JP6085153B2 - Indoor survey system - Google Patents

Description

  The present invention relates to an indoor survey system for safely investigating the inside of a building, and particularly suitable for investigating the inside of a power plant, various plants, and other medium to large-scale buildings at the time of a disaster. It relates to a building survey system.

  For example, when a disaster such as an earthquake, a tornado, or a tsunami occurs and a building is damaged, it is necessary to conduct a safe and prompt investigation of whether there is an injured person in the building and the status of dangerous goods. However, when the building is damaged, it is assumed that the passage into the building is hindered due to the passage being blocked or various things scattered on the floor. Furthermore, there is a risk of secondary disasters when humans investigate buildings. The use of remote-controlled robots is considered effective for investigating the building safely while avoiding the risk of secondary disasters.

  Numerous robots have been developed since the Great Hanshin-Awaji Earthquake to conduct investigations by entering the building during a disaster. For example, Patent Document 1 (Japanese Patent Application Laid-Open No. 2011-105137) discloses a crawler type traveling device suitable for traveling on rough terrain.

  Patent Document 2 (Japanese Patent Laid-Open No. 2010-179914) discloses an unmanned aerial vehicle integrated with an unmanned land vehicle, a power unit shared by the unmanned aerial vehicle and the unmanned land vehicle, and the unmanned aerial vehicle. A vehicle control device shared by the vehicle and the unmanned land vehicle, a disengagement mechanism for detaching the unmanned land vehicle from the unmanned aerial vehicle, and disposed in either the unmanned aerial vehicle or the unmanned land vehicle A transformable unmanned aerial / land vehicle assembly (see claim 1) comprising one or more manipulator arms and a landing gear is disclosed.

Patent Document 3 (Japanese Patent Application Laid-Open No. 2006-51893) includes a control center having communication means and a communication means in which an absolute position and an attitude relative to the control center are grasped by the control center. Position / attitude detection comprising a first moving body and a second moving body having communication means, wherein the control center detects the position and orientation of the second moving body via the first moving body. In the system, the first moving body includes imaging means for photographing the second moving body, and current information of the second moving body including image data of a photographed image photographed by the imaging means, Or current information creating means for creating current information of the second moving object including data created based on the image data, and transmitting the current information of the second moving object to the control center. The control center determines the absolute position and absolute position of the second moving body relative to the control center based on the information on the absolute position and absolute posture of the first moving body and the current information on the second moving body. There is disclosed a position / posture detection system (refer to claim 1) characterized by having absolute position / absolute posture detection means for obtaining a posture.

JP 2011-105137 A JP 2010-179914 A JP 2006-51893 A

  However, in a remotely operated robot of the type that moves on the floor surface, such as the crawler type traveling device disclosed in Patent Document 1, it is difficult to move to the investigation target site due to an obstacle in the investigation in the building. was there. In addition, a flight type remote control robot such as the unmanned aerial vehicle disclosed in Patent Document 2 can fly only within a range that can be directly observed by an operator, and is difficult to use in a building. was there. Furthermore, a small flying robot that can enter a building has a short flight time. Further, as in Patent Document 3, even if the first moving body (mother ship) has an imaging means for photographing the second moving body (small flying body), there is a drawback that the operation becomes complicated. .

  Then, this invention makes it a subject to provide the building interior survey system which can investigate the inside of a building appropriately.

In order to solve such a problem, the present invention provides a moving mechanism that moves on a floor surface and enters a building, a camera provided in the moving mechanism, a pan-tilt mechanism of the camera, and the moving mechanism. A mountable flying body, a light emitting body provided on the flying body, a pan / tilt control unit for controlling the pan / tilt mechanism so that the camera tracks the light emitting body, and an image captured by the camera are displayed. A display unit ; an operation input unit that inputs at least an operation of the flying object; a storage unit that stores a map of a building to be investigated; and a position estimation unit that estimates positions of the moving mechanism and the flying object in the map When the determined flight region determining unit that determines whether a flight region of the aircraft, and a control unit for controlling the movement of the aircraft, the flight area determination unit, said position置推Based on the position of the moving mechanism estimated by the unit and the map, the flightable region of the flying object that is a region where wireless communication is possible between the moving mechanism and the flying object, When the flightable region determination unit determines that the moving direction of the flying object input by the operation input unit is outside the flightable region, the control unit restricts the movement of the flying object. It is a building survey system.

  ADVANTAGE OF THE INVENTION According to this invention, the building investigation system which can investigate the inside of a building appropriately can be provided, and especially the building which investigates a building safely, avoiding the risk of a secondary disaster at the time of a disaster occurrence. An indoor survey system can be provided.

It is a block diagram of the structure of the building survey system which concerns on this embodiment. It is an external appearance perspective view which shows an example of the moving mechanism with which the building interior survey system which concerns on this embodiment is provided. It is a functional block diagram of a moving mechanism. It is an external appearance perspective view which shows an example of the flying body of the building interior survey system which concerns on this embodiment. It is a functional block diagram of a flying body. It is an external appearance perspective view which shows the state in which the flying body was mounted in the moving mechanism. It is a functional block diagram of a remote control device. It is a flowchart which shows the procedure of the operator in the case of investigating a building using a building investigation system. It is a flowchart which shows the tracking process of the ITV camera mounted in the moving mechanism. It is a top view which shows an example of the map inside a building. It is a flowchart which shows the movement restriction | limiting of a flying body. It is a functional block diagram of 2A of relay aircrafts concerning a modification.

  Hereinafter, modes for carrying out the present invention (hereinafter referred to as “embodiments”) will be described in detail with reference to the drawings as appropriate. In each figure, common portions are denoted by the same reference numerals, and redundant description is omitted.

≪In-building investigation system≫
The overall configuration of the building survey system S according to the present embodiment will be described with reference to FIGS. FIG. 1 is a schematic configuration diagram of a building survey system S according to the present embodiment. FIG. 2A is an external perspective view showing an example of the moving mechanism 1 provided in the building inspection system S according to the present embodiment. FIG. 2B is a functional block diagram of the moving mechanism 1. FIG. 3A is an external perspective view showing an example of the flying object 2 of the building interior survey system S according to the present embodiment. FIG. 3B is a functional block diagram of the flying object 2. FIG. 4 is an external perspective view showing a state in which the flying object 2 is mounted on the moving mechanism 1. FIG. 5 is a functional block diagram of the remote control device 3.

  As shown in FIG. 1, a building survey system S according to this embodiment includes a moving mechanism 1 that enters a building (not shown), and is mounted on the moving mechanism 1 (see FIG. 4) to enter the building. The vehicle 2 that is to be investigated by flying in the building, the remote control device 3 for remotely operating the mobile mechanism 1 and the mobile device 2, and the remote control device 3 and the mobile mechanism 1 are communicably connected. And a cable 4 for supplying power to the moving mechanism 1 from the remote operation device 3. The moving mechanism 1 and the flying object 2 can communicate with each other by the radio 5.

  That is, the remote operation device 3 can remotely operate the moving mechanism 1 via the cable 4. The remote control device 3 can remotely control the flying object 2 via the cable 4, the moving mechanism 1 and the radio 5.

  When the flying object 2 is remotely operated, the display means 31 (see FIG. 5 to be described later) of the remote control device 3 has an FPV (first image) taken by the camera 25 of the flying object 2 (see FIG. 3B to be described later). -person point of view (first person view) image and TPV (third-person point of view) image obtained by shooting the flying object 2 with the ITV (Industrial Television) camera 13 of the moving mechanism 1 The operator can remotely control the flying object 2 while looking at these images, and can investigate the inside of the building.

<Moving mechanism 1>
As shown in FIG. 2A, the moving mechanism 1 includes a main body 10, a pair of crawler mechanisms 11 provided on the left and right sides of the main body 10, a pair of flippers 12 provided outside the crawler mechanism 11, and an ITV camera 13. , A pan / tilt head 14 capable of panning (tilting in the left-right direction) and tilting (tilting in the up-and-down direction), and a control means 15 arranged on the upper part of the main body 10 for controlling the entire moving mechanism 1. I have.

  As shown in FIG. 4, the moving mechanism 1 can be mounted with the flying object 2, and the crawler mechanism 11 and the flipper 12 provide an environment such as stairs and steps in the building, small debris, etc. It is possible to move in a state where the flying object 2 is mounted even in a place where the flying object 2 is scattered.

  As shown in FIG. 2B, the moving mechanism 1 includes a communication means 16 for communicating with the remote control device 3 (see FIG. 1) via the cable 4 (see FIG. 1), and a radio 5 (see FIG. 1). Wireless communication means 17 for communicating with the flying object 2 (see FIG. 1). The moving mechanism 1 further includes power supply means 18 for charging a battery 29a (see FIG. 3B described later) of the flying object 2 when the flying object 2 is mounted (see FIG. 4).

  In addition, although illustration is abbreviate | omitted, the moving mechanism 1 is provided with various sensors (not shown) which measure environmental data, such as temperature, humidity, and a radiation dose, and the measured environmental data is connected to the remote control device 3 via the cable 4. Can be sent. Moreover, since the case where the building is interrupted at the time of disaster occurrence is also assumed, the moving mechanism 1 is equipped with the illuminating device (not shown).

<Aircraft 2>
As shown in FIG. 3A, the flying object 2 includes a frame 20, a pair of propellers 21 arranged coaxially at the center of the frame 20, a motor 22 that drives each propeller 21, and the attitude of the flying object 2. And a luminous body marker 24 (see FIG. 1) provided at the lower part of the frame 20.

  When the flying object 2 flies in a building (not shown), it is assumed that the flying object 2 comes into contact with the structure in the building. As shown in FIG. 3A, the frame around the propeller 21 Since the structure 20 surrounds, the propeller 21 is configured not to come into contact with the structure in the building. The flying object 2 can fly freely in the air, such as being able to stand still in the air.

  As shown in FIG. 3B, the flying object 2 includes a camera 25, a distance sensor 26 that measures the distance between the flying object 2 and the floor, a control unit 27 that controls the entire flying object 2, and a radio 5 (FIG. 1). Wireless communication means 28 for communicating with the moving mechanism 1 (see FIG. 1) via the reference). In addition, the flying object 2 further includes a battery 29a that is a power source of the flying object 2 and power receiving means 29 for charging the battery 29a.

  Here, as shown in FIG. 1, the illuminant marker 24 is installed in the lower part of the flying object 2 and is configured to be easily recognized from the ITV camera 13 mounted on the moving mechanism 1 when the flying object 2 flies. . Further, by using a light emitter using infrared rays (for example, an infrared LED) as the light emitter marker 24, it is possible to prevent erroneous recognition as another light emitter present in the building. Further, the control means 27 of the flying object 2 may turn on / off the light-emitting body marker 24 in a predetermined pattern so as to improve the distinguishability from other light-emitting bodies.

  In a state where the flying object 2 is mounted on the moving mechanism 1 (see FIG. 4), the power receiving means 29 of the flying object 2 is supplied with power from the feeding means 18 (see FIG. 2B) of the moving mechanism 1 and charges the battery 29a. Can be done. By being configured in this way, the flying object 2 can perform a longer-term investigation. Further, since the battery 29a can be reduced in weight and size, the lift required for the propeller 21 is reduced, and the flying object 2 can be reduced in size. Note that power supply from the power receiving unit 29 to the power supply unit 18 is preferably non-contact (wireless, non-contact), but is not limited thereto.

  Although not shown, the flying object 2 includes various sensors (not shown) that measure environmental data such as temperature, humidity, and radiation dose, and a gyro sensor (not shown) that measures the attitude of the flying object 2. The measured environmental data can be transmitted to the remote control device 3 via the radio 5, the moving mechanism 1 and the cable 4. In addition, since it is assumed that the building has a power failure when a disaster occurs, the flying object 2 includes an LED (Light Emitting Diode) illumination device (not shown) that illuminates the imaging range of the camera 25.

<Remote control device 3>
As shown in FIG. 5, the remote control device 3 includes a display unit 31, an operation unit 32 for an operator to input an operation, a storage unit 33 in which a map 33 a of an investigation target building is stored, a cable 4 ( The communication means 34 for communicating with the moving mechanism 1 (see FIG. 1) via the remote control device 3 and the control means 35 for controlling the entire remote operation device 3 are provided. Further, the control means 35 includes an image processing unit 36, a pan / tilt control unit 37, a position estimation unit 38, and a flightable region determination unit 39.

  The image processing unit 36 can extract the position of the light emitter marker 24 of the flying object 2 from the image taken by the ITV camera 13 of the moving mechanism 1.

  The pan / tilt control unit 37 can generate and transmit a signal for controlling the pan / tilt head 14 of the moving mechanism 1. The control of the pan / tilt head 14 during the flight of the flying object 2 will be described later with reference to FIG.

The position estimation unit 38 can estimate the positions of the moving mechanism 1 and the flying object 2. The details of the method for estimating the positions of the moving mechanism 1 and the flying object 2 by the position estimating unit 38 will be described later (see S202 and S203 in FIG. 9).
The flightable region determination unit 39 can determine a flightable region that is a region where communication by the radio 5 can be performed between the moving mechanism 1 and the flying object 2. Further, the flightable area determination unit 39 can determine whether or not the position to which the flying object 2 is to move is within the flightable area. Note that the control of the flying object 2 during the flight of the flying object 2 will be described later with reference to FIG.

≪Survey procedure using building survey system≫
Next, the investigation procedure in the building using the building investigation system S will be described with reference to FIG. FIG. 6 is a flowchart showing the procedure of the operator when the building is surveyed using the building survey system S.

  The operator uses the operating means 32 to move the moving mechanism 1 while viewing the video from the ITV camera 13 mounted on the moving mechanism 1 displayed on the display means 31 from the remote control device 3 installed at a safe position outside the building. Remotely operated, the moving mechanism 1 is moved by operating the crawler mechanism 11 and the flipper 12 (refer to the loops of S1, S2, No, S3, No).

  When it is possible to move to the vicinity of the investigation target only by movement of the floor (S1, S2 · No, S3 · Yes, S4 · Yes), the investigation target video is acquired by the ITV camera 13 mounted on the movement mechanism 1 (S5). . Note that environmental data (temperature, humidity, radiation dose, etc.) in the vicinity of the survey target is also acquired by various sensors (not shown) mounted on the moving mechanism 1.

  On the other hand, if there is an obstacle in the middle of movement and the moving mechanism 1 cannot move to the vicinity of the investigation target (S1, S2, Yes), or the movement mechanism 1 can move to the vicinity of the investigation target, the investigation target is at a high place. Even when the investigation target cannot be confirmed by the ITV camera 13 mounted on the moving mechanism 1 due to the above (S1, S2 · No, S3 · Yes, S4 · No), it is possible to investigate using the flying object 2 (S6) -Yes), and investigate using the air vehicle 2.

  The operator remotely operates the flying object 2 with the operating means 32 while viewing the image from the ITV camera 13 mounted on the moving mechanism 1 displayed on the display means 31 and the image from the camera 25 mounted on the flying object 2, The flying object 2 is moved (S7). Here, the pan / tilt head 14 of the ITV camera 13 is controlled by a pan / tilt control unit 37 so that the ITV camera 13 automatically tracks the flying object 2. That is, the operator can concentrate on the vehicle 2 for remote control. And the image | video of investigation object is acquired with the camera 25 mounted in the flying body 2 (S8). It should be noted that environmental data (temperature, humidity, radiation dose, etc.) in the vicinity of the survey target is also acquired by various sensors (not shown) mounted on the flying object 2. When the survey of the survey target is completed, the flying object 2 returns to a predetermined position of the moving mechanism 1. When the vehicle returns, the battery 29a of the flying object 2 is charged.

  On the other hand, if it is not possible to investigate even using the flying object 2 because there is no space through which the flying object 2 can pass (S6, No), the investigation object cannot be investigated (S9).

  If all the surveys have not been completed (No at S10), the moving mechanism 1 is remotely operated to move the moving mechanism 1 to the vicinity of the next survey target, and the same is performed thereafter.

  When all the surveys are completed (S10 / Yes), the moving mechanism 1 is remotely operated to move the moving mechanism 1 to the vicinity of the remote control device 3 and all the surveys are completed.

<Tracking process of ITV camera>
In the building inspection system S according to the present embodiment, when the flying object 2 flies, the pan / tilt head 14 of the ITV camera 13 is controlled by the pan / tilt control unit 37, and the ITV camera 13 automatically moves the flying object 2. It comes to track. This tracking process will be described with reference to FIG. FIG. 7 is a flowchart showing the tracking process of the ITV camera 13 mounted on the moving mechanism 1.

First, in step S <b> 101, the image processing unit 36 of the control unit 35 extracts the position of the light emitter marker 24 of the flying object 2 from the image taken by the ITV camera 13 of the moving mechanism 1.
Next, in step S102, the pan / tilt control unit 37 calculates a deviation (horizontal deviation and vertical deviation) between the position of the center of the screen and the position of the illuminant marker 24 extracted in step S101.
In step S103, the pan / tilt control unit 37 generates and transmits a signal for controlling the pan / tilt head 14 of the moving mechanism 1 so as to reduce the deviation based on the deviation calculated in step S102.

  The control signal of the pan / tilt head 14 transmitted from the pan / tilt control unit 37 is input to the control unit 15 of the moving mechanism 1 via the communication unit 34, the cable 4, and the communication unit 16 of the moving mechanism 1. Then, the control means 15 of the moving mechanism 1 controls the pan / tilt head 14 based on the control signal.

  As described above, the pan / tilt head 14 of the moving mechanism 1 is controlled so that the luminous body marker 24 of the flying object 2 comes to the center of the image photographed by the ITV camera 13 of the moving mechanism 1. The operator can operate the flying object 2 while viewing the image displayed on the display means 31 of the remote control device 3. Thereby, it becomes possible to investigate also about the investigation object which an operator cannot visually observe the flying body 2 like a building.

<Aircraft movement restrictions>
Next, limitation on the movement range of the flying object 2 will be described with reference to FIG. FIG. 8 is a plan view showing an example of a map inside the building 60. This map is stored in advance in the storage means 33 of the remote control device 3 as a map 33a.

  If the moving mechanism 1 moves in the building 60 with the flying object 2 mounted, moves to the point A and is obstructed by the obstacle 61, the investigation of the B region, C region, and D region ahead of the moving mechanism 1 1 is not possible. In that case, the flying object 2 is caused to fly and the investigation is performed. Here, for the B region and the C region, the survey is performed by the flying object 2, but for the D region, the wall of the building 60 becomes an obstacle, and the wireless communication between the moving mechanism 1 and the flying object 2 is interrupted. There is a possibility that the flying object 2 may be unable to be steered. For this reason, the building interior survey system S according to the present embodiment can restrict the operation when the operator performs an operation that causes the flying object 2 to enter the D region.

FIG. 9 is a flowchart showing the movement restriction of the flying object 2.
In step S <b> 201, the control unit 35 determines whether or not the operator has input a moving operation of the flying object 2 by operating the operation unit 32. When the moving operation of the flying object 2 is not input (S201, No), S201 is repeated until the moving operation is input. On the other hand, when the movement operation of the flying object 2 is input (S201 / Yes), the process of the control means 35 proceeds to step S202.

  In step S202, the position estimation unit 38 of the control unit 35 estimates the position of the moving mechanism 1 on the map 33a. The position estimation unit 38 estimates the position of the movement mechanism 1 by, for example, measuring and estimating the movement distance of the movement mechanism 1 from the time of building entry. Further, the position of the moving mechanism 1 may be estimated based on an image taken by the ITV camera 13 of the moving mechanism 1.

  In step S203, the position estimation unit 38 of the control means 35 estimates the position of the flying object 2 on the map 33a. The position estimation unit 38 estimates the position of the flying object 2, for example, the position of the moving mechanism 1 estimated in step S202, the pan / tilt angle information of the pan / tilt head 14 of the moving mechanism 1, and the distance of the flying object 2. It can be estimated based on the distance information with the floor measured by the sensor 26.

  In step S <b> 204, the flightable region determination unit 39 determines a flightable region that is a region in which communication by the radio 5 can be performed between the moving mechanism 1 and the flying object 2. Specifically, the flightable region is determined based on the position of the moving mechanism 1 estimated in step S202 and the map 33a stored in the storage unit 33.

  In step S205, the flightable area determination unit 39 determines whether or not the position of the flying object 2 after the moving operation input in step S201 is within the flightable area. That is, the flightable region determination unit 39 estimates the position of the flying object 2 after the moving operation based on the position of the flying object 2 estimated in step S203 and the moving operation input in step S201. It is determined whether or not it is within the flightable region determined in step S204. When it is in the flight possible region (S205 / Yes), the process of the control unit 35 proceeds to step S206. On the other hand, when it is not in the flightable region (S205 / No), the process of the control unit 35 proceeds to step S207.

In step S206, the control means 35 generates and transmits a signal for controlling the flying object 2 based on the moving operation input in step S201.
The control signal of the flying object 2 transmitted from the control means 35 is the communication means 34, the cable 4, the communication means 16 of the moving mechanism 1, the control means 15 of the moving mechanism 1, the wireless communication means 17 of the moving mechanism 1, and the wireless 5. Input to the control means 27 of the flying object 2 via the non-communication means 28 of the flying object 2. And the control means 27 of the flying body 2 controls the motor 22 and the moving blade 23 based on the control signal.

  On the other hand, in step S207, the control unit 35 displays a warning on the display unit 31 of the remote operation device 3. As a result, the operator can perceive that the direction of the operation input is outside the flightable region. In addition, since the destination of the flying object 2 is outside the flightable region and the wireless communication between the moving mechanism 1 and the flying object 2 is interrupted, the movement of the flying object 2 can be restricted. It is possible to prevent the vehicle from becoming inoperable.

  As described above, according to the building survey system S according to the present embodiment, the operator moves the building 1 by remotely operating the moving mechanism 1 and the flying object 2 using the remote control device 3 from a safe place. It becomes possible to investigate the inside of the building. Further, when the flying object 2 returns to the moving mechanism 1, the battery 29 a of the flying object 2 can be charged by the power supply means 18 of the moving mechanism 1 and the power receiving means 29 of the flying object 2. The range can be expanded. Further, by controlling the moving direction of the flying object 2 by recognizing the map of the building in which the moving range of the flying object 2 is created in advance and the position of the flying object on the map, the flying object 2 can be controlled by the communication interruption. Impossibility can be prevented.

≪Modification≫
Next, a building survey system S according to a modification will be described with reference to FIG. FIG. 10 is a functional block diagram of a relay flying object 2A according to a modification.
Here, the building survey system S according to the modified example is different in that a relay flying object 2A shown in FIG. 10 is provided in addition to the flying object 2 (see FIG. 3B). Moreover, the moving mechanism 1 can mount the flying body 2 and the relay flying body 2A.

  The relay flying object 2A is different from the flying object 2 (see FIG. 3B) in that it further includes relay means 28A and relay means 28B. The other configuration is the same as that of the flying object 2 (see FIG. 3B), and the description is omitted.

  In the building inspection system S according to the modified example, after the moving mechanism 1 stops at the point A in the building 60 shown in FIG. 8, first, the relay flying object 2A having the relay means 28A and 28B is caused to fly to the C region. Land on the floor. Next, the flying object 2 is caused to fly from the moving mechanism 1. Here, by making the relay flying object 2A landed in the C area as a wireless relay station, the flying object 2 can fly in the D area and perform an investigation. In this case, the flying object 2 in the D region becomes a blind spot from the ITV camera 13 of the moving mechanism 1, but by the image from the camera 25 of the relay flying object 2 </ b> A that has landed in the C region and the image from the camera 25 of the flying object 2. , The flying object 2 in the D region can be remotely operated.

  The camera 25 of the relay flying object 2A has a pan / tilt head (not shown), and controls the pan / tilt head (not shown) of the relay flying object 2A so as to track the marker 24 of the flying object 2. It may be. In this case, the pan / tilt head (not shown) of the relay flying object 2A is controlled by replacing the moving mechanism 1 with the relay flying object 2A with respect to the control shown in FIG. The pan / tilt head 14 of the moving mechanism 1 may be replaced with the pan / tilt head (not shown) of the relay flying object 2A, and the description thereof is omitted.

  Similarly, regarding the limitation of the movement range of the flying object 2, the control shown in FIG.

  As described above, according to the building survey system S according to the modification, the movable range of the flying object 2 can be expanded and the surveyable range can be expanded.

≪Others≫
In addition, the building survey system S according to the present embodiment is not limited to the configuration of the above embodiment, and various modifications can be made without departing from the spirit of the invention.

  As shown in FIG. 1, the building survey system S according to the present embodiment has been described as connecting the remote control device 3 and the moving mechanism 1 with the cable 4, but is not limited thereto. For example, a configuration in which a battery (not shown) is mounted on the moving mechanism 1 and the remote control device 3 and the moving mechanism 1 communicate wirelessly.

  As illustrated in FIG. 2A, the moving mechanism 1 of the building survey system S according to the present embodiment has been described as moving by the crawler mechanism, but is not limited thereto. For example, the structure which moves with a drive wheel may be sufficient, the structure which moves with a multi-leg mechanism may be sufficient, and the structure which combined them may be sufficient.

  Moreover, about the building survey system S which concerns on a modification, 2 A of relay flying bodies which have a relay function are not restricted to one, You may provide with two or more. Moreover, although the building survey system S according to the modification has been described as being provided with a combination of the flying vehicle 2A having a relay function and the flying vehicle 2 having no relay function, the invention is not limited to this, and all relays are performed. You may comprise by the relay flying body 2A which has a function. Further, the relay flying object 2A functioning as a relay station may be configured at low cost by omitting various sensors (not shown) for acquiring environmental data (temperature, humidity, radiation dose, etc.).

S Building Survey System 1 Moving Mechanism 2 Aircraft 2A Relay Aircraft (Aircraft)
3 Remote control device 4 Cable 5 Radio 10 Main body 11 Crawler mechanism 12 Flipper 13 ITV camera 14 Pan / tilt pan head 15 Control means 16 Communication means 17 Wireless communication means 18 Power supply means 20 Frame 21 Propeller 22 Motor 23 Rotor 24 Light emitter marker (light emission) body)
25 camera 26 distance sensor 27 control means 28 wireless communication means 28A, 28B relay means 29 power receiving means 29a battery (storage battery)
31 Display means 32 Operation means 33 Storage means 33a Map 34 Communication means 35 Control means 36 Image processing section 37 Pan / tilt control section (pan / tilt control means)
38 Position estimation unit (position estimation means)
39 Flyable region determination unit (flyable region determination means)

Claims (8)

A moving mechanism that moves through the floor and enters the building;
A camera provided in the moving mechanism;
A pan / tilt mechanism of the camera;
An aircraft that can be mounted on the moving mechanism;
A light emitter provided on the flying body;
A pan / tilt control unit for controlling the pan / tilt mechanism so that the camera tracks the light emitter;
A display unit for displaying an image captured by the camera;
An operation input unit for inputting at least the operation of the flying object ;
A first wireless communication unit provided in the moving mechanism;
A second wireless communication unit provided in the flying body and capable of wireless communication with the first wireless communication unit;
A storage unit for storing a map of the building under investigation;
A position estimating unit for estimating the position of the moving mechanism and the flying object in the map;
A flightable area determination unit that determines whether the flightable area of the flying object;
A control unit for controlling the movement of the flying object ,
The flight region determination unit
Based on the position of the moving mechanism estimated by the position estimating unit and the map, the flightable area of the flying object is an area where wireless communication is possible between the moving mechanism and the flying object. Decide
When the flightable area determination unit determines that the moving direction of the flying object input by the operation input unit is out of the flightable area, the control unit limits the movement of the flying object. An indoor survey system characterized by that. The position estimation unit
The building survey system according to claim 1, wherein a position of the moving mechanism in the map is estimated based on a moving distance of the moving mechanism from the time of entering the building.   The position estimation unit
  Estimating the position of the moving mechanism in the map based on an image taken by the camera
  The building interior survey system according to claim 1, wherein:   A distance sensor provided on the flying object and measuring a distance between the flying object and the floor surface;
  The position estimation unit estimates the position of the flying object with respect to the movement mechanism based on the estimated position of the movement mechanism, angle information of the pan / tilt mechanism, and distance information of the distance sensor.
  The building interior survey system according to claim 2 or claim 3, wherein The building inspection system according to claim 1, wherein the light emitter is installed at a bottom portion of the flying body. The building inspection system according to claim 1, wherein the light emitter is a light emitter that emits infrared light. The moving mechanism is
The building inspection system according to claim 1, further comprising a power feeding unit that charges a storage battery of the flying object in a state where the flying object is mounted. The building survey system according to claim 1, further comprising a relay flying object having relay means for relaying communication between the moving mechanism and the flying object.

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