To provide a technology of carrying out checking of an inner wall of a flying object caused to fly while not making contact with (for example, the inner wall of) a structure in a desired direction without depending on a GPS.SOLUTION: A flying object 1 which photographs inner walls of a structure of a substantially tubular shape, includes: a measurement part which measures a distance from the inner walls (RW and LW); a control part which controls the flying object so as to maintain predetermined distance from the inner walls based on results of the measurement performed by the measurement part; and a photographing part which photographs at least surfaces of the inner walls. The control part performs flight control on the flying object through autonomous flight, sets a virtual flight space V within a predetermined range of the structure, and performs control so that the flying object flies in the flight space.SELECTED DRAWING: Figure 10
【課題】GPSに依らずに飛行体を所望の方向に構造体(の内壁等)に接触させないように飛行させて当該内壁の点検を実施する技術を提供する。【解決手段】略管状の構造体の内壁を撮像する飛行体1であって、前記内壁(LW、RW)との距離を測定する測定部と、前記測定部による測定結果に基づいて前記内壁から所定の距離を維持するように前記飛行体を制御する制御部と、前記内壁の少なくとも表面を撮像する撮像部と、を備え、前記制御部は、前記飛行体を自律飛行で飛行制御し、前記構造体内の所定範囲内に仮想的な飛行空間Vを設定し、前記飛行体が当該飛行空間内を飛行するように制御する、ことを特徴とする。【選択図】図10
FLYING OBJECT, CHECK METHOD, AND CHECK SYSTEM
飛行体、点検方法及び点検システム
2020-10-01
Patent
Electronic Resource
Japanese
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B64C AEROPLANES , Flugzeuge / B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT / G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS |
HENRY – Federal Waterways Engineering and Research Institute (BAW) | 2012
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