INDOOR MONITORING SYSTEM AND METHOD FOR STRUCTURE

WIPO Patent Application WO/2016/002236

A1

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.

KONO TAKAYUKI (JP)
TSUMURA YOICHIRO (JP)

PCT/JP2015/051360

January 07, 2016

January 20, 2015

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MITSUBISHI HEAVY IND LTD (JP)

G01B21/00; G05D1/10; G01C15/00; G01N21/84; G05D1/00

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SEUNGHO JEONG; ET AL.: "Vision-based localization of a quad-rotor system", UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAI), 2012 9TH INTERNATIONAL CONFERENCE ON, 26 November 2012 (2012-11-26), pages 636 - 638, XP032331135
DILL, E.; ET AL.: "Seamless indoor-outdoor navigation for unmanned multi-sensor aerial platforms", POSITION, LOCATION AND NAVIGATION SYMPOSIUM - PLANS 2014, 5 May 2015 (2015-05-05), pages 1174 - 1182, XP032616416
See also references of EP 3147743A4

SAKAI, Hiroaki et al. (JP)
Hiroaki Sakai (JP)

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