Patent Application
20220097845
The present disclosure relates to an inspection technique for a closed space and, in particular, relates to an inspection technique using an unmanned aerial vehicle.
For example, a combustion furnace such as a boiler used in a thermal power plant needs to periodically stop an operation after the start of the operation for a worker to enter the inside of the combustion furnace to conduct maintenance inspection. Although a position of an inspection portion (inspection position) in the furnace needs to be clarified in the maintenance inspection, the capacity of the combustion furnace is large, making it difficult to accurately grasp the inspection position visually. Thus, conventionally, there has been a method of grasping the inspection position by measuring a height position and a side position of the inspection portion with a tape measure or the like for marking. However, such method needs building a scaffolding and installing a gondola for the worker, requiring a great effort, cost, and inspection period.
Meanwhile, in inspecting an outdoor structural object, there is also an unmanned inspection technique capable of eliminating the need to building the scaffolding by the use of an unmanned vehicle and GPS (Global Positioning System). However, even if such method is to be applied to inspection of the inside of a structural object such as a boiler or a stack, radio waves from a satellite do not penetrate, making it impossible to grasp a flight position of the unmanned vehicle by GPS and to perform stable control of the unmanned vehicle. Accordingly, it is difficult to apply such inspection technique to inspection inside the structural object.
To cope with the above problem, for example, Patent Document 1 discloses an unmanned floating device (unmanned aerial vehicle) including a floating means such as a propeller, where, for example, a distance measurement unit (such as a laser scanner or a ultrasonic sensor) for measuring a distance between the unmanned floating device and an inner wall surface of a structural object such as a boiler (boiler furnace), and an imaging unit for imaging structures (such as a pipe and a coupling) on a wall-surface side of the structural object are mounted. Then, it is possible to obtain information on an imaging position of the imaging unit based on, for example, information (signal) of the distance measurement unit, and to conduct unmanned inspection inside the structural object.
Patent Document 2 discloses a signal processing device of a scanning ranging apparatus capable of properly detecting a monitoring target present behind an object which is a noise source. Moreover, Non-Patent Document 1 discloses a multiecho sensor capable of measuring a plurality of reflected lights with laser beams in a single direction, respectively. Non-Patent Document 1 discloses that a conventional laser range sensor calculates a distance value from a first returned echo, whereas the multiecho sensor can obtain distance values for a plurality of returned echoes (reflected waves), respectively, and is thus characterized by a strong resistance against noise caused by a light transmissive substance, a boundary of objects, rain, dew, snow, or the like.
However, when a space incapable of using a means for capturing a position, such as GPS, from outside (will be referred to as a closed space, hereinafter), for example, the inside of a combustion furnace undergoes maintenance inspection after the start of an operation, soot and dust such as combustion ash caused by the previous operation are deposited inside the combustion furnace and the like. When maintenance inspection of such closed space is conducted by using an unmanned aerial vehicle having a propeller and the like, the deposited soot and dust are stirred up by airflow generated by the propeller and the like. Thus, it is newly found that in the laser range sensor presupposing absence of such soot and dust (reflection source), a distance between the unmanned aerial vehicle and an inner wall surface of a furnace wall cannot appropriately be measured due to an influence of reflected waves by countless soot and dust floating in the closed space. Moreover, although it may be considered that dispersal of the deposits is suppressed by sprinkling water or the like in advance so the deposited soot and dust are not dispersed by flight of the unmanned aerial vehicle, such up-front work is required.
In view of the above, an object of at least one embodiment of the present invention is to provide an unmanned aerial vehicle capable of accurately measuring a distance between itself and a stationary object, even if a reflection object such as soot and dust exists in the closed space.
(1) An unmanned aerial vehicle according to at least one embodiment of the present invention is an unmanned aerial vehicle configured to fly in a closed space, which includes an airframe, a thrust generating means configured to generate a thrust for the airframe to fly in air, and a length measuring means mounted on the airframe. The length measuring means includes a transmission unit configured to transmit a measurement wave, a reception unit configured to receive reflected waves of the measurement wave, and a distance calculation unit configured to calculate a distance between the unmanned aerial vehicle and a stationary object present in the closed space based on the reflected waves of the measurement wave transmitted from the transmission unit which are received a plurality of times by the reception unit.
With the above configuration (1), the unmanned aerial vehicle such as a drone includes the length measuring means for measuring, based on the reflected waves of the measurement wave such as a pulse laser or a millimeter wave transmitted from the transmission unit, the distance between the unmanned aerial vehicle and the stationary object (inner wall surface) which is a wall surface or the like forming, for example, a combustion furnace such as a boiler or a stack. The length measuring means can measure the distance between the unmanned aerial vehicle and the stationary object based on the plurality of reflected waves received with respect to the transmitted measurement wave (pulse). Thus, measuring the distance between the unmanned aerial vehicle and the stationary object based on the plurality of reflected waves, it is possible to accurately measure the distance between the unmanned aerial vehicle and the stationary object, and to implement inspection in the closed space by the unmanned aerial vehicle, even if soot and dust such as combustion ash exist between the length measuring means (reception unit) and the stationary object.
That is, in conducting maintenance inspection of the interior space (closed space) of, for example, the combustion furnace after an operation thereof, the soot and dust such as the combustion ash deposited in the closed space are stirred up by flight of the unmanned aerial vehicle, and thus the countless floating soot and dust exist between the length measuring means and the stationary object. Thus, the measurement wave transmitted from the transmission unit reflects not only from the stationary object but also from the soot and dust floating between the length measuring means and the stationary object, resulting in the reception unit receiving (detecting) a plurality of reflections obtained at various positions, respectively. Nevertheless, if distance measurement is performed presupposing that the soot and dust do not exist between the length measuring means and the stationary object, and the reflected waves are received only from the stationary object, it is impossible to correctly measure the distance between the unmanned aerial vehicle and the stationary object. However, since the length measuring means measures the distance between the unmanned aerial vehicle and the stationary object based on the plurality of reflected waves as described above, it is possible to accurately measure the distance between the unmanned aerial vehicle and the stationary object.
Moreover, if a position of the unmanned aerial vehicle in the closed space is obtained based on the distance measured by the length measuring means, it is possible to accurately calculate the above-described position, making it possible to accurately obtain an inspection position and to autonomously fly the unmanned aerial vehicle along a predetermined flight route or the like. Therefore, it is also possible to efficiently conduct the inspection in the closed space by the unmanned aerial vehicle.
(2) In some embodiments, in the above configuration (1), the length measuring means measures at least a distance to the stationary object in a horizontal direction.
With the above configuration (2), the length measuring means measures at least the distance between the unmanned aerial vehicle and the stationary object present in the horizontal direction. Thus, it is possible to provide the unmanned aerial vehicle capable of conducting unmanned inspection of the closed space. A distance (height) in the vertical direction may be measured by using another means such as a barometer.
(3) In some embodiments, in the above configuration (1) or (2), the thrust generating means includes a propeller, the transmission unit includes a horizontal transmission unit configured to transmit the measurement wave in a horizontal direction, the reception unit includes a horizontal reception unit configured to receive the reflected waves of the measurement wave transmitted from the horizontal transmission unit, and the horizontal transmission unit and the horizontal reception unit are installed above the propeller.
With the above configuration (3), the unmanned aerial vehicle is, for example, the drone including the propeller as the thrust generating means. Moreover, the length measuring means includes the transmission unit (horizontal transmission unit) and the reception unit (horizontal reception unit) for measuring the distance between the unmanned aerial vehicle and the stationary object in the horizontal direction, and the horizontal transmission unit and the horizontal reception unit are installed on the airframe to be disposed above the propeller in the airframe of the unmanned aerial vehicle. The present inventors have found that the soot and dust floated by a rotation of the propeller mainly float below the propeller. Thus, disposing the length measuring means for measuring the distance between the unmanned aerial vehicle and the stationary object in the horizontal direction above the propeller, it is possible to measure the distance between the unmanned aerial vehicle and the stationary object positioned in the horizontal direction in an environment with the lesser soot and dust floating between the length measuring means and the stationary object. Thus, it is possible to improve measurement accuracy of the above-described distance in the horizontal direction.
(4) In some embodiments, in any one of the above configurations (1) to (3), the transmission unit includes a vertical transmission unit configured to transmit the measurement wave downward in a vertical direction, and the reception unit includes a vertical reception unit configured to receive the reflected waves of the measurement wave transmitted from the vertical transmission unit.
With the above configuration (4), the length measuring means includes the transmission unit (vertical transmission unit) and the reception unit (vertical reception unit) for measuring the distance (height) between the unmanned aerial vehicle and the stationary object in the vertical direction. Thus, it is possible to measure the above-described distance in the vertical direction.
(5) In some embodiments, in the above configuration (4), the thrust generating means includes a propeller, and the vertical transmission unit and the vertical reception unit are installed below the propeller.
With the above configuration (5), the unmanned aerial vehicle is, for example, the drone including the propeller as the thrust generating means. Moreover, the length measuring means includes the transmission unit (vertical transmission unit) and the reception unit (vertical reception unit) for measuring the distance (height) between the unmanned aerial vehicle and the stationary object in the vertical direction, and the vertical transmission unit and the vertical reception unit are installed on the airframe to be disposed below the propeller. Thus, it is possible to measure the distance between the unmanned aerial vehicle and the stationary object positioned in the vertical direction without any influence of the reflected waves from the propeller. Thus, it is possible to improve measurement accuracy of the above-described distance in the vertical direction.
(6) In some embodiments, in any one of the above configurations (1) to (5), the unmanned aerial vehicle further includes a position calculation unit configured to calculate a position of the unmanned aerial vehicle based on the distance.
With the above configuration (6), the unmanned aerial vehicle calculates an in-flight position based on the distance between itself and the stationary object. Thus obtaining the position of the in-flight unmanned aerial vehicle based on the above-described distance L, it is possible to accurately obtain a position in shooting by the imaging means. Thus, when actual maintenance work becomes necessary through inspection based on the image, it is possible to quickly specify and access a position in the closed space to undergo the maintenance work corresponding to the shooting position of the image. Moreover, it is possible to autonomously fly the unmanned aerial vehicle along a flight route determined in advance by, for example, programming. Thus, it is possible to perform the inspection work (such as the flight along the flight route and image shooting) without a human operating the unmanned aerial vehicle from a remote place, and to make the inspection work easy and efficient.
(7) In some embodiments, in any one of the above configurations (1) to (6), the unmanned aerial vehicle further includes an imaging means mounted on the airframe.
With the above configuration (7), the unmanned aerial vehicle includes the imaging means such as a camera. Thus, it is possible to obtain a shot image of an inspection target. Moreover, obtaining positional information together with the shot image, in case a failure such as damage to the inspection target is confirmed from the image, it is possible to easily specify a position where the failure is caused and to facilitate maintenance work based on inspection.
(8) In some embodiments, in any one of the above configurations (1) to (7), the stationary object is a wall forming the closed space which is an interior space of a combustion furnace.
With the above configuration (8), it is possible to easily conduct furnace maintenance inspection of the combustion furnace, where the combustion ash and the like are deposited due to the operation of the combustion furnace, by the unmanned aerial vehicle. It is possible to eliminate a need to build a scaffolding or the like, making it also possible to implement a reduction in effort, cost, and inspection period for the need.
(9) An inspection method according to at least one embodiment of the present invention is an inspection method in a closed space by using an unmanned aerial vehicle, which includes a flight step of flying the unmanned aerial vehicle in the closed space, and a length measurement step of measuring a distance between the unmanned aerial vehicle and a stationary object present in the closed space, during the flight of the unmanned aerial vehicle. The length measurement step includes a transmission step of transmitting a measurement wave, a reception step of receiving reflected waves of the measurement wave, and a distance calculation step of calculating the distance between the unmanned aerial vehicle and the stationary object based on the reflected waves of the measurement wave transmitted in the transmission step which are received a plurality of times in the reception step.
With the above configuration (9), it is possible to achieve the same effect as the above configuration (1).
(10) In some embodiments, in the above configuration (9), the inspection method further includes a position calculation step of calculating a position of the unmanned aerial vehicle based on the distance.
With the above configuration (10), it is possible to achieve the same effect as the above configuration (6).
(11) In some embodiments, in the above configuration (9) or (10), the inspection method further includes a shooting step of shooting at least one portion of an inspection target present in the closed space.
With the above configuration (11), it is possible to achieve the same effect as the above configuration (7).
According to at least one embodiment of the present invention, an unmanned aerial vehicle capable of accurately measuring a distance between itself and a stationary object, even if a reflection object such as soot and dust exists in a closed space, is provided.
Some embodiments of the present invention will be described below with reference to the accompanying drawings. It is intended, however, that unless particularly identified, dimensions, materials, shapes, relative positions and the like of components described or shown in the drawings as the embodiments shall be interpreted as illustrative only and not intended to limit the scope of the present invention.
For instance, an expression of relative or absolute arrangement such as “in a direction”, “along a direction”, “parallel”, “orthogonal”, “centered”, “concentric” and “coaxial” shall not be construed as indicating only the arrangement in a strict literal sense, but also includes a state where the arrangement is relatively displaced by a tolerance, or by an angle or a distance whereby it is possible to achieve the same function.
For instance, an expression of an equal state such as “same”, “equal”, and “uniform” shall not be construed as indicating only the state in which the feature is strictly equal, but also includes a state in which there is a tolerance or a difference that can still achieve the same function.
Further, for instance, an expression of a shape such as a rectangular shape or a tubular shape shall not be construed as only the geometrically strict shape, but also includes a shape with unevenness or chamfered corners within the range in which the same effect can be achieved.
On the other hand, the expressions “comprising”, “including”, “having”, “containing”, and “constituting” one constituent component are not exclusive expressions that exclude the presence of other constituent components.
Then, as shown in
Describing in detail, the airframe 2 is a portion of the unmanned aerial vehicle 1 except for the thrust generating means 3 and the parts such as the length measuring means 4 mounted on the airframe 2. In the embodiment shown in
Moreover, the airframe 2 is mounted with the inspection information acquisition means (object) needed to inspect the inside of the closed space S, for example, an inner wall surface of the structural object (stationary object 9) such as a wall forming the closed space S. More specifically, as shown in
Then, with the imaging means 7, obtaining the shot images G of a pipe, a coupling, and the like disposed on the inner-surface side of the stationary object 9, it is possible to conduct inspection such as appearance inspection of the presence or absence of damage to the stationary object 9 based on the images G. The images G shot for such inspection may be stored in a storage medium m mounted on the imaging means 7 or the airframe 2. The storage medium m may be, for example, a flash memory detachably attached to the imaging means 7 or the like. At this time, the storage medium m may store a flight position P (to be described later) together with the images G. Alternatively, the images G may be transmitted to a computer (not shown) installed outside the structural object to be displayed on a screen of a display (not shown) or stored in a storage device (not shown). Both of them may be performed.
However, the present invention is not limited to the present embodiment. In some other embodiments, the airframe 2 may not include the airframe guard part 22 for protecting the airframe body 21. For example, centering around the airframe body 21 having any shape, such as the vertical direction becomes the longitudinal direction, the thrust generating means 3 such as the propellers may be disposed on the tip sides of rod-like members disposed to extend in a plurality of directions (for example, four directions), respectively, from the airframe body 21. At this time, the airframe body 21 may include a leg portion for the unmanned aerial vehicle 1 to stand on its own. Moreover, the thrust generating means 3 may be other known thrust generation device, such as a device for performing jet propulsion. The imaging means 7 may include at least one camera, and it is only necessary that each camera can shoot at least one of a still image or a moving image.
The length measuring means 4 of the unmanned aerial vehicle 1 having the above-described configuration includes, as shown in
With such length measuring means 4, it is possible to accurately measure the distance L between the unmanned aerial vehicle 1 and the stationary object 9, even if the soot and dust d such as the combustion ash float in the closed space S, and the countless soot and dust d exist between the length measuring means 4 and the stationary object 9. That is, the present inventors have found that if the unmanned aerial vehicle 1 flies in the closed space S where the soot and dust d such as the combustion ash are deposited, the airflow generated by the thrust generating means 3 such as the propeller brings about the state in which the countless soot and dust d float in the closed space S. In addition, the present inventors have also found that in such a state, even if the distance L between the unmanned aerial vehicle 1 and the stationary object 9 is measured by using the laser range sensor for calculating the distance value from the first returned reflected wave Wr, the laser range sensor ends up calculating the distance value by the reflected waves Wr of the measurement wave Ws reflected from the countless soot and dust d present between the length measuring means 4 and the stationary object 9, making it impossible to measure the distance L to the stationary object 9. However, using the above-described length measuring means 4, the present inventors have confirmed that the distance L between the unmanned aerial vehicle 1 and the stationary object 9 can be measured accurately to a level without any practical problem.
With the above configuration, the unmanned aerial vehicle 1 such as the drone includes the length measuring means 4 for measuring, based on the reflected waves Wr of the measurement wave Ws such as a pulse laser or a millimeter wave transmitted from the transmission unit 41, the distance L between the unmanned aerial vehicle 1 and the stationary object 9 (inner wall surface) which is the wall surface or the like forming, for example, the combustion furnace such as the boiler or the stack, The length measuring means 4 can measure the distance L between the unmanned aerial vehicle 1 and the stationary object 9 based on the plurality of reflected waves Wr received with respect to the transmitted measurement wave Ws (pulse). Thus, measuring the distance L between the unmanned aerial vehicle 1 and the stationary object 9 based on the plurality of reflected waves Wr, it is possible to accurately measure the distance L between the unmanned aerial vehicle 1 and the stationary object 9 and to implement inspection in the closed space by the unmanned aerial vehicle, even if the soot and dust d such as the combustion ash exist between the length measuring means 4 (reception unit 42) and the stationary object 9.
Moreover, as will be described later, if a position of the unmanned aerial vehicle 1 in the closed space S is obtained based on the distance L measured by the length measuring means 4, it is possible to accurately calculate the above-described position, making it possible to accurately obtain the inspection position and to autonomously fly the unmanned aerial vehicle 1 along a predetermined flight route. Therefore, it is also possible to efficiently conduct the inspection in the closed space S by the unmanned aerial vehicle 1.
In some embodiments, the above-described length measuring means 4 only needs to measure the distance L to the stationary object 9 at least in the horizontal direction (for example, an X direction and a Y direction which are set along the horizontal plane and are orthogonal to each other) based on the reflected waves Wr received the plurality of times as described above.
That is, in some embodiments, as shown in
In the embodiments shown in
The horizontal length measuring means 4a at least includes a horizontal transmission unit 41a configured to transmit the measurement wave Ws in the horizontal direction, and a horizontal reception unit 42a configured to receive the reflected waves Wr of the measurement wave Ws transmitted from the horizontal transmission unit 41a.
On the other hand, the vertical length measuring means 4b includes a vertical transmission unit 41b configured to transmit the measurement wave Ws downward in the vertical direction, and a vertical reception unit 42b configured to receive the reflected waves Wr of the measurement wave Ws transmitted from the vertical transmission unit 41b.
The horizontal transmission unit 41a and the horizontal reception unit 42a may be configured to, for example, rotate together for the horizontal length measuring means 4a to measure the lengths of the two directions (X direction, Y direction), respectively, in the horizontal direction. Alternatively, the horizontal length measuring means 4a may include the horizontal transmission unit 41a and the horizontal reception unit 42a for performing measurement in the two directions, respectively, in the horizontal direction. Although different in length measurement direction, the horizontal length measuring means 4a and the vertical length measuring means 4b have the same configuration, and thus the details of the vertical length measuring means 4b are omitted in
As shown in
Moreover, in the embodiment shown in
The present inventors have found that the soot and dust d floated by the rotation of the propeller mainly float below the propeller. Thus, disposing the length measuring means 4 for measuring the distance (Lh) between the unmanned aerial vehicle 1 and the stationary object 9 in the horizontal direction above the propeller, it is possible to measure the distance L between the unmanned aerial vehicle 1 and stationary object 9 positioned in the horizontal direction in an environment with the lesser soot and dust d floating between the length measuring means 4 and the stationary object 9. Thus, it is possible to improve measurement accuracy of the above-described distance L (Lh) in the horizontal direction.
Moreover, installing the vertical transmission unit 41b and the vertical reception unit 42b on the airframe 2 to be disposed below the propeller, it is possible to measure the distance L (Lv) between the unmanned aerial vehicle 1 and the stationary object 9 positioned in the vertical direction without any influence of the reflected waves Wr from the propeller. Thus, it is possible to improve measurement accuracy of the above-described distance L (Lv) in the vertical direction.
In some other embodiments, it may be configured such that the length measuring means 4 measures only the distance Lh between the unmanned aerial vehicle 1 and the stationary object 9 positioned in the horizontal direction, and another means such as a barometer measures the distance Lv between the unmanned aerial vehicle 1 and the stationary object 9 positioned in the vertical direction.
With the above configuration, the length measuring means 4 measures at least the distance L between the unmanned aerial vehicle 1 and the stationary object 9 present in the horizontal direction. Thus, it is possible to provide the unmanned aerial vehicle 1 capable of conducting unmanned inspection of the closed space S.
Moreover, in some embodiments, as shown in
In the embodiment shown in
With the above configuration, the unmanned aerial vehicle 1 calculates the in-flight position based on the distance L between itself and the stationary object 9. Thus obtaining the position of the in-flight unmanned aerial vehicle 1 based on the above-described distance L, it is possible to accurately obtain the position in shooting by the imaging means 7. Thus, when actual maintenance work becomes necessary through the inspection based on the image G, it is possible to quickly specify and access a position in the closed space S to undergo the maintenance work corresponding to the shooting position of the image G. Moreover, it is possible to autonomously fly the unmanned aerial vehicle 1 along the flight route determined in advance by, for example, programming. Thus, it is possible to perform the inspection work (such as the flight along the flight route and image shooting) without a human operating the unmanned aerial vehicle 1 from a remote place, and to make the inspection work easy and efficient. The unmanned aerial vehicle 1 may remotely be operated by a human manually while watching the image G (such as the moving image) displayed on a screen from outside the structural object.
Hereinafter, an inspection method using the above-described unmanned aerial vehicle 1 will be described with reference to
The inspection method is an inspection method in the closed space S using the unmanned aerial vehicle 1. As shown in
The above-described length measurement step (S3) and the transmission step, the reception step, and the distance calculation step of the length measurement step (S3) are, respectively, the same as the processing contents performed by the length measuring means 4, the transmission unit 41, the reception unit 42, and the distance calculation unit 43 that have already been described, and thus the details of which are to be omitted. Moreover, the flight step (S1) is performed by flying the airframe 2 with the thrust generating means 3 that has already been described.
In the embodiment shown in
In some embodiments, as shown in
Moreover, in some embodiments, as shown in
In addition, in the embodiment shown in
Subsequently, step S7 includes confirming whether the unmanned aerial vehicle 1 arrives at all stop positions set on the flight route. Then, if the unmanned aerial vehicle 1 has not yet stopped at all the stop positions, movement by flight is resumed in step S8, and the process returns to immediately before step S2 (between S1 and S2). On the other hand, if the unmanned aerial vehicle 1 has already stopped at all the stop positions, the unmanned aerial vehicle 1 stops flying (is landed), for example. Subsequently, step S9 includes checking (inspecting) the presence or absence of, for example, damage to the inspection target based on the image G. At this time, if there is the image G where the damage or the like is confirmed, since the flight position P is associated with the image G, it is possible to specify the actual position in the closed space S based on the flight position P where the image G is shot and to perform the maintenance work.
In the embodiment shown in
The present invention is not limited to the above-described embodiments, and also includes an embodiment obtained by modifying the above-described embodiments and an embodiment obtained by combining these embodiments as appropriate.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2019-033439 | Feb 2019 | JP | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/JP2020/003744 | 1/31/2020 | WO | 00 |
