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    INDOOR MONITORING SYSTEM AND METHOD FOR STRUCTURE
    2.
    发明公开
    INDOOR MONITORING SYSTEM AND METHOD FOR STRUCTURE 审中-公开
    INRENBRUMÜBERWACHUNGSSYSTEMUND VERFAHRENFÜRSTRUKTUR

    公开(公告)号：EP3147743A1

    公开(公告)日：2017-03-29

    申请号：EP15814504.5

    申请日：2015-01-20

    申请人： Mitsubishi Heavy Industries, Ltd.

    发明人： KONO, Takayuki ,  TSUMURA, Yoichiro

    IPC分类号： G05D1/10 ,  G01B21/00 ,  G01C15/00 ,  G01N21/84 ,  G05D1/00

    CPC分类号： G05D1/0038 ,  B64C39/024 ,  B64C2201/027 ,  B64C2201/108 ,  B64C2201/123 ,  B64C2201/127 ,  B64C2201/146 ,  B64D47/08 ,  G01B21/00 ,  G01C3/08 ,  G01C15/00 ,  G01C21/206 ,  G01C23/00 ,  G01N21/84 ,  G05D1/0094

    摘要： The invention is provided with: an unmanned floating machine (11) provided with a propeller (22) or the like, said unmanned floating machine (11) being a floating means which is caused to float and move in the air by remote control inside a structure such as a boiler furnace; a distance measuring unit (12) which is mounted on the unmanned floating machine (11) and which measures a distance between the unmanned floating machine (11) and an inner wall surface of the structure; an inertial measurement unit (IMU) which is mounted on the unmanned floating machine (11) and which identifies the attitude of the body of the unmanned floating machine (11); an image-capturing unit (13) which is mounted on the unmanned floating machine (11) and which captures an image of a structural body (for example a pipe) on the side of said unmanned floating machine (11) toward the wall surface of the structure; a control unit with which the unmanned floating machine (11) is remotely controlled; a flight position information acquiring unit which uses information from the distance measuring unit (12) and information from the inertial measurement unit to acquire information relating to the current position of the unmanned floating machine (11); and a monitor unit which displays image information from the image-capturing unit (13) and the position information from the flight position information acquiring unit.

    摘要翻译： 本发明提供有：具有螺旋桨（22）等的无人驾驶浮动机器（11），所述无人驾驶浮动机器（11）是浮动装置，其通过远程控制在空气中浮动和移动 结构如锅炉炉; 距离测量单元（12），其安装在所述无人驾驶浮动机器（11）上并且测量所述无人驾驶浮动机器（11）与所述结构的内壁表面之间的距离; 惯性测量单元（IMU），其安装在无人驾驶浮动机器（11）上并且识别无人驾驶浮动机器（11）的身体的姿态; 安装在无人驾驶浮动机器上的图像捕获单元（13），其将所述无人驾驶浮动机器（11）侧的结构体（例如管道）的图像朝向所述无人驾驶浮动机器 结构; 远程控制无人驾驶浮动机器（11）的控制单元; 飞行位置信息获取单元，其使用来自距离测量单元（12）的信息和来自惯性测量单元的信息来获取与无人驾驶浮动机器（11）的当前位置有关的信息; 以及监视器单元，其显示来自图像拍摄单元（13）的图像信息和来自飞行位置信息获取单元的位置信息。