitoring point Pn and decides whether or not to proceed to the abnormal candidate equipment based on the referenced monitoring information. For example, the flight control unit 76 refers to the time in the monitoring information and calculates the time (elapsed time) when it was determined that there was a possibility of an abnormality, and if the elapsed time is within a predetermined time, for example, several tens of minutes ago, several hours ago, or one day ago, it does not send the unmanned aerial vehicle 70 toward the abnormal candidate equipment and moves to the next monitoring point Pn. That is, for example, if there is a similar possibility of an abnormality during a patrol monitoring within one day, the unmanned aerial vehicle 70 does not approach the abnormal candidate equipment and continues its patrol monitoring because it has already approached and monitored the abnormal candidate equipment. On the other hand, if the elapsed time is several days or more, the flight control unit 76 moves the unmanned aircraft 70 closer to the suspected malfunctioning equipment and detects the second operating state of the suspected malfunctioning equipment.

[0046] Furthermore, in the above-described embodiment, the first detection device 31 and the second detection device 32 were installed on the unmanned aerial vehicle 70, but the second detection device 32 may be installed on the unmanned aerial vehicle 70, and the first detection device 31, which is not installed on the unmanned aerial vehicle 70, may be installed in the processing plant. In other words, either the first detection device 31 or the second detection device 32 may be installed on the unmanned aerial vehicle 70. If the first detection device 31 is installed in the processing plant, the first operating state of the first detection device 31 is transmitted to the unmanned aerial vehicle 70, and the unmanned aerial vehicle 70 acquires the first operating state, determines from the acquired first operating state whether there is a possibility of an abnormality, and if there is a possibility, flies toward the candidate equipment for the abnormality.

[0047] Although the anomaly diagnosis device 79 was installed on the unmanned aerial vehicle 70, it may also be installed on the computer 40. In this case, the anomaly diagnosis device 79 and the unmanned aerial vehicle 70 communicate to determine the possibility of an anomaly or an actual anomaly based on the first and second operating states. The result determined by the anomaly diagnosis device 79 is transmitted to the unmanned aerial vehicle 70, and the flight control unit 76 controls the flight of the unmanned aerial vehicle 70 based on the result determined by the anomaly diagnosis device 79, similar to the operation in Figure 8.

[0048] Furthermore, by inputting past inspection results (potential abnormality, abnormality, normality, etc.) into the computer 40, deep learning may be performed, and for equipment with a high frequency of abnormalities, measurements may be taken by the second detection device 32 or the first detection device 31. The monitoring system 1 for the processing equipment includes a first detection device 31 that detects a first operating state of the equipment (rotating equipment 21-26) at a location away from the equipment installed on the equipment, a second detection device 32 that approaches the equipment (rotating equipment 21-26) from a location away from the equipment (rotating equipment 21-26) to detect a second operating state of the equipment (rotating equipment 21-26) if it is determined that there is a possibility of an abnormality in the equipment (rotating equipment 21-26) based on the first operating state, and an abnormality diagnosis device 79 that diagnoses an abnormality in the equipment (rotating equipment 21-26) based on the second operating state detected by the second detection device 32. According to this, in the first step, it is possible to determine whether there is a possibility of an abnormality in the equipment (rotating equipment 21-26) based on the first operating state obtained from a location away from the equipment (rotating equipment 21-26), and in the second step, it is possible to determine whether there is an abnormality in the equipment (rotating equipment 21-26) based on the second operating state obtained from a location close to the equipment (rotating equipment 21-26). In other words, by dividing the monitoring of abnormalities in the equipment (rotating equipment 21-26) into a first stage and a second stage, abnormalities in the equipment (rotating equipment 21-26) can be monitored efficiently.

[0049] The first detection device 31 and / or the second detection device 32 are mounted on an aircraft (unmanned aircraft 70) capable of flying around the equipment (rotating equipment 21-26). This allows for easy monitoring of abnormalities in the equipment (rotating equipment 21-26) by flying the unmanned aircraft 70. The monitoring system 1 for the processing equipment is equipped with an electromagnet 81 that is mounted on an aircraft (unmanned aircraft 70) and can be attracted to the equipment (rotating equipment 21-26). By attracting the electromagnet 81 to the equipment (rotating equipment 21-26), the second detection device 32 is brought closer to the equipment (rotating equipment 21-26). This makes it easy to bring the second detection device 32 closer to the equipment (rotating equipment 21-26) when monitoring is performed by an unmanned aircraft 70 flying above the equipment (rotating equipment 21-26).

[0050] The monitoring system 1 for the processing equipment detects a first operating state using the first detection device 31 when the aircraft (unmanned aircraft 70) is in close proximity to the equipment (rotating equipment 21-26). This allows the first operating state to be acquired while the aircraft is in close proximity to the equipment (rotating equipment 21-26). The aircraft (unmanned aircraft 70) has a flight control unit 76 that controls the aircraft (unmanned aircraft 70) to approach the equipment (rotating equipment 21-26) when there is a possibility of an abnormality in the equipment (rotating equipment 21-26) based on the first operating state. With this, when monitoring with the unmanned aircraft 70 flying above the equipment (rotating equipment 21-26), the second detection device 32 can be easily brought closer to the equipment (rotating equipment 21-26).

[0051] The first detection device 31 is a sound detection sensor, a CCD camera, and an infrared camera that detect sounds around the equipment (rotating equipment 21-26), and the second detection device 32 is a vibration detection sensor that detects vibrations of the equipment (rotating equipment 21-26). With this setup, in the first stage, it is possible to determine whether there is an abnormality based on sound (driving sound) even at a distance from the equipment (rotating equipment 21-26), and in the second stage, it is possible to determine whether there is an abnormality based on vibrations of the equipment (rotating equipment 21-26).

[0052] The aircraft (unmanned aircraft 70) comprises a main body 70a, an arm 70b provided on the main body 70a, a rotor blade 70c provided on the arm 70b, a first detection device 31 that detects a first operating state of the equipment (rotating equipment 21-26) installed on the facility from a position away from the equipment (rotating equipment 21-26), and a second detection device 32 that, if there is a possibility of an abnormality in the equipment (rotating equipment 21-26) based on the first operating state, approaches the equipment (rotating equipment 21-26) from a position away from the equipment (rotating equipment 21-26) to detect a second operating state of the equipment (rotating equipment 21-26). According to this, by flying an aircraft (unmanned aircraft 70), in the first stage, it is possible to determine whether there is a possibility of malfunction in the equipment (rotating equipment 21-26) based on the first operating status obtained from a location away from the equipment (rotating equipment 21-26), and in the second stage, it is possible to determine whether there is a malfunction in the equipment (rotating equipment 21-26) based on the second operating status obtained from a location closer to the equipment (rotating equipment 21-26). In other words, since the monitoring of malfunctions in the equipment (rotating equipment 21-26) is divided into the first and second stages, malfunctions in the equipment (rotating equipment 21-26) can be monitored efficiently.

[0053] The aircraft (unmanned aircraft 70) is equipped with an electromagnet 81 that can be attracted to the equipment (rotating equipment 21-26), and the second detection device 32 approaches the equipment (rotating equipment 21-26) when the electromagnet 81 is attracted to the equipment (rotating equipment 21-26). This allows the second detection device 32 to easily approach the equipment (rotating equipment 21-26) when monitoring is performed by the unmanned aircraft 70 flying above the equipment (rotating equipment 21-26).

[0054] The aircraft (unmanned aircraft 70) is equipped with a flight control unit 76 that controls flight to approach the equipment (rotating equipment 21-26) when there is a possibility of malfunction in the equipment (rotating equipment 21-26) based on a first operating state. With this, the aircraft can approach the equipment (rotating equipment 21-26) and acquire a second operating state only when there is a possibility of malfunction in the equipment (rotating equipment 21-26), thereby improving the efficiency of monitoring.

[0055] Furthermore, by inputting past inspection results (potential abnormality, abnormality, normality, etc.) into the computer 40, deep learning may be performed, and for equipment with a high frequency of abnormalities, measurements may be taken by the second detection device 32 or the first detection device 31. The processing facility monitoring system 1 is a system for monitoring a facility equipped with multiple processing plants using an aircraft (unmanned aircraft 70), and comprises at least a flight route FR1 on which the aircraft (unmanned aircraft 70) flies, a flight creation unit that creates a monitoring point Pn for monitoring a predetermined processing plant among the multiple processing plants, and a flight control unit 76 that flies the aircraft (unmanned aircraft 70) toward the monitoring point Pn created by the flight creation unit. With this, the aircraft (unmanned aircraft 70) can be flown according to the flight route FR1, and the predetermined processing plant can be easily monitored at the monitoring point Pn.

[0056] When the flight control unit 76 detects an abnormality at monitoring point Pn, it flies the aircraft (unmanned aircraft 70) toward the equipment (rotating equipment 21-26) installed in the processing plant. This allows the aircraft (unmanned aircraft 70) to approach the equipment (rotating equipment 21-26) only when an abnormality is detected at monitoring point Pn, thereby improving the efficiency of monitoring.

[0057] If the flight control unit 76 determines that there is no abnormality in the equipment (rotating equipment 21-26), it moves the aircraft (unmanned aircraft 70) to a monitoring point Pn that corresponds to a different processing plant than the processing plant where the equipment (rotating equipment 21-26) is installed. This allows for sequential monitoring of processing plants when there are multiple processing plants. If the flight control unit 76 determines that there is no abnormality in the equipment (rotating equipment 21-26), and if there is another piece of equipment (rotating equipment 21-26) installed in the processing plant that is different from the equipment (rotating equipment 21-26) that was determined to be normal, the flight unit (unmanned aircraft 70) moves toward the other piece of equipment (rotating equipment 21-26). This makes it possible to thoroughly monitor all the equipment (rotating equipment 21-26) installed in the processing plant when there are multiple pieces of equipment (rotating equipment 21-26) in the processing plant.

[0058] The aircraft (unmanned aircraft 70) is equipped with an anomaly detection device 79 for diagnosing abnormalities in the equipment (rotating equipment 21-26). With this, the anomaly detection device 79 can determine abnormalities in the equipment (rotating equipment 21-26) while the aircraft (unmanned aircraft 70) is in flight, thereby improving the efficiency of monitoring abnormalities in the equipment (rotating equipment 21-26). The processing equipment monitoring system 1 includes a storage device 74 that stores monitoring information at monitoring point Pn, and the flight control unit 76 determines whether or not to fly the aircraft (unmanned aircraft 70) toward the equipment (rotating equipment 21-26) based on the monitoring information stored in the storage device 74. This allows the system to refer to past monitoring information to determine whether or not to fly toward the equipment (rotating equipment 21-26), thereby preventing duplicate monitoring of equipment (rotating equipment 21-26) that was previously determined to be abnormal, and improving the efficiency of monitoring.

[0059] The aircraft (unmanned aircraft 70) is equipped with an imaging device that images the equipment (rotating equipment 21-26) or processing plant, and the imaging device images the equipment (rotating equipment 21-26) or processing plant at monitoring point Pn. As a result, the condition of the equipment (rotating equipment 21-26) or processing plant can be determined from the images captured of the equipment (rotating equipment 21-26) or processing plant.

[0060] When the processing equipment monitoring system 1 detects an abnormality in the equipment (rotating equipment 21-26), it transmits the captured image taken by the imaging device to the monitoring computer 40. This allows the monitor to quickly understand the abnormality by viewing the captured image transmitted to the computer 40. The embodiments disclosed herein should be considered in all respects to be illustrative and not restrictive. The scope of the present invention is indicated by the claims rather than by the foregoing description, and all modifications within the meaning and scope equivalent to the claims are intended. [Explanation of Symbols]

[0061] 1: Monitoring system 40: Computer 40A: Flight Creation Department 74: Storage device 76: Flight Control Unit 79: Anomaly Diagnosis Device FR1: Flight Route FR2: Flight Route FR3: Flight Route P1: Monitoring point P3: Monitoring Point Pn: Monitoring Point

Claims

1. A monitoring system for processing equipment in which an unmanned aerial vehicle is flown to monitor monitoring points set in each of a plurality of processing plants, The aforementioned unmanned aircraft, A flight control unit that flies the unmanned aircraft along a flight route connecting monitoring points set in each of multiple processing plants, the flight control unit that causes the unmanned aircraft to patrol the monitoring points along the flight route, A detection device that detects the operational status of a candidate malfunctioning equipment at the monitoring point along the aforementioned flight route, The system includes an abnormality diagnosis device for diagnosing whether or not there is an abnormality in the candidate equipment for abnormality at the monitoring point, The abnormality diagnosis device diagnoses, based on the detection results of the detection device, whether there is a possibility of an abnormality or whether there is an abnormality in the candidate equipment at the monitoring point. The aforementioned flight control unit, The unmanned aircraft is made to circle the flight route at least twice, At the aforementioned monitoring point, a decision is made as to whether or not to direct the unmanned aircraft toward the abnormal candidate equipment in order to have the detection device detect the operational status of the abnormal candidate equipment. A monitoring system for processing equipment that, during the second and subsequent patrols, if the diagnostic result of the anomaly diagnosis device at the monitoring point obtained during the previous patrol is either "possible anomaly" or "anomaly", does not direct the unmanned aerial vehicle toward the candidate anomaly device at the monitoring point where an anomaly was identified, but instead determines the next monitoring point as the next flight destination and directs the unmanned aerial vehicle to the next destination.

2. The aforementioned flight control unit, In subsequent patrols, if it is determined that the unmanned aerial vehicle should not be directed toward the abnormal candidate equipment at the monitoring point which is the next destination on the flight route, the monitoring system for processing equipment according to claim 1 determines the next monitoring point after the monitoring point which is the next destination on the flight route as the destination of the unmanned aerial vehicle, based on the detection results of the detection device at the monitoring point obtained during the previous patrol, and directs the unmanned aerial vehicle to the determined destination.

3. The aforementioned flight control unit, A monitoring system for processing equipment according to claim 1 or 2, wherein, in the second and subsequent patrols, if the diagnostic result of the abnormality diagnosis device at the monitoring point obtained during the previous patrol satisfies a preset condition, it is determined to fly the unmanned aircraft to the next monitoring point, which is the next flight destination on the flight route.

4. The aforementioned unmanned aerial vehicle is equipped with a storage device that stores the detection time of the detection device for the monitoring points set in the plurality of processing plants acquired during patrol, along with the detection result, as monitoring information. The flight control unit determines whether or not to fly the unmanned aircraft to the next flight destination, the monitoring point, based on the monitoring information stored in the storage device, according to the monitoring system for processing equipment according to any one of claims 1 to 3.

5. The aforementioned flight control unit, In subsequent patrols, if the monitoring point that was identified as potentially abnormal or abnormal as a result of the abnormality diagnosis device during the previous patrol is the next flight destination, and the detection time of the detection device during the previous patrol is within a predetermined time period from the present, the unmanned aerial vehicle is not directed towards the abnormal candidate equipment at the monitoring point that was identified as potentially abnormal or abnormal, and the next monitoring point is determined as the next flight destination, and the unmanned aerial vehicle is directed to the determined next flight destination, according to any one of claims 1 to 4.

6. The aforementioned flight control unit, In subsequent patrols, if the monitoring point where the abnormality diagnostic device determined to have a potential abnormality or to have an abnormality during a previous patrol is the next flight destination, and the detection time of the detection device during the previous patrol where the abnormality was determined to have a potential abnormality or to have an abnormality exceeds a predetermined time retrospectively from the present, the unmanned aircraft is directed toward the abnormal candidate equipment at the monitoring point which is the next flight destination where the abnormality was determined to have a potential abnormality or to have an abnormality, according to claim 5.

7. The monitoring system for processing equipment according to any one of claims 1 to 6, wherein the monitoring point is a rotary-driven device installed in the processing plant.

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