Title:
INDOOR MONITORING SYSTEM AND MODE OF STRUCTURE
Document Type and Number:
Japanese Patent JP2016015628
Kind Code:
A
Abstract:
PROBLEM TO BE SOLVED: To provide an indoor monitoring system and a method for a structure such as boiler furnace.SOLUTION: An indoor monitoring system of a structure includes an unmanned floating machine 11 having a propeller 22, that is floating means for floating and moving in a structure such as a boiler furnace, by remote operation, a distance measurement section 12 mounted on the unmanned floating machine 11 and measuring the distance between the unmanned floating machine 11 and the inner wall surface of the structure, an inertia measurement section (IMU) mounted on the unmanned floating machine 11 and grasping the airframe attitude, an imaging section 13 mounted on the unmanned floating machine 11 and imaging the structure (e.g., piping) on the wall surface side of the structure, an operating section performing remote operation of the unmanned floating machine 11, a flight position information acquiring section for acquiring the current position information of the unmanned floating machine 11 by the information of distance measurement section 12, and the information of the inertia measurement section, and a monitor for displaying the image information from the imaging section 13, and the position information from the flight position information acquiring section.
Inventors:
KONO TAKAYUKI
TSUMURA YOICHIRO
TSUMURA YOICHIRO
Application Number:
JP2014136868A
Publication Date:
January 28, 2016
Filing Date:
July 02, 2014
Export Citation:
Assignee:
MITSUBISHI HEAVY IND LTD
International Classes:
H04N7/18; B64C29/00; B64C39/02; B64D47/08; G03B15/00; G05D1/08; H04N5/225; H04N5/232
Domestic Patent References:
| JP2004211995A | 2004-07-29 | |||
| JP2014119828A | 2014-06-30 | |||
| JP2009163156A | 2009-07-23 | |||
| JP2009110250A | 2009-05-21 | |||
| JP2001209426A | 2001-08-03 | |||
| JP2009093308A | 2009-04-30 | |||
| JP2012228944A | 2012-11-22 |
Foreign References:
| WO2015107623A1 | 2015-07-23 |
Other References:
SHAOJIE SHEN ET AL.: "Autonomous Multi-Floor Indoor Navigation with a Computationally Constrained MAV", 2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), JPN6018021116, May 2011 (2011-05-01), pages 20 - 25, XP032034178, ISSN: 0003812283, DOI: 10.1109/ICRA.2011.5980357
松本光司 他２名: "草刈ロボットのための自己位置推定とその精度", 第３１回日本ロボット学会学術講演会, JPN6018021119, September 2013 (2013-09-01), ISSN: 0003957973
松本光司 他２名: "草刈ロボットのための自己位置推定とその精度", 第３１回日本ロボット学会学術講演会, JPN6018021119, September 2013 (2013-09-01), ISSN: 0003957973
Attorney, Agent or Firm:
Hiroaki Sakai
Jun Takamura
Jun Takamura
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