0001]The present invention, inspection system, control apparatus, control method, and a recording medium.
BACKGROUND
[0002]One way of testing the test object damage or defects, there is a hammering sound test to confirm the slapping sound of the test object by hitting with a hammer or the like. Several techniques have been proposed in connection with this hammering sound inspection.
[0003]
　For example, the outer wall float detection system described in Patent Document 1 is composed of a sensing device, the monitoring and control apparatus for remotely controlling the detecting device. Sensing device, while being mounted on a moving aircraft, and percussion device, a moving aircraft maneuver receiver, a sound collector and percussion sound transmitter, in constructed. Monitoring and control apparatus is composed of a moving aircraft steering transmitter, a percussion sound receiver and a speaker. Operator, the moving aircraft and remote-controlled, for percussion by percussion device the outer wall of the building.
[0004]
　Further, the structure tapping sound inspection apparatus according to Patent Document 2, the inspection head to inspect banging the examination surface is moved while pressed against the inspection surface of a structure with a head moving means. Then, the structure tapping sound inspection apparatus hammering sound inspection in a series of operations continuously predetermined inspection range while moving the self-propelled vehicle equipped with the head moving means.
[0005]
　Also, the tapping sound inspection system of the tunnel lining concrete according to Patent Document 3, the post is mounted on the traveling body to travel in the axial direction of the tunnel, the arms are provided at the upper end of the post. The tip of the arm support plate provided, inter holding the wheel two rows are arranged in the support plate, also one of the hammer is mounted. Interval holding wheels two rows, by contact to follow the unevenness of the surface of the tunnel lining concrete to hold the distance between the hitting start position of the surface and the hammer of the tunnel lining concrete constant.
[0006]
　Further, the wall surface inspection robot system described in Patent Document 4 is equipped with a robot body, an arm mechanism provided on the robot body. Robot body has a moving mechanism for moving to a desired position of the floor of the structure having a wall surface. Arm mechanism moves imitate and walls of the inspection mechanism includes a checking mechanism. The robot main body is formed by mounting a diverting mechanism in the cart.
CITATION
Patent Document
[0007]
Patent Document 1: JP 2012-145346 Patent Publication
Patent Document 2: Patent No. 3595492 Patent Publication
Patent Document 3: JP 2004-205216 Patent Publication
Patent Document 4: JP 2004-301665 JP
Summary of the Invention
Problems that the Invention is to Solve
[0008]
　The outer wall float detection system described in Patent Document 1, it is necessary to operator induces moving aircraft by remote control to the appropriate inspection points. Therefore, requiring a worker technologies controlled mobile aircraft. If the operator is unfamiliar with the maneuver, requiring more than expected time to the inspection work, or would not perform well the inspection.
[0009]
　Further, in the structure tapping sound inspection device described in Patent Document 2, to run the self vehicle inspection head and head moving means mounted on the self-propelled vehicle. Therefore, with respect to the inspection point is located in a region where the free-running vehicle can not enter, can not be performed slapping sound inspection using the structure tapping sound inspection device described in Patent Document 2.
[0010]
　Further, in the tapping sound inspection system of the tunnel lining concrete according to Patent Document 3, a tapping sound inspection system of the tunnel lining concrete mounted on the traveling body such as 2t track, by traveling along the traveling body, a tunnel lining moving the tapping sound inspection system of the concrete. For inspection locations traveling body is located in a region not enter, it can not be performed slapping sound inspection using the tapping sound inspection system of the tunnel lining concrete according to Patent Document 3.
[0011]
　Further, the wall surface inspection robot system described in Patent Document 4, by moving carriage constituting the robot body travels, moves the wall inspection robot system. For inspection locations located in a region where the cart can not enter, it can not be performed slapping sound inspection using the wall inspection robot system described in Patent Document 4.
[0012]
　The present invention, inspection system capable of solving the problems described above, control device, control method, and has an object to provide a recording medium.
Means for Solving the Problems
[0013]
　According to a first aspect of the present invention, inspection system, a hammering sound inspection means for performing inspection by hitting the inspection target portion from the predetermined relative position with respect to the inspection target portion, mounting the tapping sound inspection means a flying device equipped with a flight vehicle to fly Te, and the ground-side apparatus for detecting the position of the flying device is installed a relative position to a fixed with respect to the inspection target portions, said ground-side device detects the flying device based on the position, the forward direction of the flying device, and a flight command means for controlling the flying device to direct in a direction toward the inspection target portions from the ground-side apparatus.
[0014]
　According to a second aspect of the present invention, control apparatus, a hitting sound inspection means for performing inspection by hitting the inspection target portion from the predetermined relative position with respect to the inspection target portion, mounting the tapping sound inspection means the forward direction of the flying device and a flight vehicle to fly Te, to direct from the ground-side apparatus for detecting a position of the flying device is installed a relative position to a fixed with respect to the inspection target portions in a direction toward the inspection target portions includes flight instruction means for controlling the flying device based on the position of the flying device in which the ground-side device detects.
[0015]
　According to a third aspect of the present invention, control method, and a tapping sound inspection means for performing inspection by hitting the inspection target portion from the predetermined relative position with respect to the inspection target portion, mounting the tapping sound inspection means the forward direction of the flying device and a flight vehicle to fly Te, to direct from the ground-side apparatus for detecting a position of the flying device is installed a relative position to a fixed with respect to the inspection target portions in a direction toward the inspection target portions , it controls the flying device based on the position of the flying device in which the ground-side device detects.
[0016]
　According to a fourth aspect of the present invention, a computer readable recording medium is a knocking sound inspection means for performing the computer, a check from a predetermined relative position with respect to the inspection target portion by hitting the inspection target portions, the inspection advancement direction of the flying device and a flight vehicle to fly by mounting the hammering sound inspection means, from the ground-side apparatus for detecting a position of the flying device is installed a relative position to a fixed with respect to the inspection target portions to direct in a direction toward the target portion, storing a program for executing processing for controlling the flying device based on the position of the flying device in which the ground-side device detects.
Effect of the invention
[0017]
　According to the present invention, the inspector is able to perform the hammering sound inspected without the need for an operation of moving the inspection target portion of the checking device, and striking noise even for the vehicle enters difficult inspection target portion inspection can be carried out.
BRIEF DESCRIPTION OF THE DRAWINGS
[0018]
FIG. 1 is a schematic diagram showing a device configuration of inspection system according to an embodiment of the present invention.
It is a perspective view showing a schematic outline of FIG. 2 flying device according to the embodiment.
3 is a side view showing a schematic outline of the flying device according to the embodiment.
4 is a schematic block diagram showing the functional configuration of the inspection system according to the embodiment.
FIG. 5 is an explanatory diagram showing an example of coordinates used in inspection system according to the embodiment.
[6] flying device according to the embodiment, the coordinate system sigma 0 is an explanatory diagram showing an example of positions on the x-axis of.
[7] flying device according to the embodiment, the coordinate system sigma 0 located on the x-axis of, and forward direction of the flying device coordinate system sigma 0 explanatory views showing an example match the x-direction is there.
[8] control apparatus according to the embodiment coordinate system sigma 0 is a flowchart illustrating an example of a processing procedure for setting.
[9] control apparatus according to the embodiment is an explanatory diagram showing an example of a process for controlling the position and orientation of the flying device.
[10] flying device according to the embodiment is a flowchart showing an example of a processing procedure for performing tapping sound test.
[11] according to the embodiment, it is a perspective view schematically showing the outer shape of the flying device with a higher degree of freedom slapping sound check unit.
FIG. 12 is an explanatory diagram showing an example of a coordinate system that the flying device is used according to the embodiment.
FIG. 13 is an explanatory diagram showing a minimum configuration of a checking system according to the present invention.
FIG. 14 is an explanatory diagram showing a minimum configuration of a control apparatus according to the present invention.
DESCRIPTION OF THE INVENTION
[0019]
　Hereinafter will be described an embodiment of the present invention, the following embodiments do not limit the invention according to the claims. Further, all combinations of features described in the embodiments are not necessarily essential to the invention.
[0020]
　Figure 1 is a schematic diagram showing a device configuration of inspection system according to an embodiment of the present invention. As shown in FIG. 1, inspection system 1 includes a flying device 10, and the ground-side apparatus 20, and a control system 30. Control system 30 includes a control unit 31, and a power supply unit 32. Further, in FIG. 1, inspection target portion 900 is shown.
[0021]
　The control referred to here, it is to perform the instructions on the flight.
[0022]
　Inspection system 1 performs hammering sound check against inspection target portion of a structure such as a tunnel or bridge. Striking sound inspection referred to here is the inspection method of collecting sound by hitting the inspection target portions. Based on the frequency, etc. of the collected sound it can determine the presence or absence of abnormality in inspection object. In general, the inspection target portions, rather than at a single point is set in a range having a certain spread.
[0023]
　Flying device 10 performs a hammering sound inspection and flies to the vicinity of the inspection target portion 900.
[0024]
　Ground-side apparatus 20 is installed a relative position with respect to inspection target portions 900 are fixed. The ground-side apparatus 20 notifies the control unit 31 detects the position of the flying device 10. As the ground-side apparatus 20, it can be used, for example a total station.
[0025]
　Control device 31 controls the flight of the flying device 10 transmits flight command to the flying device 10. Further, control device 31, when controlling the flight of the flying device 10 sets the coordinates relative to the installation position of the ground-side apparatus 20. Specifically, control device 31, the installation position of the ground-side apparatus 20 as an origin, a direction from the ground device 20 to the inspection target portion 900 sets the coordinates to the x-direction. Flying device 10 can reach the inspection target portions 900 by following the x-axis of the coordinate. Control device 31 is, for example, constituted using a computer.
[0026]
　Power supply 32 supplies power to each unit of the inspection system 1. In particular, the control system 30 and the flying device 10 is wire-connected with the power line and signal line, the power supply device 32 supplies power to the flying device 10 through the power line. However, a method of connecting the control system 30 and the flying device 10 is not limited to a wired connection. For example, self-sufficient power flying device 10 is a power source such as a battery, may be connected with control unit 31 and the wireless communication.
[0027]
　Similarly, the control system 30 both the ground-side apparatus 20, may be connected by wire, or may be connected by wireless communication.
[0028]
　Figure 2 is a perspective view showing a schematic outline of the flying device 10. As shown in FIG. 2, the flying device 10 includes a flight portion 100, a tapping sound inspection unit 200, and a laser range finder 300. Flying unit 100 includes a flying device main body 110, a fan 120 and a body for the balancer 130.
[0029]
　Striking sound check unit 200 includes a checking unit for the base 210, an arm 220, a striking part 230, and inspection unit for the balancer 260, and a microphone 270. Inspection unit pedestal 210 includes an inspection unit for the rotating shaft 211. Further, the hitting portion 230 includes a distance measuring unit 240 incorporates a force sensor 250. Laser range finder 300 is provided with a finder pedestal 310, a finder body 320. Finder pedestal 310 includes a finder for rotating shaft 311.
[0030]
　Flight section 100, to fly equipped with a striking part 230. As the flight portion 100 can be used, for example remote operated or autonomous flight unmanned helicopter wireless (so-called drone).
[0031]
　Fan 120 operates the flying device 10 by causing a flow of air by rotation. Further, to control the attitude of the flying device 10 at a rotational speed of the balance of the four fans 120. The attitude control by the flying device 10 is flying in front of the person who striking sound check unit 200 is disposed. Thus, it is possible to implement the slapping sound check close slapping sound check unit 200 to check target portion 900.
[0032]
　Body for the balancer 130, between the tapping sound inspection unit 200, a weight for keeping the balance of the center of gravity of the flying device 10 (weight).
[0033]
　Striking sound check unit 200 from the predetermined relative position with respect to the inspection target portions 900 performs hammering sound check banging inspection target portion 900. Here, the predetermined relative position with respect to the inspection target portion 900 is specifically a front inspection target portion 900, and a position where the distance where the distance from inspection target portion 900 is predetermined. Inspection target portion 900 of constant intensity, and, in order to hit at an angle, the relative position of the tapping sound inspection portion 200 is defined with respect to inspection target portions 900.
[0034]
　Inspection unit pedestal 210 rotatably supports the arm 220 about the axis of the inspection portion for the rotation shaft 211. Furthermore, inspection unit pedestal 210 may be also rotatably supported arm 220 horizontal (direction of the upper surface plane parallel to the flight device main body 110).
[0035]
　Arm 220 by rotating around the axis of the inspection portion for the rotation shaft 211, moves the striking part 230. In particular, the front of the flying device 10 is inspected target portion 900, and a state which is located near the inspection target portions 900, that the arm 220 is rotated about the axis of the inspection portion for the rotation shaft 211, the hitting portion 230 There tapping the inspection target portions 900.
[0036]
　Hitting portion 230 is moved by the rotation of the arm 220 as described above. Striking part 230, by hitting the inspection target portion 900 by this movement, slapping sound check unit 200 performs a hammering sound inspection for inspection target portions 900.
[0037]
　Distance measuring unit 240, if there is an object in the traveling direction of the flying device 10 measures the distance from the hitting portion 230 to the product. In particular, in a state where the flying device 10 is positioned in front of the inspection target portions 900, the distance measuring section 240 measures the distance from the striking unit 230 to check target portions 900.
[0038]
　Determining the distance measuring unit 240, by measuring the distance from the hitting portion 230 until inspection target portions 900, whether the proper position or not in the relative position of the striking part 230 for inspection target portion 900 performs hammering sound inspection can do.
[0039]
　Here, the distance measuring unit 240, can be used the distance sensor of the laser type, this not only is the measurement if the distance from the hitting portion 230 to the object, as the distance measurement unit 240, the other it may be used in the technique. For example, it may be used range sensor ultrasonic as the distance measurement unit 240.
[0040]
　The force sensor 250 detects the force applied to the hitting portion 230. Striking part 230, before hitting the actual inspection target portion 900 at slapping sound check, go to the position striking the inspection target portions 900, force sensor 250, whether or not the detected contact with the object judge. This allows the relative position of the striking part 230 for inspection target portion 900 to determine the proper location or not in order to perform a hammering sound check.
[0041]
　Inspection unit for balancer 260, between the striking part 230 is a weight to keep the center of gravity balance of the slapping sound check unit 200.
[0042]
　Mike 270, to collect the ambient sound. In particular, a microphone 270 collects the impact sound when the hitting portion 230 is struck inspection target portion 900.
[0043]
　Finder body 320 detects things located in front (advancing direction) of the flying device 10, further, measures the distance from the finder main body 320 to the product. When the flying device 10 is flying toward the inspection target portions 900 detects the position of the inspection target portions 900, also can be used finder body 320 in order to confirm the presence or absence of obstacles.
[0044]
　Finder pedestal 310 rotatably supports the finder main body 320 around the axis of the finder rotary shaft 311. Further, the finder pedestal 310 may be also rotatably support the finder main body 320 in the horizontal direction (direction of the surface parallel to the upper surface of the flying device main body 110). Alternatively, finder pedestal 310 may be supported by fixing the orientation of the finder main body 320.
[0045]
　Figure 3 is a side view showing a schematic outline of the flying device 10. As shown in FIG. 3, the flying device 10, in addition to the components described with reference to FIG. 2, further comprising a corner cube 400.
[0046]
　Corner cube 400 reflects the light incident on its own corner cube 400 to the incident direction. In particular, the corner cube 400 reflects the laser beam ground device 20 is propelled toward the flying device 10 to the ground-side apparatus 20. Ground-side device 20 receives the laser beam, for detecting the relative position of the flying device 10 for the ground-side apparatus 20. Corner cube 400 includes, for example, a rectangular prism, or orthogonally combined reflector.
[0047]
　Figure 4 is a schematic block diagram showing the functional configuration of the inspection system 1. In Figure 4, of each part of the inspection system 1 described with reference to FIG. 1, the flying device 10, and the ground-side apparatus 20 is shown and control device 31. Further, in FIG. 4, of each part of the flying device 10 described with reference to FIG. 2, the flight portion 100, a fan 120, a tapping sound inspection unit 200, a distance measuring unit 240, a force sensor 250, a laser range finder 300 is shown.
[0048]
　Further, as shown in FIG. 4 includes the flying device 10 further flight communication unit 11, and flight-side storage unit 16, and a flight-side control unit 17. Flight-side control unit 17 includes a flight processor 18, and a check processing portion 19. Further, the ground-side apparatus 20 includes a ground side communication unit 21, a flying device detection section 22, and the ground-side storage unit 28, and a ground-side control unit 29. Further, control device 31 includes a control side communication unit 510, a display unit 520, an operation input unit 530, a control side storing unit 580, and a control side control unit 590. Control side control unit 590 includes a coordinate management unit 591, and a flight command unit 592.
[0049]
　Flight communication unit 11 communicates with other devices. In particular, flight communication unit 11 receives flight instructions from the control device 31.
[0050]
　Flight side storage unit 16 stores various data. Flight side storage unit 16 is constructed of a storage device that the flying device 10 is provided.
[0051]
　Flight-side control unit 17 controls the respective units of the flying device 10 performs various processes. Flight-side control unit 17, for example, a CPU included in the flying device 10 (Central Processing Unit, central processing unit) is configured by reading and executing the program from the flight the storage 16.
[0052]
　Flight processor 18 controls the flight of the flying device 10 by controlling the rotation of the fan 120. If flight communication unit 11 has received flight command from the control device 31, the flight processor 18 controls the flight of the flying device 10 according to the flight instruction.
[0053]
　Check processing unit 19 performs hammering sound check by controlling the hammering noise inspection unit 200. In particular, check processing unit 19 controls the slapping sound check unit 200 is rotated around the axis of the inspection portion for the rotation shaft 211 of the arm 220 to hit the inspection target portions 900 in the striking part 230.
[0054]
　Also, check processing section 19 corresponds to an example of the hitting portion position confirmation section, the hitting portion 230 before hitting the inspection target portions 900 for inspection to confirm the relative position with respect to inspection target portion 900 of the hitting portion 230 .
[0055]
　Specifically, check processing unit 19 moves the hitting portion 230 to the position striking the inspection target portion 900, the presence or absence of contact with the inspection target portion 900 and the striking part 230 based on the sensing data of the force sensor 250 judge.
[0056]
　Alternatively, check processing unit 19 refers to the distance to the inspection target portion 900 of the distance measuring unit 240 measures, determines the distance between the inspection target portion 900 and the distance measuring unit 240 whether or not a predetermined distance.
[0057]
　Inspection processing unit 19, the determination using the force sensor 250, and, it may be performed only one of the above determination using the distance measuring unit 240, so as to perform both it may be. However, the process of inspection processing unit 19 confirms a relative position with respect to inspection target portion 900 of the hitting portion 230 is not essential. Inspection processing unit 19 may not perform the process.
[0058]
　Ground side communication unit 21 communicates with other devices. In particular, the ground side communication unit 21 transmits the position information indicating the position of the flying device 10 flying device detecting unit 22 detects the control device 31.
[0059]
　Flying device detecting unit 22 detects the relative position of the flying device 10 for the ground-side apparatus 20. Specifically, the flying device detection unit 22 emits a laser. Then, when receiving the laser reflected by the corner cube 400 of the flying device 10, the flying device detection unit 22, based on the orientation that fired lasers, and, the delay time or phase difference to the reception after firing a laser Te, the direction of the ground-side apparatus 20 flying device seen from 10, and detects the distance between the flying device 10 and the ground-side apparatus 20.
[0060]
　Ground-side storage unit 28 stores various data. Ground-side storage unit 28 is constructed of a storage device provided in the ground-side apparatus 20.
[0061]
　Ground side controller 29 executes various processes and controls each part of the ground-side apparatus 20. In particular, the ground-side controller 29 to perform communication with the control device 31 controls the ground side communication unit 21. Further, the ground-side control unit 29, to detect the position of the flying device 10 by controlling the flying device detection section 22. Ground-side control unit 29, a CPU provided in the ground-side apparatus 20 is configured by reading and executing a program from the ground-side storage unit 28.
[0062]
　Control side communication unit 510 communicates with other devices. In particular, control side communication unit 510, under control of the control side control unit 590, it transmits the flight instructions to the flight device 10. Furthermore, control side communication unit 510 transmits the flight instruction for instructing the advancement direction of the flying device 10 in the flying device 10. Also, the flight communication unit 11 receives the position information indicating the position of the flying device 10 ground side device 20 detects from the ground device 20.
[0063]
　Display unit 520 has, for example, a liquid crystal panel or LED (Light Emitting Diode, light emitting diode) display screens, such as the panel displays various images. In particular, the display unit 520, to display the results of the slapping sound check. The display unit 520 under the control of the control side control unit 590, the position of the inspection target portion 900, and may be displayed position of the flying device 10.
[0064]
　The operation input unit 530 has, for example, an input device such as a keyboard and a mouse and receives user operations. In particular the operation input unit 530 receives a user operation for designating two points on the surface of the inspection target portion 900. For example, is set with coordinates inspection target portions 900 in the design diagram, the operation input unit 530 receives a user operation for inputting the respective two points coordinates. 2 points specified here, is used to set the coordinates for managing a position of the flying device 10.
[0065]
　Control side storing unit 580 stores various data. Control side storing unit 580 is constructed of a storage device control apparatus 31 is provided.
[0066]
　Control side control unit 590 controls the respective units of the control device 31 performs various processes. Control side control unit 590, for example, control device 31 comprises CPU is configured by reading and executing a program from the control side storage portion 580.
[0067]
　Coordinate management unit 591, based on two points designated surface inspection target portion 900 by the user operation on the operation input unit 530, sets the coordinates of the position of the ground-side apparatus 20 as the origin. Then, the coordinate management unit 591 manages the position of the flying device 10 by using the coordinates set.
[0068]
　Flight instruction unit 592 generates a flight instruction for the flying device 10 is transmitted to the flying device 10 via the control side communication unit 510. Thus, the flight instruction unit 592 controls the flight of the flying device 10. In particular, the flight instruction unit 592, based on the position of the flying device 10 ground side device 20 detects the advancing direction of the flying device 10, the flying device to direct in a direction from the ground device 20 to the inspection target portions 900 10 to control. Furthermore, the flight instruction unit 592 receives the designation of two points on the surface of the inspection target portion 900 by a user operation. The flight instruction unit 592, the forward direction of the flying device 10, a direction perpendicular to the straight line including the two points, and to control the flying device 10 to direct in a direction from the ground device 20 to the inspection target portions 900 .
[0069]
　Next, the forward direction of the instruction of the flying device 10 flight instruction unit 592 performs will be described with reference to FIGS.
[0070]
　Figure 5 is an explanatory diagram showing an example of coordinates used in inspection system 1. FIG. 5 shows an example seen ground device 20, the flying device 10 and the inspection target portion 900 from the top (sky side).
[0071]
　In the example of FIG. 5, the flying device 10 is positioned at point P110. Further, the ground-side apparatus 20 is installed at the point P120. A point P191 and P192 show the two points specified by a user operation.
[0072]
　Coordinate management unit 591 calculates the vector connecting the two points specified by a user operation. In the example of FIG. 5, the coordinate management unit 591 calculates the vector B191. Then, the coordinate management unit 591, orthogonal to the vector calculated, and obtains a straight line included in a horizontal plane. In the example of FIG. 5, the coordinate management unit 591 obtains the line L111. Then, the coordinate management unit 591, based on the obtained straight line coordinate system Σ as the origin position of the ground-side apparatus 20 0 sets a.
[0073]
　Specifically, the coordinate management unit 591, as the origin the location of the ground-side apparatus 20, parallel to the resultant linearly sets the x-axis. The coordinate management unit 591 sets the z-axis vertically upward. Then, the coordinate management unit 591 sets a y axis orthogonal to the x-axis and z-axis. In the example of FIG. 5, the coordinate management unit 591, an example is shown of a case of setting the coordinate axes of the right-handed coordinate system, the coordinate management unit 591 may set the coordinate axes of the left-handed.
[0074]
　On the other hand, the coordinate system sigma b is a coordinate system used by the flying device 10. Coordinate system sigma b in the position of the flying device 10 is set to the origin. Moreover, x-axis is set in the forward direction of the flying device 10. Incidentally, the flying device 10 is flying while maintaining the substantially horizontal. Therefore, the coordinate system sigma b x axis is set along a horizontal plane.
[0075]
　Further, z axis is set vertically upward. Then, y-axis orthogonal to the x-axis and z-axis are set. In the example of FIG. 5, the flying device 10, an example is shown of a case of using coordinate axes of right-handed coordinate system, the flying device 10 may be used axes of left-handed. Coordinate system Σ with the movement of the flying device 10 b also moves.
[0076]
　6, the flying device 10, the coordinate system sigma 0 is an explanatory diagram showing an example of positions on the x-axis of. Coordinate management unit 591, based on the position of the flying device 10 ground side device 20 detects the coordinate system sigma 0 calculates the deviation of the position of the flying device 10 with respect to the x-axis. The flight instruction unit 592, based on the deviation coordinate management unit 591 is calculated, the flying device 10 is a coordinate system sigma 0 generates a flight instruction is moved to a position on the x-axis, the control side communication unit 510 and it transmits to the flying device 10 via the.
[0077]
　In the example of FIG. 6, the flying device 10 is flying in accordance with the flight command, coordinates sigma 0 is positioned on the x-axis of. However, in the figure, the coordinate system sigma b advancement direction of the flying device 10 as a x-axis direction is illustrated as direction shifted from the direction of inspection target portion 900.
[0078]
　7, the flying device 10, the coordinate system sigma 0 located on the x-axis of, and forward direction of the flying device 10 is a coordinate system sigma 0 is an explanatory diagram showing an example match the x direction. Flight instruction unit 592 instructs the straight flight device 10 in flight director. The flight flying device 10 is straight according to the instructions, by the ground-side device 20 detects the position of the flying device 10, the coordinate management unit 591 can detect the advancing direction of the flying device 10. Thus, the coordinate management unit 591, the coordinate system sigma b can be detected.
[0079]
　Flight instruction unit 592, the forward direction and the coordinate system Σ of the flying device 10 which coordinates management unit 591 detects 0 based on the deviation between the x direction, the flight instruction for suited the flying device 10 in a direction to reduce the deviation generated, transmitted to the flying device 10 via the control side communication unit 510. By flying device 10 is flying in accordance with the flight command, the forward direction and the coordinate system Σ of the flying device 10 0 deviation between the x direction is reduced and eventually, the forward direction of the flying device 10 as in the example of FIG. 7 coordinate system sigma 0 coincides with the x direction. If the flying device 10 is straight from this state, it is possible to reach the inspection target portions 900. And, the forward direction of the flying device 10 is perpendicular to the plane of the inspection target portion 900. This makes it possible to slapping sound check unit 200 performs a hammering sound inspection in the appropriate positional relationship with respect to the inspection target portions 900.
[0080]
　Next, with reference to FIGS. 8 to 10, the operation of the inspection system 1.
[0081]
　8, control device 31 coordinates sigma 0 is a flowchart illustrating an example of a processing procedure for setting. In the process of FIG. 8, the coordinate management unit 591 acquires the two points of coordinates specified by a user operation (step S101).
[0082]
　Then, the coordinate management unit 591 calculates a direction perpendicular to a vector connecting two points (step S102).
[0083]
　The coordinate management unit 591 obtains the position coordinates of the ground-side apparatus 20 (step S103). For example, the ground-side apparatus 20 notifies the coordinate management unit 591 of the positioning result by latitude and longitude by positioning the ground-side apparatus 20 own position.
[0084]
　Then, the coordinate management unit 591, the resulting direction in step S102, and the coordinate system Σ based on the positional relationship between the inspection target portion 900 and the position obtained in step S103 0 is set to (step S104).
[0085]
　After step S104, and ends the process in FIG. 8.
[0086]
　Figure 9 is an explanatory diagram showing an example of a process control device 31 controls the position and orientation of the flying device 10.
[0087]
　In the process of FIG. 9, the ground-side device 20 detects the position of the flying device 10 (sequence S201). The ground-side apparatus 20 notifies the detected position to the control device 31 (sequence S202).
[0088]
　Control device 31 instructs to straight flight against flying device 10 (sequence S211). According to this instruction, the flying device 10 is straight flight (sequence S212). That is, the flying device 10 is flying in the forward direction.
[0089]
　Then, the ground-side device 20 detects the position of the flying device 10 (sequence S213). Ground-side apparatus 20 notifies the detected position to the control device 31 (sequence S214).
[0090]
　Control device 31, the position obtained in sequence S202, and, based on the position obtained in the sequence S214, it calculates the straight direction of the flying device 10 (the forward direction) (sequence S221).
[0091]
　Then, control device 31, the forward direction of the flying device 10 coordinate system sigma 0 to calculate the flight path for matching in the x direction (sequence S222). Control device 31 based on the determined flight path, to determine the flight direction instructing the flying device 10 (sequence S223). Then, control device 31 instructs the determined flight direction flight device 10 (sequence S224). Flying device 10 flies according to the instructions (sequence S225).
[0092]
　Then, the ground-side device 20 detects the position of the flying device 10 (sequence S231). Ground-side apparatus 20 notifies the detected position to the control device 31 (sequence S232).
[0093]
　Control device 31 detects the advancing direction of the flying device 10, the coordinate system sigma 0 determines whether they match the x direction (sequence S233).
[0094]
　If it is determined that they match (Sequence S233: YES), it ends the processing of FIG. On the other hand, if it is determined that no match (sequence S233: NO), the process returns to sequence S221.
[0095]
　Figure 10 is a flying device 10 is a flowchart showing an example of a processing procedure for performing tapping sound test.
[0096]
　In the process of FIG. 10, inspection processing unit 19 determines whether the flying device 10 is positioned in front of the inspection target portion 900 (step S301).
[0097]
　If it is determined not to be located in front (step S301: NO), the flight processor 18 to adjust the position of the flying device 10 (step S302). After step S302, the flow returns to step S301.
[0098]
　On the other hand, if it is determined to be located in front (step S301: YES), inspection processing unit 19 determines whether or not the distance between the inspection target portion 900 and the flying device 10 is appropriate (step S311).
[0099]
　If it is determined not appropriate (step S311: NO), the flight processor 18 to adjust the position of the flying device 10 (step S312). After step S312, the flow returns to step S311.
[0100]
　If it is determined that the position is appropriate (step S311: YES), inspection processing section 19, the orientation of the flying device 10 determines whether it is appropriate (step S321).
[0101]
　If it is determined not appropriate (step S321: NO), the flight processor 18 adjusts the orientation of the flying device 10 (step S322). After step S322, the flow returns to step S321.
[0102]
　On the other hand, when the direction is determined to be appropriate (step S321: YES), inspection processing unit 19 performs processing to confirm the hitting position as described above (step S331).
[0103]
　The inspection processing unit 19 determines whether the hitting portion 230 hits the inspection target portion 900 (step S332). If it is determined that the hit (step S332: YES), inspection processing unit 19 performs a hammering sound check (step S341). The inspection processing unit 19 transmits the results via a flight communication unit 11 to the control device 31 (step S342).
[0104]
　After step S342, and ends the process in FIG. 10.
[0105]
　On the other hand, if the hitting portion 230 is determined to not hit the inspection target portion 900 (step S332: NO), check processing unit 19, processed as an error (step S351). For example, check processing unit 19 transmits an error to the control device 31 via the fly-side communication unit 11.
[0106]
　After step S351, and ends the process in FIG. 10.
[0107]
　Incidentally, the flying device 10 may be used a plurality of coordinates according to the degree of freedom flight portion 100. This will be described with reference to FIGS.
[0108]
　Figure 11 is a perspective view schematically showing the outer shape of the flying device with a higher degree of freedom slapping sound check unit. Flying device 600 shown in FIG. 11, the structure of the slapping sound inspection unit 601 is different from the case of the flight portion 100 of the flying device 10 (FIG. 2). Otherwise, the same as in the case of the flying device 10.
[0109]
　In the flying device 600, slapping sound inspection unit 601 comprises arm 220, instead of the hitting portion 230 and the inspection section for the balancer 260, the arm 620, the hitting portion 630, and, the joint portion 660. Incidentally, a distance measuring unit 240, the force sensor 250 is incorporated in the hitting portion 630.
[0110]
　Joint 660 connects the arm 620 and the hitting portion 630 in a variable angle. Thus, the slapping sound check unit 601, a high degree of freedom striking part 630 is moved than in the case of the striking portion 230 of the flight portion 100.
[0111]
　Figure 12 is an explanatory diagram showing an example of a coordinate system flying device 600 used. In the illustrated example, the flying device 600, the coordinate system sigma b , sigma pb , and, sigma pt is used.
[0112]
　Coordinate system Σ of Figure 12 b is a coordinate system Σ in FIGS. 5 to 7 b is the same as. Coordinate system Σ of Figure 12 b at the origin is set to the center of gravity (point P210) of the flying device 600. Moreover, x-axis is set in the forward direction of the flying device 600. Furthermore, the z axis is set vertically upward, y-axis is set perpendicular to the x-axis and z-axis. In the example of FIG. 12, the flying device 600, an example is shown of a case of using coordinate axes of right-handed coordinate system, the flying device 600 may be used axes of left-handed.
[0113]
　The coordinate system sigma pb at the origin is set to the connection portion (point P220) and tapping sound check unit 601 and the flying device main body 110. Moreover, x-axis is set in the longitudinal direction of the arm 620 in a direction projected on a horizontal plane. Furthermore, the z axis is set vertically upward, y-axis is set perpendicular to the x-axis and z-axis. Coordinate system sigma pb flying device 600 also has, an example is shown of a case of using coordinate axes of right-handed coordinate system, the flying device 600 may be used axes of left-handed.
[0114]
　The coordinate system sigma pt at the origin is set at the tip of the hitting portion 630 (point P230). This tip is a portion in contact with the inspection target portions 900. Moreover, x-axis in the longitudinal direction of the arm 620 is set, x-axis perpendicular and,, y-axis is set in a horizontal plane. z-axis is set in a direction perpendicular to the x-axis and y-axis. Coordinate system sigma pt regard to, the flying device 600 may be used to coordinate axes of right-handed coordinate system, may be used axes of left-handed.
[0115]
　Flight processor 18 and the inspection processing unit 19, selectively using the coordinate system in accordance with the subject of the operation. Further, it is possible to detect the relationship between the coordinates by the operation or a sensor of the servo motor, the flight processor 18 and the inspection processing unit 19 performs coordinate transformation as required.
[0116]
　As described above, hitting sound check unit 200,601 performs inspection banging inspection target portion 900 from the predetermined relative position with respect to the inspection target portions 900. Flight section 100, to fly equipped with a slapping sound inspection portion 200,601. Further, the ground-side device 20 detects the position of the flying device 10,600 is installed a relative position with respect to inspection target portions 900 are fixed. Also, the flight instruction unit 592, based on the position of the flying device 10,600 terrestrial device 20 detects the advancing direction of the flying device 10,600, directs in a direction from the ground device 20 to the inspection target portions 900 controlling the flying device 10,600 as.
[0117]
　Thus, the flight instruction unit 592, since the process for directing the advancing direction of the flying device 10,600 to inspection target portions 900, without the need to work inspection operates the flying device 10,600, a tapping sound inspection It can be carried out. Moreover, because of the use of the flying device 10,600 as a device for moving the tapping sound inspection unit 200,601, even for difficult locations entering a vehicle, capable of striking noise inspection.
[0118]
　In addition, the hitting portion 230,630 is, tapping the inspection target portions 900. The inspection processing unit 19, the hitting portion 230,630 is before you hit inspection target portion 900 for inspection to confirm the relative position with respect to inspection target portion 900 of the hitting portion 230,630. Thus, the inspection system 1, banging inspection target portion 900 from improper position accuracy of the striking noise inspection can be reduced the possibility of reduction.
[0119]
　The force sensor 250 detects the force applied to the hitting portion 230,630. Check processing unit 19 moves the hitting portion 230,630 to the position striking the inspection target portion 900, determine the presence or absence of contact with the inspection target portion 900 and the striking part 230,630 based on the sensing data of the force sensor 250 to.
[0120]
　Thus, the inspection system 1, by a simple process of determining the presence or absence of the detection of the pressure by the force sensor 250, it is possible to confirm whether or not properly perform the hammering sound test.
[0121]
　Further, the distance measuring section 240 measures the distance between the inspection target portion 900 and the striking part 230,630. The inspection processing unit 19, the distance between the inspection target portion 900 and the striking part 230,630 determines whether a predetermined distance.
[0122]
　Thus, the inspection system 1, by a simple process of distance ranging unit 240 is detected to determine whether or not a predetermined distance, it is possible to confirm whether or not properly perform the hammering sound test.
[0123]
　Also, the flight instruction unit 592, inspection was designated two points on the surface of the inspection target portion 900, the forward direction of the flying device 10,600, a direction perpendicular to a line including two points, and, from the ground-side apparatus 20 controlling the flying device 10,600 to direct in a direction toward the target portion 900.
[0124]
　Thus, the inspector may be performed a simple process of designating two points on the surface of the inspection target portion 900 is not necessary to steer the flying device 10,600. In this regard, it is possible to reduce the burden of inspection workers.
[0125]
　Next, with reference to FIGS. 13 to 14, it will be described minimum configuration of the present invention.
[0126]
　Figure 13 is an explanatory diagram showing a minimum configuration of a checking system according to the present invention. Inspection system 50 shown in the figure includes a flying device 51, and the ground-side apparatus 54, and a flight command unit 55. Flying device 51 is provided with a slapping sound inspection unit 52, and a flight portion 53.
[0127]
　At such a configuration, slapping sound check unit 52 performs a check banging inspection target portion from the predetermined relative position with respect to the inspection target portions. Flight 53, flight equipped with a slapping sound check unit 52. Ground-side device 54 detects the position of the flying device 51 is installed a relative position with respect to inspection target portions fixed. The flight instruction unit 55 based on the position of the flying device 51 ground side device 54 detects the advancing direction of the flying device 51, the flying device 51 to direct in a direction from the ground-side device 54 to the inspection target portions Control.
[0128]
　Thus, the flight instruction unit 55, since the process for directing the advancing direction of the flying device 51 to the inspection target portions, without the need to work inspection operates the flying device 51 can perform hammering sound check. Moreover, because of the use of the flying device 51 as a device for moving the tapping sound inspection unit 52, even for difficult locations entering a vehicle, capable of striking noise inspection.
[0129]
　Figure 14 is an explanatory diagram showing a minimum configuration of a control apparatus according to the present invention. Control device 60 shown in the figure includes a flight command unit 61.
[0130]
　Flight instruction unit 61 in such a structure, a hammering sound check unit for performing an inspection by hitting the inspection target portion from the predetermined relative position with respect to the inspection target portion, and a flight section to fly equipped with a tapping sound check unit the forward direction of flight device including, to direct from the ground-side apparatus for detecting the position of the flying device is installed a relative position to a fixed relative inspection target portion in a direction toward the inspection target portion, the flight device ground side device detects controlling the flying device based on the position.
[0131]
　Thus, the flight instruction unit 61, since the process for directing the advancing direction of the flight device to the inspection target portions, without the need to work inspection operates the flying device can perform hammering sound check. Also, since the flying device is used as a device for moving the hitting sound inspection unit, even for difficult locations entering a vehicle, capable of striking noise inspection.
[0132]
　Note that the flight-side control unit 17, and the ground-side control unit 29, and records a program for realizing all or part of the functions of the control side control unit 590 in a computer-readable recording medium, the recording medium the recorded program read into the computer system may perform the processing of each unit by executing. Here, the "computer system" is intended to include an OS (Operating System) and hardware such as peripheral devices.
[0133]
　The "computer-readable recording medium", a flexible disk, a magneto-optical disk, ROM (Read Only Memory), CD-ROM (Compact Disc Read Only Memory) a portable medium such as a hard disk built in the computer system and a storage device like. The program may be one for implementing part of the above functions, it may further be realized by a combination of already the recorded with a program to function the computer system described above.
[0134]
　Have been described above in detail with reference to the accompanying drawings, embodiments of the present invention, the specific configuration is not limited to this embodiment also includes designs and the like without departing from the scope of the invention.
[0135]
　This application claims priority based on Japanese Patent Application No. 2016-106764, filed on May 27, 2016, the entire disclosure of which is incorporated herein.
DESCRIPTION OF SYMBOLS
[0136]
　1,50 Inspection System
　10,51,600 flying device
　11 flight side communication unit
　16 flight side storage unit
　17 flight side control unit
　18 flight processor
　19 and inspection section
　20,54 ground side device
　21 the ground side communication unit
　22 flying device detection part
　28 ground side storage unit
　29 the ground side controller
　30 control system
　31,60 control device
　32 power supply
　52,200,601 tapping sound check unit
　53,100 flight portion
　55,61,592 flight instruction unit
　110 flying device main body
　120 fans
　balancer 130 body
　mount for 210 inspection unit
　rotation axis 211 inspection unit
　220,620 arm
　230,630 hitting portion
　240 distance measuring unit
　250 force sensor
　260 inspection unit for balancer
　270 microphone
　300 laser range finder
　310 finder pedestal
　311 finder rotary shaft
　320 finder body
　400 corner cube
　510 Control side communication unit
　520 display unit
　530 operation input unit
　580 Control side storing unit
　590 control side control unit
　591 coordinates management unit
　660 joint
　900 and inspection target portion

WE CLAIM

And striking noise inspection means for performing inspection by hitting the inspection target portion from the predetermined relative position with respect to the inspection target portion,
　a flight vehicle to fly by mounting the hammering sound inspection means,
　a flying device equipped with,
　the inspection the ground-side apparatus for detecting the position of the flying device is installed a relative position with respect to the target location is fixed,
　based on the position of the ground-side device detects the flying device, the forward direction of the flying device, the ground a flight command means for controlling the flying device to direct in the direction of side apparatus to the inspection target portions,
　inspection system comprising.
[Requested item 2]
　The striking sound inspection means is provided with a striking means for striking the inspection target portions,
　the flying device, before said striking means strikes the inspection target portion for inspection, relative to said inspection target portion of said striking means comprising a striking unit position checking means for checking the position,
　inspection system according to claim 1.
[Requested item 3]
　Comprising a force sensor for detecting a force applied to said striking means,
　said striking means position confirmation means, said striking means is moved to a position striking the inspection target portion, wherein the blow on the basis of the sensing data of the force sensor It determines the presence or absence of contact with the inspection target portions and means,
　inspection system according to claim 2.
[Requested item 4]
　Comprising a distance measuring means for measuring a distance between the inspection target portions and said striking means,
　said striking means position confirmation means, the distance between the inspection target portions and said striking means determines whether or not a predetermined distance,
　inspection system according to claim 2 or claim 3.
[Requested item 5]
　Said flight command means receives the designation of two points on the surface of the inspection target portion, the advancing direction of the flying device, a direction perpendicular to the straight line including the two points, and the inspection target portion from the ground-side apparatus controlling the flying device to direct in a direction towards the, inspection system according to any one of claims 1 to 4.
[Requested item 6]
　And striking noise inspection means for performing inspection by hitting the inspection target portion from the predetermined relative position with respect to the inspection target portion, the forward direction of the flying device and a flight vehicle to fly by mounting the hammering sound inspection means, to direct in a direction from the ground-side apparatus for detecting a position of the flying device is installed a relative position with respect to the inspection target portions in the fixed to the inspection target portions, based on the position of the flying device in which the ground-side device detects control apparatus comprising a flight command means for controlling the flying device Te.
[Requested item 7]
　And striking noise inspection means for performing inspection by hitting the inspection target portion from the predetermined relative position with respect to the inspection target portion, the forward direction of the flying device and a flight vehicle to fly by mounting the hammering sound inspection means, to direct in a direction from the ground-side apparatus for detecting a position of the flying device is installed a relative position with respect to the inspection target portions in the fixed to the inspection target portions, based on the position of the flying device in which the ground-side device detects control method for controlling the flying device Te.
[Requested item 8]
　The computer,
　advancement of the flying device comprising a tapping sound inspection means for performing inspection by hitting the inspection target portion from the predetermined relative position with respect to the inspection target portion, and a flight vehicle to fly by mounting the tapping sound inspection means direction, to direct from the ground-side apparatus for detecting a position of the flying device is installed a relative position to a fixed with respect to the inspection target portions in a direction toward the inspection target portion, of the flying device in which the ground-side device detects the storing a program for executing processing for controlling a flying device, a computer readable recording medium based on the position.