JP2009294713A - Checking system, controller, checking method, and control program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a checking system, a controller, a checking method, and a control program that enable a user to correct a calculated current position of a moving body when the inside of a closed space in a building is checked by the moving body. <P>SOLUTION: In an underfloor checking system 10, a passing point selection unit 153 selects an air vent D out of a plurality of air vents D1 to D4 according to the relative position of a ventilating hole V to the air vent D when an underfloor inspection robot 200 passing through the air vent D is detected. A display unit 170 displays a figure P showing the current position and a figure Q showing an estimated position on an underfloor plan. A reception unit 160 receives an operation to correct the figure P into the figure Q on the underfloor plan from the user. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an inspection system that has an imaging device and inspects a closed space by a moving body that moves in a closed space of a building, a control device that controls the moving body, an inspection method, and a control program.

  In recent years, people cannot enter or are difficult to enter, such as the backs and under floors of buildings such as buildings and houses, inside tunnels, nuclear power plants, underground experimental facilities, inside caves, and disaster sites. There is an increasing demand for mobile bodies (for example, mobile robots) that can inspect a closed space that is a space.

  On the other hand, such a closed space is generally very narrow and the sanitary condition is not good. Therefore, a technique for inspecting the inside of a closed space by a moving body (for example, a mobile robot) on which a camera is mounted is widely used. In such a method, it is desirable to be able to grasp the position of the moving body in the closed space where the scenery is monotonous as accurately as possible in order to move the moving body efficiently and to specify the position of the imaging object. . However, since it is difficult to receive radio waves from a GPS (Global Positioning System) satellite in a closed space, the use of GPS is not effective. Furthermore, since the geomagnetism is disturbed by the reinforcing bars, the use of a compass is not effective.

Therefore, a method has been proposed in which the traveling distance and the rotation angle of the moving body are detected by encoders connected to the left and right caterpillars (crawlers) of the moving body (see Patent Document 1). According to such a method, the current position of the moving body can be calculated by detecting the forward rotation amount and the reverse rotation amount of the left and right motors of the moving body with the encoder.
JP 7-197554 A

  However, an error may occur in the detection value of the encoder due to the level difference of the floor surface on which the moving body is arranged, the crawler slipping due to gravel, dust, etc. scattered on the floor surface. Therefore, there is a limit to accurately calculating the current position of the moving object by the method described in Patent Document 1. Although it is possible to detect the current position of the moving body using various sensors or the like, correction based on the user's visual recognition is also effective from the viewpoint of accuracy.

  Therefore, the present invention has been made in view of the above-described situation, and an inspection system that allows the user to correct the calculated current position of the moving body when the inside of the closed space of the building is inspected by the moving body. An object is to provide a control device, an inspection method, and a control program.

  An inspection system according to one aspect of the present invention is an inspection system that inspects a closed space of a building, includes an imaging device, a moving body that moves in the closed space, and a control device that controls the moving body. The current position calculation unit for calculating the current position of the moving object in the closed space based on the traveling direction of the moving object and the moving distance of the moving object, and the position of the closed space on the plan view is known When the moving body is detected to pass through one of the plurality of passing points through which the moving body can pass, the relative position to the one passing point of the index point whose position on the plan view is known Based on the passing point selection unit that selects one passing point from a plurality of passing points, the calculated current position on the plan view, and the estimated position of the moving body provided at the selected one passing point Display section to display In a plan drawing to be displayed by the display unit, and summarized in that and a receiving unit receives the position correction operation for correcting the estimated position of the current position from the user.

  According to one aspect of the present invention, when a moving body passes an unknown passing point, the position of the passing point through which the moving body passes can be displayed as an estimated position on the plan view using the index point as a mark. . Therefore, the user can easily correct the estimated position indicating the current position of the moving object more accurately on the plan view.

  In one aspect of the present invention, the one passing point is a vent connected to a plurality of sections constituting the closed space, and the index point is a vent connected to the closed space and the outside of the building, The relative position may be indicated by an angle between a straight line connecting the vent and the vent and a reference line provided in the vent. In this case, the imaging device may include a detection unit that detects external light inserted into the ventilation port.

  In one aspect of the present invention, a control unit that controls a lighting device that illuminates the imaging direction of the imaging device may be provided, and the control unit may turn off the lighting device in order to detect the ventilation port.

  In one aspect of the present invention, the display unit may display a captured image captured by the imaging device and a plan view side by side.

  In one aspect of the present invention, the reception unit may receive a direction correction operation for correcting the traveling direction of the moving body at the estimated position from the user on the plan view displayed by the display unit.

  In one aspect of the present invention, the passage of a moving body through one passage point may be detected by a user confirming a captured image displayed on the display unit or by a sensor included in the moving body. .

  A control device according to one aspect of the present invention is a control device that has an imaging device and controls a moving body that moves in a closed space of a building, and includes a traveling direction of the moving body and a moving distance of the moving body. Based on the current position calculation unit for calculating the current position of the moving object in the closed space, and the position on the plan view of the closed space is known, and one passage among a plurality of passing points through which the moving object can pass When a moving object is detected to pass through a point, a passage that selects one passage point from a plurality of passage points based on the relative position of the index point whose position on the plan view is known to the passage point On the point selection unit, on the plan view, on the plan view displayed by the display unit displaying the calculated current position and the estimated position of the moving object provided at the selected one passing point ,present location And summarized in that and a receiving unit receives the position correction operation for correcting the estimated position by the user.

  An inspection method according to one aspect of the present invention includes an imaging device, and uses a moving body that moves in a closed space and a control device that controls the moving body to check the inside of the closed space of a building. A method for calculating a current position of a moving object in a closed space based on a traveling direction of the moving object and a moving distance of the moving object, and a position on the plan view of the closed space are known. Yes, if it is detected that the moving body passes through one of the passing points that the moving body can pass, the relative position of the index point whose position on the plan view is known to the passing point A passing point selection step of selecting one passing point from a plurality of passing points, a calculated current position on a plan view, and an estimated position of a moving body provided at the selected one passing point; Display process to display In a plan drawing to be displayed by the display unit, and summarized in that and a step accepting accepting position correcting operation for correcting the estimated position of the current position from the user.

  A control program according to one feature of the present invention includes an imaging device, and a computer functioning as a control device that controls a moving body that moves in a closed space of a building. Based on the distance, the current position calculating step for calculating the current position of the moving object in the closed space, and the position on the plan view of the closed space is known, and one of a plurality of passing points through which the moving object can pass. If a moving object is detected to pass through the passing point, a passing point is selected from a plurality of passing points based on the relative position of the index point whose position on the plan view is known to the passing point. A display step for displaying a passing point selection step, a display step for displaying the calculated current position and the estimated position of the moving body provided at the selected one passing point on the plan view, and a display unit In a plane diagram which is summarized in that to execute a step accepting accepting position correcting operation for correcting the estimated position of the current position from the user.

  According to the present invention, there is provided an inspection system, a control device, an inspection method, and a control program capable of correcting the position and traveling direction of a moving body detected by the moving body when inspecting a closed space of a building. be able to.

Next, an embodiment of the present invention will be described with reference to the drawings. In the description of the drawings in the following embodiments, the same or similar parts are denoted by the same or similar reference numerals.

In the present embodiment, (1) the schematic configuration of the underfloor inspection system, (2) the detailed configuration of the underfloor inspection system, (3) the operation of the underfloor inspection system, and (4) the actions and effects will be described.

(1) Schematic Configuration of Underfloor Inspection System FIG. 1 is a schematic configuration diagram of an underfloor inspection system 10 according to the present embodiment. The underfloor inspection system 10 includes a robot control device (control device) 100 and an underfloor inspection robot (moving body) 200.

  The robot control apparatus 100 performs wireless communication with the underfloor inspection robot 200 and remotely operates the underfloor inspection robot 200. In FIG. 1, a notebook PC is illustrated as the robot control device 100.

  The underfloor inspection robot 200 inspects the underfloor space AR1 of the building. Specifically, the underfloor inspection robot 200 captures an image of the underfloor space AR1 of the building, and sequentially transmits image data obtained by the imaging to the robot control apparatus 100.

  The robot control apparatus 100 is used by a user (operator) in the floor space AR2, for example. Based on the image data received from the underfloor inspection robot 200, the robot control apparatus 100 displays the video in the underfloor space AR1 on the display unit 170 in real time.

  The robot control apparatus 100 transmits an operation command (a camera operation command, a robot movement command, a passage detection command, etc.) for operating the underfloor inspection robot 200 to the underfloor inspection robot 200 in accordance with an input operation from the user.

  The underfloor inspection robot 200 includes a front wheel 202F, a rear wheel 202R, and a crawler 201 that is stretched over the front wheel 202F and the rear wheel 202R. The crawler 201 rotates as the front wheel 202F and the rear wheel 202R rotate. The underfloor inspection robot 200 moves by combining the forward movement, the reverse movement, and the in-situ turn by rotating the crawler 201 according to the robot movement command.

  The underfloor inspection robot 200 includes a camera unit (imaging device) 210 that protrudes upward. The camera unit 210 can be rotated in the pan direction and the tilt direction independently of the vehicle body, and can also be zoomed. The underfloor inspection robot 200 images foundations (walls), cables, pipes, bundles, bundle foundations, and the like under the control of the robot controller 100. The main inspection items (imaging objects) in the underfloor inspection system are (a) cracks that occur on the foundation, (b) traces of pests, (c) water leakage that occurs in cables, pipes, etc. (d) structure It is rust of things. The underfloor inspection robot 200 sequentially transmits image data obtained by imaging with the camera unit 210 to the robot control apparatus 100.

  In addition, the camera unit 210 includes an illumination device 210A that illuminates the imaging direction (imaging target). The illuminating device 210A is lit to enhance the imaging effect when imaging the underfloor space AR1. In the following, the main body portion of the underfloor inspection robot 200 excluding the camera unit 210 and the lighting device 210A is appropriately referred to as a “vehicle body”.

  Next, an example of the environment in the underfloor space AR1 will be described with reference to FIG.

  As shown in FIG. 2, the underfloor space AR <b> 1 is a space having a height of about 32 cm to 37 cm, and includes a plurality of sections divided by a foundation. A vent D connected to the plurality of sections is formed on the foundation. The underfloor inspection robot 200 can move to the adjacent section through the vent D. Moreover, as shown in FIG. 2, the underfloor space AR1 is separated from the outside of the building by the foundation. A ventilation port V connected to the underfloor space AR1 and the outside of the building is formed on the foundation. The ventilation port V is a so-called air vent provided to allow outside air to pass through the underfloor space AR1. External light enters the ventilation port V from the outside of the building.

  In the present embodiment, it should be noted that the vent D is an example of a “passing point” and the vent V is an example of an “index point”.

(2) Detailed Configuration of Underfloor Inspection System Next, detailed configurations of the underfloor inspection robot 200 and the robot controller 100 will be described.

(2.1) Configuration of Underfloor Inspection Robot FIG. 3 is a plan view of the underfloor inspection robot 200. The underfloor inspection robot 200 rotates around the vehicle body center C by driving the left crawler 201L and the right crawler 201R in opposite directions. In FIG. 3, the symbol “FR” indicates the front of the vehicle body (traveling direction), and the symbol “RE” indicates the rear of the vehicle body. Symbols “R” and “L” indicate the right direction and the left direction of the vehicle body, respectively.

  As shown in FIG. 3, the illumination device 210 </ b> A is provided on the camera unit 210. The illumination device 210 </ b> A can rotate in the pan direction and the tilt direction together with the camera unit 210. Thereby, 210 A of illuminating devices can illuminate the imaging direction.

  FIG. 4 is a functional block configuration diagram of the underfloor inspection robot 200. As shown in FIG. 4, the underfloor inspection robot 200 includes a camera unit 210, a communication device 220, a sensor unit 230, a traveling motor 240, a movement control device 250, and a power supply device 260.

  The communication device 220 is configured in accordance with, for example, a wireless LAN system, and executes wireless communication with the robot control device 100. The sensor unit 230 includes an encoder (rotary encoder) that detects the rotational speed of the front wheels 202F and the rear wheels 202R, a gyro sensor that detects the direction (traveling direction) of the vehicle body, and the like. The traveling motor 240 is supplied with electric power from a power supply device (battery) 260 and drives the front wheels 202F and the rear wheels 202R. The movement control device 250 controls the traveling motor 240 in accordance with the robot movement command transmitted from the robot control device 100. The movement control device 250 transmits various detection value data detected by the sensor unit 230 to the robot control device 100 via the communication device 220. The power supply device (battery) 260 is a power source for operating the underfloor inspection robot 200.

  The camera unit 210 includes a camera 211, a pan motor 212, a tilt motor 213, a zoom mechanism 214, a focus mechanism 215, a camera control device 216, and an illumination device 210A.

  The camera 211 is a CCD camera, for example. Image data obtained from the camera 211 is transmitted to the robot control device 100 via the camera control device 216 and the communication device 220.

  The tilt motor 213 rotates the camera 211 in the tilt direction. The pan motor 212 rotates the camera 211 (the entire camera unit 210) in the pan direction. The zoom mechanism 214 changes the zoom rate of the camera 211. The focus mechanism 215 controls the focus of the camera 211.

  The camera control device 216 controls the entire camera unit 210 in accordance with the camera operation command transmitted from the robot control device 100.

  In the present embodiment, the camera control device 216 turns off the illumination device 210A in response to a passage detection command indicating that the underfloor inspection robot 200 has been detected to pass through the vent D. Next, the camera control device 216 detects external light that is inserted into the ventilation port V by rotating the camera 211 in the pan direction. The camera control device 216 transmits the pan angle at the time when the external light is detected to the robot control device 100 as the external light position condition. As described above, the camera control device 216 functions as a detection unit that detects external light according to the passage detection command.

  In the present embodiment, the passage of the underfloor inspection robot 200 through the vent D is detected by a user who is viewing a real-time video on the display unit 170. The robot control device 100 transmits a passage detection command to the underfloor inspection robot 200 (camera control device 216) based on a predetermined operation by the user. The camera control device 216 may have a function of automatically detecting the vent D based on the image data.

(2.2) Configuration of Robot Control Device FIG. 5 is a functional block configuration diagram of the robot control device 100. As illustrated in FIG. 5, the robot control device 100 includes a communication device 110, a storage unit 130, a control unit 150, a receiving unit 160, and a display unit 170.

  The communication device 110 is configured based on a wireless LAN system, for example, and executes wireless communication with the underfloor inspection robot 200.

  The storage unit 130 stores various data used for information processing and image processing in the robot control apparatus 100. In the present embodiment, the storage unit 130 stores in advance underfloor plan view data that is a plan view of the underfloor space AR1. The floor plan data is provided on the foundation, the foundation shape information indicating the position / shape of the foundation (wall) in the floor space AR1, the vent position information indicating the positions of a plurality of vents D provided on the foundation, and the foundation. And vent hole position information indicating the positions of a plurality of vent holes V. Thus, in this embodiment, the positions in the underfloor space AR1 of the plurality of vents D and the plurality of vents V are known.

  The control unit 150 controls the entire robot control device 100 and transmits an operation command (a camera operation command, a robot movement command, a passage detection command, etc.) to the underfloor inspection robot 200 via the communication device 110, thereby performing an underfloor inspection. The robot 200 is controlled.

  FIG. 6 is a functional block configuration diagram of the control unit 150. As illustrated in FIG. 6, the control unit 150 includes an acquisition unit 151, a current position calculation unit 152, a passing point selection unit 153, and a display control unit 154.

  The acquisition unit 151 acquires various information (image data, various detection value data, external light position conditions, etc.) obtained by the underfloor inspection robot 200 via the communication device 110. The acquisition unit 151 transmits the image data to the display control unit 154 and saves it in the storage unit 130. The acquisition unit 151 transmits various detection value data obtained by the encoder and the gyro sensor to the current position calculation unit 152. The acquisition unit 151 transmits the external light position condition to the passage point selection unit 153. The acquisition unit 151 transmits the underfloor plan view data stored in advance in the storage unit 130 to the passing point selection unit 153 and the display control unit 154.

  The current position calculation unit 152 calculates the current position of the underfloor inspection robot 200 based on accumulated data of various detection value data obtained by the encoder and the gyro sensor. That is, the current position calculation unit 152 calculates the current position of the underfloor inspection robot 200 in the underfloor space AR1 based on the traveling direction and the moving distance of the underfloor inspection robot 200. The current position calculation unit 152 notifies the display control unit 154 of the current position of the underfloor inspection robot 200.

  The passing point selection unit 153 selects the vent D through which the underfloor inspection robot 200 passes from the plurality of vents D based on the relative position of the vent V with respect to the vent D through which the underfloor inspection robot 200 passes. Here, the relative position is indicated by an outside light position condition (a pan angle at the time when the outside light is detected).

  Specifically, the passage point selection unit 153 identifies the vent D and the vent V that match the external light position condition with reference to the underfloor plan view data. The passing point selection unit 153 selects the vent D that matches the condition as the vent D through which the underfloor inspection robot 200 passes. The passing point selection unit 153 notifies the display control unit 154 of the position of the selected vent D.

  The display control unit 154 causes the display unit 170 to display a plan view of the underfloor space AR1 based on the underfloor plan view data. The display control unit 154 causes the display unit 170 to display the current position of the underfloor inspection robot 200 calculated by the current position calculation unit 152. Further, the display control unit 154 displays the estimated position of the underfloor inspection robot 200 at the position of the vent D selected by the passing point selection unit 153. In addition, the display control part 154 specifies the advancing direction of the underfloor inspection robot 200 by a figure, when displaying the present position and estimated position of the underfloor inspection robot 200 on the display part 170. Therefore, in the present embodiment, the traveling direction of the underfloor inspection robot 200 is indicated at the current position and the estimated position of the underfloor inspection robot 200.

  The receiving unit 160 is a mouse, for example, and receives an input operation from the user. Specifically, the receiving unit 160 includes a left click button, a right click button, a wheel, and the like.

  The display unit 170 displays various information. Specifically, the display unit 170 displays the current position and the estimated position of the underfloor inspection robot 200 on a plan view of the underfloor space AR1.

  In the present embodiment, the receiving unit 160 performs a position correction operation and a direction correction operation for correcting the current position to the estimated position (the position of the selected vent D) from the user on the plan view displayed on the display unit 170. Accept. When the acquisition unit 151 detects a position correction operation or a direction correction operation, the current position calculation unit 152 updates the current position of the underfloor inspection robot 200 to the estimated position.

(3) Configuration of Display Screen FIG. 7 is a diagram showing an example of the configuration of the display screen in the display unit 170 of the robot control apparatus 100.

  As shown in FIG. 7, the display screen configuration includes a floor plan view display area A1, a real-time video display area A2, a camera operation button display area A3, and a travel operation button display area A4. The user can specify an arbitrary position on the display screen by moving the mouse cursor C displayed on the display screen using the receiving unit 160.

  A floor plan view based on the floor plan data is displayed in the floor plan display area A1. In the plan view below the floor, the foundation W based on the basic shape information, the plurality of ventilation holes D (ventilation holes D1 to D4) based on the ventilation hole position information, and the plurality of ventilation holes V (ventilation based on the ventilation hole position information). Mouth V1-V4) is shown. Further, in the underfloor plan view display area A1, a movement locus L of the underfloor inspection robot 200, a graphic P indicating the current position of the underfloor inspection robot 200, and a graphic Q indicating the estimated position of the underfloor inspection robot 200 are displayed. . In addition, as shown in FIG. 7, the advancing direction of the underfloor inspection robot 200 is shown by showing the figure P and the figure Q in a bullet shape.

  In the real-time video display area A2, a real-time video from the underfloor inspection robot 200 is displayed. The user detects that the underfloor inspection robot 200 passes through the vent D by viewing the video in the real-time video display area A2.

  In the camera operation button display area A3, for example, buttons for instructing pan / tilt / zoom are displayed. The camera operation button display area A3 may include an imaging instruction button (shutter button) of the camera 211. In the travel operation button display area A4, buttons for instructing forward / reverse / turn on the spot are displayed.

  When each button in the camera operation button display area A3 and the travel operation button display area A4 is designated, the control unit 150 transmits a corresponding command to the floor inspection robot 200. In addition, the control unit 150 transmits a passage detection command to the underfloor inspection robot 200 in accordance with a user's predetermined operation. Specifically, when the user confirms that the underfloor inspection robot 200 passes through the vent D in the real-time video, the user moves the mouse cursor C to the underfloor plan view display area A1 using the receiving unit 160, for example, Press the click button. As a result, a menu list (not shown) including the “position estimation menu” is displayed on the display unit 170. Subsequently, when the user moves the mouse cursor C to the “position estimation menu” and presses a right-click button, for example, the control unit 150 transmits a passage detection command to the underfloor inspection robot 200.

  In this embodiment, when the figure P and the figure Q are displayed on the display unit 170, the user determines whether or not the figure P should be corrected to the figure Q based on the video in the real-time video display area A2. To do. When the user determines that the correction is to be performed, the user performs the position correction operation and the direction correction operation of the figure P using the receiving unit 160. Specifically, the user moves the figure P to the position of the figure Q by dragging the figure P using, for example, the left click button of the receiving unit 160. Further, the user adjusts the orientation of the figure P to the orientation of the figure Q by rotating the wheel of the receiving unit 160, for example.

(4) Operation of Underfloor Inspection System Next, the operation of the underfloor inspection system according to the present embodiment will be described with reference to the flowchart shown in FIG.

  In step S <b> 101, the robot control apparatus 100 reads the floor plan data and stores it in the storage unit 130. The underfloor plan view data stored in the storage unit 130 is read by the control unit 150 and displayed on the underfloor plan view display area A1 of the display unit 170. It is not necessary to read the underfloor plan data when starting the underfloor inspection, and the underfloor plan data may be stored in the storage unit 130 in advance.

  In step S102, the underfloor inspection robot 200 is put under the floor and the underfloor inspection is started. In this case, the underfloor inspection robot 200 turns on the lighting device 210A.

  In step S103, the robot control apparatus 100 calculates the current position of the underfloor inspection robot 200. Based on the calculated current position, the robot control apparatus 100 displays the figure P and the movement locus L in the underfloor plan view display area A1 of the display unit 170.

  In step S <b> 104, the robot control apparatus 100 transmits a camera operation command and a robot movement command to the floor inspection robot 200 in accordance with an input operation from the user. Thereby, the robot control apparatus 100 performs the movement operation and camera operation of the underfloor inspection robot 200.

  In step S105, the robot control apparatus 100 determines whether or not the selection of the “position estimation menu” has been received from the user. If it is determined that the selection of “position estimation menu” has been accepted, the process proceeds to step S106. In this case, the robot control apparatus 100 transmits a passage detection command to the floor inspection robot 200. On the other hand, if it is determined that the selection of the “position estimation menu” has not been accepted, the process proceeds to step S115. That is, the inspection of the underfloor space AR1 is performed by repeating Step S103 and Step S104.

  In step S <b> 106, the robot control apparatus 100 displays a message such as “Please use at the vent D” on the display unit 170. This prompts the user to use the “position estimation menu” correctly.

  In step S107, the underfloor inspection robot 200 turns off the illumination device 210A in response to the passage detection command.

  In step S108, the underfloor inspection robot 200 rotates the camera 211 (the entire camera unit 210) in the pan direction. Thereby, the underfloor inspection robot 200 detects the external light inserted into the ventilation port V. The underfloor inspection robot 200 transmits the pan angle (external light position condition) at the time when external light is detected to the robot controller 100. Thereafter, the underfloor inspection robot 200 turns on the lighting device 210A again.

  In step S109, the robot control apparatus 100 determines whether or not the vent D that matches the external light position condition is in the plurality of vents D. Specifically, when the outside light position condition indicates that the vent D and the vent V are in a “position shifted by 40 °”, the robot control device 100 determines the vent position information and the vent position information. Based on the above, the vent D and the vent V in the “positional relationship shifted by 40 °” are specified. Here, the deviation between the vent D and the vent V is a straight line connecting the center of the vent D and the center of the vent V and a reference line α (the vent vent center line) provided in the vent D. Indicated by the angle. In the present embodiment, as shown in FIG. 9, the vent D2 and the vent V3 meet the condition of “positional relationship shifted by 40 °”. If there is a vent D that matches the condition in the plurality of vents D, the process proceeds to step S110. On the other hand, if there is no vent D that matches the condition among the plurality of vents D, the process proceeds to step S111, and an error message is displayed on the display unit 170.

  In step S <b> 110, the robot control apparatus 100 displays a graphic Q indicating the estimated position of the underfloor inspection robot 200 at the position of the matching vent D on the underfloor plan view. Note that the orientation of the graphic Q is determined on the assumption that the underfloor inspection robot 200 goes straight through the vent D (see FIG. 7).

  In step S <b> 112, the robot control apparatus 100 determines whether the user has performed an operation using the receiving unit 160 on the graphic P. Specifically, the robot control apparatus 100 determines whether or not the user has performed a click operation or a wheel operation on the figure P. If an operation has been performed, the process proceeds to step S113. On the other hand, if the operation has not been performed, the process proceeds to step S115.

  In step S113, the robot control apparatus 100 receives a position correction operation or a direction correction operation from the user. The robot control apparatus 100 updates the current position of the underfloor inspection robot 200 to the estimated position according to the position correction operation or the direction correction operation received from the user.

  In step S113, the robot control apparatus 100 determines whether or not the mouse cursor C has left the floor plan view on the display screen. If the mouse cursor C is away from the underfloor plan view, the process proceeds to step S115. On the other hand, if the mouse cursor C does not leave the floor plan, the process returns to step S113.

  In step S115, the robot control apparatus 100 determines whether or not to end the inspection. When the inspection ends, the process ends. When the inspection is continued, the process returns to step S103.

(4) Action / Effect In the underfloor inspection system 10 according to the present embodiment, the passage point selection unit 153 determines that the underfloor inspection robot 200 passes through the vent D, the vent V for the vent D. Based on the relative position, the vent D is selected from a plurality of vents D1 to D4. The display unit 170 displays a graphic P indicating the current position and a graphic Q indicating the estimated position on the underfloor plan view. The accepting unit 160 accepts an operation for correcting the figure P to the figure Q from the user on the underfloor plan view.

  Thus, when the underfloor inspection robot 200 passes through the unknown vent D, the position of the vent D through which the underfloor inspection robot 200 passes is displayed as an estimated position on the underfloor plan view with the vent V as a mark. Can do. Therefore, the user can easily correct the current position of the underfloor inspection robot 200 to the estimated position indicating the more accurate position of the underfloor inspection robot 200 on the underfloor plan view.

  In the underfloor inspection system 10 according to the present embodiment, the vent D is used as a “passing point” and the vent V is used as an “index point”.

  Here, since the underfloor inspection robot 200 usually travels straight through the vent D, the traveling direction of the underfloor inspection robot 200 passing through the vent D can be easily specified. Therefore, the vent D is suitable as a “passing point”. Further, since the position of the ventilation port V can be easily detected using the external light inserted into the ventilation port V, the ventilation port V is suitable as an “index point”. Furthermore, according to the present embodiment, since such existing equipment can be used, it is not necessary to provide special equipment such as signs and sensors in the underfloor space AR1.

  In the underfloor inspection system 10 according to the present embodiment, the camera control device 216 turns off the illumination device 210A in response to the passage detection command. Therefore, it is possible to better detect external light that is inserted into the ventilation port V.

[Other Embodiments]
As mentioned above, although this invention was described by embodiment, it should not be understood that the description and drawing which form a part of this indication limit this invention. From this disclosure, various alternative embodiments, examples and operational techniques will be apparent to those skilled in the art.

For example, in the above embodiment, the vent D is used as an example of the “passing point” and the vent V is used as an example of the “index point”, but the present invention is not limited to this. For example, as a “passing point” through which the underfloor inspection robot 200 can pass, an IC tag, an infrared sensor, an ultrasonic sensor, or the like provided in advance on the floor surface can be used. As the “index point” that can be detected by the underfloor inspection robot 200 located at the “passing point”, a light emitting diode, a fluorescent reflector, or the like can be used.

In the above embodiment, the underfloor inspection robot 200 is operated in response to an input operation from the user. However, the underfloor inspection robot 200 may have a function of executing autonomous operation. In this case, the sensor provided on the side of the vehicle body of the underfloor inspection robot 200 can detect that the underfloor inspection robot 200 passes through the vent D. The robot control apparatus 100 can transmit a robot movement command to the underfloor inspection robot 200 based on various detection value data received from the underfloor inspection robot 200.

In the above embodiment, the robot control device 100 selects one vent D2 as the vent D that matches the ambient light position condition (the vent D through which the underfloor inspection robot 200 passes). Two or more vents D may be selected as long as they match. The user can select the most appropriate vent D from the two or more selected vents D based on the real-time video and the figure P.

In the above embodiment, the center line of the vent D is used as the reference line α, but the reference line α is not limited to this. The reference line α may be a straight line passing through the vent D.

In the above embodiment, the orientation of the figure P indicating the current position is corrected according to the user's direction correction operation. However, the orientation of the figure P may be automatically corrected. That is, since the underfloor inspection robot 200 goes straight through the vent D, the traveling direction of the underfloor inspection robot 200 can be specified as the direction toward the section where the vent V is detected.

Moreover, although the said embodiment demonstrated the underfloor inspection system, it is not limited to this. For example, it is needless to say that the present invention can be applied to an inspection system such as a ceiling of a building.

In the above embodiment, the underfloor inspection robot 200 including the crawler 201 has been described. However, a vehicle-type moving body that travels only by wheels may be used. Furthermore, the robot controller 100 and the underfloor inspection robot 200 may execute wired communication.

It should be noted that each process / procedure described in each embodiment described above can be implemented as a computer program and executed by a PC or the like.

Thus, it should be understood that the present invention includes various embodiments and the like not described herein. Therefore, the present invention is limited only by the invention specifying matters in the scope of claims reasonable from this disclosure.

1 is a schematic configuration diagram of an underfloor inspection system according to an embodiment of the present invention. It is a figure which shows an example of the environment in the underfloor space which concerns on embodiment of this invention. It is a top view of the underfloor inspection robot which concerns on embodiment of this invention. It is a functional block block diagram of the underfloor inspection robot which concerns on embodiment of this invention. It is a functional block block diagram of the robot control apparatus which concerns on embodiment of this invention. It is a functional block block diagram of the control part of the robot control apparatus which concerns on embodiment of this invention. It is a figure which shows an example of the display screen structure in the display part of the robot control apparatus which concerns on embodiment of this invention. It is a flowchart which shows operation | movement of the underfloor inspection system which concerns on embodiment of this invention. It is a figure for demonstrating operation | movement of the robot control apparatus which concerns on embodiment of this invention.

Explanation of symbols

A1 ... Underfloor plan view display area, A2 ... Real time video display area, A3 ... Camera operation button display area, A4 ... Running operation button display area, C ... Mouse cursor, D ... Vent, L ... Movement locus, V ... Ventilation opening DESCRIPTION OF SYMBOLS, W ... Base, 10 ... Underfloor inspection system, 100 ... Robot control apparatus, 110 ... Communication apparatus, 130 ... Memory | storage part, 150 ... Control part, 151 ... Acquisition part, 152 ... Current position calculation part, 153 ... Passing point selection part DESCRIPTION OF SYMBOLS 154 ... Display control part, 160 ... Reception part, 170 ... Display part, 200 ... Underfloor inspection robot, 201 ... Crawler, 201L ... Crawler, 201R ... Crawler, 202F ... Front wheel, 202R ... Rear wheel, 210 ... Camera unit, 210A DESCRIPTION OF SYMBOLS ... Illuminating device 211 ... Camera, 212 ... Pan motor, 213 ... Tilt motor, 214 ... Zoom mechanism, 215 ... Four Scan mechanism, 216 ... camera control unit, 220 ... communication unit, 230 ... sensor unit, 240 ... traveling motor, 250 ... movement control device, 260 ... power supply device,

Claims (9)

A moving body having an imaging device and moving in a closed space of the building;
A control device for controlling the moving body, and an inspection system for inspecting the closed space,
A current position calculating unit that calculates a current position of the moving body in the closed space based on a traveling direction of the moving body and a moving distance of the moving body;
When the position on the plan view of the closed space is known and it is detected that the moving body passes through one passing point among a plurality of passing points through which the moving body can pass, A passing point selection unit that selects the one passing point from the plurality of passing points based on a relative position of the index point having a known position with respect to the one passing point;
A display unit that displays the calculated current position and the estimated position of the moving body provided at the selected one passing point on the plan view;
An inspection system comprising: a receiving unit that receives a position correction operation for correcting the current position to the estimated position on the plan view displayed by the display unit from a user. The one passing point is a vent connected to a plurality of sections constituting the closed space,
The index point is a ventilation port connected to the closed space and the outside of the building,
The inspection system according to claim 1, wherein the relative position is indicated by an angle between a straight line connecting the ventilation port and the ventilation port and a reference line provided in the ventilation port. The inspection system according to claim 2, wherein the imaging device includes a detection unit that detects external light inserted into the ventilation port. A control unit that controls an illumination device that illuminates the imaging direction of the imaging device;
The inspection system according to claim 2, wherein the control unit turns off the lighting device in order to detect the ventilation port. The inspection system according to any one of claims 1 to 4, wherein the display unit displays the captured image captured by the imaging device and the plan view side by side. The said reception part receives from the user the direction correction operation which correct | amends the advancing direction of the said mobile body in the said estimated position on the said top view which the said display part displays. Inspection system as described in. A control device that has an imaging device and controls a moving body that moves in a closed space of a building,
A current position calculating unit that calculates a current position of the moving body in the closed space based on a traveling direction of the moving body and a moving distance of the moving body;
When the position on the plan view in the closed space is known and it is detected that the moving body passes through one passing point among a plurality of passing points through which the moving body can pass, on the plan view A passing point selection unit that selects the one passing point from the plurality of passing points based on a relative position of the index point having a known position with respect to the one passing point;
A display unit that displays the calculated current position and the estimated position of the moving body provided at the selected one passing point on the plan view;
A control device comprising: a receiving unit that receives a position correction operation for correcting the current position to the estimated position on the plan view displayed by the display unit from a user. An inspection method for inspecting the closed space using a moving body that has an imaging device and moves in a closed space of a building, and a control device that controls the moving body,
A current position calculating step of calculating a current position of the moving body in the closed space based on a traveling direction of the moving body and a moving distance of the moving body;
When the position on the plan view of the closed space is known and it is detected that the moving body passes through one passing point among a plurality of passing points through which the moving body can pass, A passing point selection step of selecting the one passing point from the plurality of passing points based on a relative position of the index point having a known position with respect to the one passing point;
A display step for displaying the calculated current position and the estimated position of the moving body provided at the selected one passing point on the plan view;
An inspection method comprising: an accepting step of accepting, from a user, a position correction operation for correcting the current position to the estimated position on the plan view displayed by the display unit. A computer that has an imaging device and functions as a control device that controls a moving body that moves in a closed space of a building.
A current position calculating step of calculating a current position of the moving body in the closed space based on a traveling direction of the moving body and a moving distance of the moving body;
When the position on the plan view of the closed space is known and it is detected that the moving body passes through one passing point among a plurality of passing points through which the moving body can pass, A passing point selection step of selecting the one passing point from the plurality of passing points based on a relative position of the index point having a known position with respect to the one passing point;
A display step for displaying the calculated current position and the estimated position of the moving body provided at the selected one passing point on the plan view;
The control program which performs the receiving process which receives position correction operation which correct | amends the said present position to the said estimated position from the user on the said top view displayed by the said display part.

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