JP2018133010A - Indoor space inspection method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an indoor space inspection method permitting a reduction in loads of an inspector.SOLUTION: An indoor space inspection method of the present invention includes: a first step of photographing a position of an inner surface IS surrounding a region in which a UAV 10 moves, which departs from an initial position P1 and autonomously moves in accordance with a scheduled route PR, by a camera 15 included in the UAV while shifting the aforementioned region and returning to the initial position P1 after ending of all scheduled photographing; and a second step of displaying a photographed image after returning to the initial position P1. The UAV in the present invention is driven by an electric power supplied from a storage battery, and upon reach of a remaining charged amount of the storage battery at a predefined remaining amount threshold value in the first step, the UAV 10 interrupts the photographing and returns to the initial position P1 through autonomous movement, and after replacement of the storage battery with the insufficient remaining charged amount with a new storage battery, the UAV 10 returns to an interrupt position where the photographing has been interrupted through autonomous movement and then restarts photographing.SELECTED DRAWING: Figure 5

Description

  The present invention relates to a method for inspecting the situation of a closed indoor space using an unmanned mobile body, for example, a UAV (Unmanned aerial vehicle).

  In order to check whether an indoor closed space, for example, a furnace wall of a boiler is damaged, a scaffold is erected over the entire furnace wall, and then visual inspection and non-destructive inspection are performed manually. However, the time and cost for constructing the scaffold increase and the inspection period also takes a long time.

  Therefore, it is considered to perform inspection work using a robot that autonomously travels or flies instead of relying on human hands. However, since the GPS (Global Positioning System) cannot be used in the building, for example, as disclosed in Patent Document 1, the vehicle travels or flies autonomously while estimating its own position.

International Publication No. 2013/030929

An inspection object, for example, a furnace wall, is imaged while the robot is autonomously running or flying, and an inspector outside the building can immediately observe it visually. However, in the case of a large structure, the inspection time may exceed one day and night, for example, and it is difficult for the inspector to perform the inspection work while having concentration.
Accordingly, an object of the present invention is to provide an indoor space inspection method that can reduce the burden on the inspector.

In the indoor space inspection method of the present invention, an image of an uninhabited moving body starting from an initial position is imaged while shifting the position of an inner wall surface surrounding an area where the unattended moving body moves, and all planned The first step of returning to the initial position after the completion of imaging is provided, and the second step of displaying the captured image after returning to the initial position.
The unmanned mobile body in the present invention is driven by the electric power supplied from the storage battery.When the remaining charge amount of the storage battery reaches a predetermined remaining amount threshold value in the first step, the unmanned mobile body is The imaging is interrupted and returned to the initial position by autonomous movement, and after the storage battery with insufficient charge remaining is replaced with a new storage battery, the imaging is resumed after returning to the interruption position where imaging was interrupted by autonomous movement. It is characterized by.

  The unmanned mobile body in the present invention generates map data about the inner wall surface after being placed at the initial position, and generates a planned route based on the map data. You can leave the initial position and continue moving.

The unmanned moving body according to the present invention stores the image captured by the unmanned moving body and the position information of the unmanned moving body captured in the first step in association with the unmanned moving body, and the image displayed in the second step. If there is a damage site that is recognized as being damaged,
The unmanned vehicle moves to the damaged site, captures an image of the damaged site while resting with respect to the damaged site, and returns to the initial position after imaging all the damaged sites that are recognized as damaged. A third step can be performed.

  In the third step of the present invention, when the remaining charge amount of the storage battery reaches a predetermined remaining amount threshold value, the unmanned mobile body interrupts the imaging and returns to the initial position, and the storage battery with insufficient remaining charge amount is detected. After the battery is replaced with a new storage battery, the imaging can be resumed after moving to a damaged site to be subjected to the next imaging.

  In the first step or the third step of the present invention, when the inner wall surface is imaged, the information specifying the position in the horizontal direction H and the information specifying the position in the vertical direction V are projected onto the imaged inner wall surface by projection mapping. can do.

  The unmanned mobile body in the present invention stores a control unit that controls the operation of the unmanned mobile body, a map data storage unit that stores map data, an image data storage unit that stores captured images, and data related to a planned route. A route data storage unit. Then, the control unit included in the unmanned mobile body generates planned route data related to the planned route based on the map data, stores it in the route data storage unit, and when the remaining charge reaches the remaining amount threshold, Can be stored in the route data storage unit.

  The control unit included in the unmanned mobile body can store the actual route data about the route on which the unmanned mobile body has actually moved in the route data storage unit.

The present invention can be provided with a control device for controlling the operation of the unmanned mobile body outside the indoor space.
The control device includes a control unit that controls the operation of the unmanned mobile body, a map data storage unit that stores map data, an image data storage unit that stores captured images, and a route data storage that stores data related to a planned route. A section.
Then, the control unit provided in the external control device generates planned route data related to the planned route based on the map data, stores it in the route data storage unit, and interrupts when the remaining charge reaches the remaining amount threshold value. The interruption position data regarding the position can be stored in the route data storage unit.

  The control unit included in the external control device can store the actual route data regarding the route on which the unmanned mobile body has actually moved in the route data storage unit.

  According to the indoor space inspection method of the present invention, when the remaining charge amount of the storage battery reaches the remaining amount threshold, the unmanned moving body interrupts the imaging and returns to the initial position by the autonomous movement, and the imaging is performed by the autonomous movement. Therefore, the operator does not need to perform any operation related to this return. Therefore, according to the present invention, it is possible to provide an indoor space inspection method in which the burden on workers is greatly reduced.

It is a figure which shows an example of the building where the inspection method of this embodiment is applied. It is a block diagram which shows the structure outline | summary of UAV which performs the test | inspection method of this embodiment. It is a block diagram which shows the structure outline | summary of the control apparatus which performs the test | inspection method of this embodiment. It is a figure which shows the acquisition procedure of the environmental map data in the inspection method of this embodiment. (A) is a figure which shows the flight path | route of UAV in the inspection method of this embodiment, (b) is a figure which shows the imaging procedure in the inspection method of this embodiment. It is a flowchart which shows the procedure of the inspection method of this embodiment. It is a flowchart which shows the procedure of the preliminary test | inspection in the test | inspection method of this embodiment. It is a flowchart which shows the procedure of the detailed test | inspection in the test | inspection method of this embodiment. In the inspection method of this embodiment, it is a figure which shows the projection mapping containing position information. It is the flowchart which applied projection mapping to the preliminary | backup inspection of this embodiment. It is the flowchart which applied projection mapping to the detailed inspection of this embodiment.

Hereinafter, the present invention will be described in detail based on embodiments shown in the accompanying drawings.
The indoor space inspection method of the present embodiment is a UAV that is an unmanned moving body, whether or not the inner wall surface IS of the four side walls 2a, 2b, 2c, 2d constituting the building 1 shown in FIG. 1 is damaged. Is observed from the indoor space A inside the building 1. The indoor space A is a rectangular parallelepiped space defined by the four side walls 2a to 2d, the floor 3, and the ceiling 4. The building 1 includes a door 5 for carrying the UAV 10 into the interior. The door 5 is used not only for carrying in the UAV 10 but also for carrying in other equipment and equipment, as well as people coming in and out.
In the inspection method of the present embodiment, a preliminary inspection (first step, second step) covering the entire area of the four side walls 2a to 2d and an inspection focused on a portion considered to be damaged by the preliminary inspection. And detailed inspection (third step). Here, the side walls 2a to 2d of the building 1 may be simple walls, or devices, for example, piping may be densely arranged in front of the walls.

As elements involved in the inspection method in the present embodiment, a UAV (Unmanned Aerial Vehicle) 10 and a control device 20 that controls the operation of the UAV 10 are provided. The UAV 10 is inspected after being placed on the takeoff / landing port 6 at the initial position P1. The outline of each function is as follows.
In the preliminary inspection, the UAV 10 continuously images the inner wall surface IS for each predetermined imaging range while autonomously flying at a constant speed. In addition, the UAV images the damaged site and its surroundings while stopping in the air in the detailed examination.
The control device 20 performs a predetermined process such as acquiring an image captured by the UAV 10 and displaying the image to the inspector. The control device 20 is provided outside the building 1.
Hereinafter, the present embodiment will be described more specifically.

[Configuration of UAV10]
As shown in FIG. 2, the UAV 10 includes a transmission / reception unit 11, a control unit 13, a sensor 14, a camera 15, and a drive unit 16. The UAV 10 includes a map data storage unit 17, an image data storage unit 18, and a route data storage unit 19.

The transmission / reception unit 11 is responsible for data transmission / reception with the control device 20.
As main data received by the transmission / reception unit 11 from the control device 20, data relating to the flight path of the UAV 10 is listed. The main data that the transmission / reception unit 11 transmits to the control device 20 includes captured image data.

The control unit 13 has a function for controlling the operation of the UAV 10 as described below.
The control unit 13 instructs the sensor 14 to acquire map data inside the building 1 including the side walls 2a to 2d, the floor 3 and the ceiling 4. This acquisition of map data is performed before the UAV 10 placed at the initial position starts autonomous flight. The acquired map data is stored in the map data storage unit 17 according to an instruction from the control unit 13. Further, the control unit 13 generates planned route data on which the UAV 10 is scheduled to fly based on the acquired map data, and instructs the drive unit 16 to make the UAV 10 autonomously fly according to the generated flight route. The generated planned route data is stored in the route data storage unit 19.

The control unit 13 instructs the camera 15 to image the side walls 2a to 2d while the UAV 10 is flying autonomously. The imaged image data of the side walls 2 a to 2 d is stored in the image data storage unit 18 according to an instruction from the control unit 13.
Further, while the UAV 10 is autonomously flying, the control unit 13 obtains a route on which the UAV 10 actually flies from map data, and stores it in the route data storage unit 19 as actual route data.

Moreover, the control part 13 detects continuously the charge remaining amount of the storage battery contained in the drive part 16, and compares with the predetermined remaining amount threshold value. When the remaining charge amount reaches the remaining amount threshold value, the control unit 13 instructs the drive unit 16 to interrupt the flight along the planned route and the imaging of the side walls 2a to 2d and return to the initial position. The control unit 13 specifies the position where the imaging is interrupted, and stores the interruption position data, which is data related to the interrupted position, in the route data storage unit 19.
The control unit 13 instructs to return to the initial position, and transfers information related to the position where imaging is interrupted to the control device 20 via the transmission / reception unit 11.

  Furthermore, the control unit 13 sends the map data acquired by the sensor 14, the generated planned route data, the captured image data of the captured side walls 2a to 2d, and the actual route data that is the actual flight route via the transmission / reception unit 11. The controller 20 is instructed to transfer.

When the UAV 10 is placed at the initial position inside the building 1, the sensor 14 generates map data for the environment inside the building 1 including the side walls 2 a to 2 d, the floor 3 and the ceiling 4.
For example, a laser radar is applied to the sensor 14. The laser radar is also called a laser scanner or LRF (laser range finder).
The laser radar emits the laser in a short cycle while repeatedly swinging the laser emission surface at 180 degrees to the left and right, and receives the laser reflected back to the inner wall surface IS of the side walls 2a to 2d. Then, the laser radar outputs the “measurement time” at which the laser is emitted or received, the “azimuth” at which the laser is emitted, and the “distance” based on the time from when the laser is emitted until it is received. To measure. Point cloud data indicating a plurality of distance azimuth points measured by the laser radar constitutes the map data in this embodiment.
The laser radar is merely an example of a sensor that acquires map data, and as the sensor 14 of the present embodiment, a means that can specify another three-dimensional shape can be employed. Other means include a stereo camera and an ultrasonic sensor (sonar).
The number of sensors 14 is not limited. For example, a laser radar may be provided for each area from which map data is acquired, that is, for each of the side walls 2a to 2d, and the laser irradiation position can be changed. One laser radar may be provided.

Next, the camera 15 images the inner wall surface IS of the side walls 2a to 2d while the UAV 10 is flying autonomously.
The camera 15 captures still images of the side walls 2a to 2d, but the entire area of the side walls 2a to 2d is an imaging target in the preliminary inspection, and only a specific range of the side walls 2a to 2d is the imaging target in the detailed inspection. Imaging is performed without gaps in the necessary imaging range so that the fields of view of the camera 15 do not overlap.

The drive unit 16 moves the UAV 10 along the planned route by operating according to the movement command generated by the control unit 13 based on the planned route data stored in the route data storage unit 19.
The drive unit 16 includes an electric motor that gives a propulsive force to the UAV 10, a moving blade that adjusts the altitude and direction in which the UAV 10 flies, and a storage battery that supplies electric power to the electric motor.

The map data storage unit 17 stores the map data acquired by the sensor 14.
The control unit 13 refers to the map data stored in the map data storage unit 17 and generates planned route data that is a route on which the UAV 10 is scheduled to fly.
Here, the indoor space A which is a three-dimensional space has three-dimensional coordinates (x ₀ , y ₀ , z ₀ ) to (x) at predetermined intervals in the x-axis direction, the y-axis direction and the z-axis direction shown in FIG. _n , y _n , z _n ). The map data is specified as a set of the three-dimensional coordinates (x ₀ , y ₀ , z ₀ ) to (x _n , y _n , z _n ).
The x-axis direction, the y-axis direction, and the z-axis direction may be referred to as a width direction, a depth direction, and a height direction, respectively.
The map data is transferred to the control device 20 for backup and stored in the map data storage unit 27 of the control device 20.

The image data storage unit 18 stores images of the side walls 2 a to 2 d captured by the camera 15. The captured image is stored in association with the captured position. For example, an image obtained by capturing the UAV 10 with the three-dimensional coordinates (x _m , y _m , z _m ) is stored in the image data storage unit 18 in association with the three-dimensional coordinates (x _m , y _m , z _m ). The

The route data storage unit 19 stores the planned route data generated by the control unit 13 and the actual route data on which the UAV 10 actually flies.
The planned route data is generated so that the acquired map data, the field of view of the camera 15, and the distance from the UAV 10 to the side walls 2a to 2d are kept constant. Further, the planned route is parallel to the floor 3 and has a rectangular shape similar to the floor 3 and is constituted by a set of three-dimensional coordinates.
In addition, the actual route data is configured by self-position data that is calculated by the control unit 13 while the UAV 10 is flying. The self position is obtained as a difference between the flight speed and flight direction of the UAV 10 and the initial position.

  Here, the scheduled route data is generated in advance, but this is not an essential element of the present invention. For example, while comparing the generated map data with the self-position obtained by calculation while flying, the side walls 2a to 2a. It is also possible to fly so as to keep the distance up to 2d constant.

  The transmission / reception unit 11 to the route data storage unit 19 described above are divided for convenience of description, and the division is not limited as long as the UAV 10 has the functions described above as a whole. Except for the sensor 14, the camera 15, and the drive unit 16, the functions of the transmission / reception unit 11 to the path data storage unit 19 can be executed by a computer device including a CPU (Central Processing Unit) and memory means. This also applies to the control device 20.

[Configuration of Control Device 20]
As shown in FIG. 3, the control device 20 includes a transmission / reception unit 21, a control unit 23, an input unit 24, a display unit 25, a map data storage unit 27, an image data storage unit 28, and a route data storage unit. 29.

The transmission / reception unit 21 performs data transmission / reception with the UAV 10.
The main data that the transmitting / receiving unit 21 receives from the UAV 10 includes imaging data acquired by the UAV 10 via the camera 15. The main data transmitted from the transmitting / receiving unit 21 to the UAV 10 includes data related to the flight path of the UAV 10.

The control unit 23 has a function that governs the overall operation of the control device 20.
The control unit 23 causes the map data storage unit 27 to display map data acquired from the UAV 10, stores the map data in the map data storage unit 27, and causes the display unit 25 to display the map data. The displayed map data can target the entire building 1 or only a part of the building 1. This selection can be performed by an operator through input from the input unit 24.

  In addition, the control unit 23 can store the planned route data and the actual route data of the UAV 10 acquired from the UAV 10 in the route data storage unit 29 and can display the data on the map data displayed on the display unit 25 in a superimposed manner. The worker can grasp the progress of the inspection and the validity of the flight path of the UAV 10 by referring to the map data, the scheduled route data, and the actual route data displayed on the display unit 25.

  Further, the control unit 23 can store the image data acquired from the UAV 10 in the image data storage unit 28 and display the image data on the display unit 25. The worker can determine whether or not the side walls 2a to 2d are damaged by referring to the image data displayed on the display unit 25.

[Inspection procedure]
Now, a series of procedures for acquiring and inspecting the image data of the inner wall surface IS of the side walls 2a to 2d facing the indoor space A using the UAV 10 and the control device 20 having the above-described configuration will be described with reference to FIGS. Also described with reference to FIG.
As shown in FIG. 6, the inspection procedure is performed in the order of preliminary inspection (S100) and detailed inspection (S300). In the detailed inspection (S300), it is determined that damage has occurred in the preliminary inspection (S100). (S200 Y). Hereinafter, the preliminary inspection and the detailed inspection will be described in this order.

[Preliminary inspection]
As shown in FIG. 1, the preliminary inspection is started after the take-off / landing port 6 is installed at a predetermined position by inserting from the door 5 of the building 1 and the UAV 10 is placed thereon.
First, the UAV 10 operates the sensor 14 to acquire map data inside the building 1 (S101 in FIG. 7). As shown in FIG. 4, the map data is obtained by emitting the laser L from the sensor 14 of the UAV 10 toward the side walls 2a to 2d and receiving the laser L reflected from the side walls 2a to 2d. The map data is generated for each of the side walls 2a, 2b, 2c, and 2d by emitting and receiving the laser L in the order of, for example, the side wall 2a, the side wall 2b, the side wall 2c, and the side wall 2d. As a result, the map data of the entire building 1 is generated. The control unit 13 generates planned route data related to the planned route PR on which the UAV 10 flies based on the acquired map data. The planned route PR is connected to a position separated from the side walls 2a to 2d by a predetermined distance.

After generating the map data and the scheduled route data, the UAV 10 starts flying (S103 in FIG. 7). The UAV 10 flies in accordance with the planned route data, but a planned route PR is set, for example, as shown in FIG. FIG. 5A shows a route in a specific plane section of the indoor space A, but actually a plurality of planned routes PR are set by shifting the position in the height direction Z.
The planned route PR shown in FIG. 5A is set on a line connecting points separated from the side walls 2a, 2b, 2c, and 2d partitioning the indoor space A by a predetermined distance. The planned route PR has a rectangular peripheral circuit that connects the initial position P1, the point P2, the point P3, the point P4, the point P5, and the initial position P1 as the start point and the end point, and the UAV 10 departs from the initial position P1, When moving to the point P2 in parallel with the side wall 2a and reaching the point P2, the UAV 10 changes its direction, this time moving to the point P3 in parallel with the side wall 2b, and when reaching the point P3, the UAV 10 changes its direction. Thereafter, similarly, the UAV 10 flies to the initial position P1 through the point P4 and the point P5, and completes one flight. When the flight for one lap is completed, the UAV 10 starts the flight for the next lap after changing the position in the height direction Z, for example, compared to the time of flying until then.

The UAV 10 images the inner wall surface IS of the side walls 2a to 2d while flying. The imaging procedure will be described with reference to FIG. FIG. 5 (b) shows all the inner wall surfaces IS of the side walls 2a to 2d in an expanded manner, and one rectangle surrounded by a broken line indicates the field of view FV by one imaging.
The UAV 10 captures images for each field of view FV while flying on the planned route PR, and images the entire area of the inner wall surface IS (S105 Y in FIG. 7). The captured image of the inner wall surface IS is stored in the image data storage unit 18 and transmitted to the control device 20 via the transmission / reception unit 11. The image data transmitted to the control device 20 is received by the control device 20 via the transmission / reception unit 21 and stored in the image data storage unit 28.

  In the process of imaging the entire area of the inner wall surface IS, the UAV 10 may run out of the charge amount of the storage battery forming the drive unit 16, so the control unit 13 determines whether or not the remaining charge amount of the storage battery reaches a threshold value. Detect (S107 in FIG. 7). If the remaining amount of the storage battery has not reached the threshold value (FIG. 7, S107 N), the control unit 13 continues to fly and continues to image the inner wall surface IS.

On the other hand, when the remaining amount of the storage battery reaches the threshold value (S107 N in FIG. 7), the control unit 13 interrupts the imaging of the inner wall surface IS and controls the operation of the driving unit 16 so as to return the UAV 10 to the initial position P1. (FIG. 7, S109). The return to the initial position P1 may be performed by returning the scheduled route PR or returning to the initial position P1 with the shortest distance.
The control unit 13 specifies a position where the imaging of the inner wall surface IS is interrupted, and stores the position in the route data storage unit 19. The storage of the interruption position data is performed in association with the interruption time, for example.
When the remaining amount of the storage battery reaches the threshold value, the control unit 13 notifies the control device 20, and upon receiving this notification, the UAV 10 returns to the initial position P1 on the display unit 25 because the remaining amount of the storage battery is insufficient. To prompt the worker to prepare for replacement of the storage battery of the UAV 10.

When the worker confirms that the UAV 10 has returned to the initial position, the operator opens the door 5 and replaces the storage battery that has been used so far with the UAV 10 with a new storage battery that is fully charged. The control unit 13 determines whether or not the storage battery has been replaced by determining whether or not the charge amount of the new storage battery exceeds a threshold value indicating full charge (S111 in FIG. 7).
When the storage battery is replaced (S111 Y in FIG. 7), the control unit 13 refers to the previously stored interruption position and gives an instruction to the drive unit 16 to fly to the interruption position (S113 in FIG. 7). ). The movement to the interruption position may be along the planned route PR or the shortest distance.

  The controller 13 flies while estimating its own position, and when it reaches the interruption position (S115 Y in FIG. 7), it resumes imaging while performing the flight along the planned route PR (S103 in FIG. 7).

  Thereafter, until the entire area of the inner wall surface IS is imaged, replacement of the storage battery (S105 N in FIG. 7) is repeated as necessary. When the entire area of the inner wall surface IS is imaged, the UAV 10 ends the imaging and returns to the initial position P1. (S117 in FIG. 7). When the UAV 10 images the entire area of the inner wall surface IS, the control unit 13 notifies the control device 20 via the transmission / reception unit 11. Upon receiving this notification, the control device 20 displays on the display unit 25 that the UAV 10 has returned to the initial position P1, and prompts it to prepare for the next operation.

  When the UAV 10 returns to the initial position P1, the control device 20 reads the captured image stored in the image data storage unit 28 and displays the captured image on the display unit 25 (S119 in FIG. 7). The worker refers to the displayed image and determines whether or not the inner wall surface IS is damaged. The display of this image is performed with a size and resolution that allows the worker to visually recognize the damaged site. In specific display, a plurality of captured images are displayed on one screen of the display unit 25, and an operator determines whether or not damage has occurred by sequentially observing the plurality of images.

When displaying a captured image, the positional information of the image can be displayed together. The position information is specified by the aforementioned three-dimensional coordinates (x ₀ , y ₀ , z ₀ ) to (x _n , y _n , z _n ).
When the worker inputs the position information of the captured image determined to be damaged through the input unit 24, the control unit 13 stores the information on the image data in the image data storage unit 28. The worker determines whether or not all the captured images are damaged, and inputs position information of the captured images determined to be damaged (S121 in FIG. 7).
Identification of the damaged part can also be performed by configuring the display unit 25 from a touch panel and the operator touching a captured image including the damaged part.

  Determination of a damaged part can also be performed by comparing image data acquired in the past. For example, by displaying on the display unit 25 image data having the same position information but different imaging timing, it is possible to determine aging deterioration and to observe the past history of the damaged site.

Thus, the preliminary inspection is completed, and then the detailed inspection is performed on the damaged portion according to the procedure shown in FIG.
The detailed inspection is started by giving an instruction from the input unit 24 of the control device 20 to the UAV 10 placed at the initial position P1. When the control device 20 receives a detailed inspection instruction, the control unit 23 gives a detailed inspection instruction to the UAV 10 via the transmission / reception unit 21. Along with this instruction, the control unit 23 transmits to the UAV 10 position information regarding the damaged site stored in the image data storage unit 28. The UAV 10 acquires a detailed inspection start instruction and position information related to the damaged site via the transmission / reception unit 11, and the control unit 13 stores the acquired position information related to the damaged site in the route data storage unit 19. Thus, the UAV 10 specifies the damaged site (S201 in FIG. 8).

  The UAV 10 controls the drive of the drive unit 16 so that the control unit 13 flies to the damaged site based on the position information regarding the damaged site (S203 in FIG. 8). This flight may follow the planned route PR, or may fly at the shortest distance to the damaged site. In addition, when there are a plurality of damaged parts, it is possible to visit a plurality of damaged parts in order after jumping off the initial position P1, or once an image is acquired for one damaged part, it is once at the initial position P1. After returning, you may visit the next damaged site.

  When the UAV 10 reaches the damaged site, the UAV 10 picks up the image of the damaged site while hovering, that is, without moving (S205 in FIG. 8). The reason for capturing an image while hovering is to capture a clearer image than the preliminary inspection. In order to capture a clear image, devices such as the imaging lens of the camera 15 can be replaced with those in the preliminary examination.

  The UAV 10 immediately transmits the image data of the damaged site imaged while hovering to the control device 20 (S205 in FIG. 8). When the control device 20 acquires the image data of the damaged site via the transmission / reception unit 21, the control device 20 causes the display unit 25 to display the image data of the damaged site acquired by the control unit 23. The operator observes the image of the damaged site displayed on the display unit 25 in real time.

  When the operator observes the image of the damaged part and confirms that the damage has occurred, the operator specifies that the part has been damaged as a result of the detailed inspection by inputting from the input unit 24. When this input is received, the control unit 23 stores the fact of damage in the image data storage unit 28 in association with the position information corresponding to the part. When the damaged part is specified, the control unit 23 instructs the UAV 10 via the transmission / reception unit 21 to image the UAV 10 while hovering around the damaged part (S207 in FIG. 8).

In accordance with an instruction from the control device 20, the UAV 10 captures an image while flying around the damaged site by hovering, and transmits the captured image data to the control device 20 (S207 in FIG. 8).
When the control device 20 acquires image data around the damaged site via the transmission / reception unit 21, the control unit 23 causes the display unit 25 to display the acquired image data around the damaged site. The operator observes the surrounding image displayed on the display unit 25 in real time, and determines whether or not the surrounding is damaged. When the operator determines that damage has occurred, the operator specifies damage by input from the input unit 24 as described above. Based on this input, the control unit 23 stores the fact of damage in the image data storage unit 28 in association with the position information corresponding to the part.

  When the above procedure is performed for all the parts determined as the damaged part in the preliminary inspection (S209 Y in FIG. 8), the UAV 10 returns to the initial position P1 and the detailed inspection ends (S211 in FIG. 8).

[Effect of this embodiment]
As described above, the inspection method of the present embodiment identifies the damaged portion of the inner wall surface IS by dividing into a preliminary inspection and a detailed inspection. In other words, since a portion that is likely to be a damaged portion is narrowed down by a preliminary inspection and a detailed inspection is performed on this portion, the inspection can be performed efficiently and with high accuracy.

  Next, since the UAV 10 autonomously flies inside the building 1 in the preliminary inspection, the operator can omit the operation for flying the UAV 10. When the building 1 is in a wide area, it takes a considerable amount of time for preliminary inspection, so it is difficult for the operator to operate the flight of the UAV 10 with high accuracy. However, if the UAV 10 flies autonomously as in this embodiment, The burden can be reduced.

  Next, in the preliminary inspection, the UAV 10 continuously detects the remaining amount of charge of the storage battery. When the remaining amount reaches the threshold value, the UAV 10 interrupts the imaging and returns to the initial position P1, and then changes the storage battery to fly to the stop position. Then restart imaging. Therefore, even if the inside of the building 1 is a wide area, it is possible to perform imaging without omission, so that the inspection can be performed with high accuracy. In addition, since the UAV 10 interrupts the imaging and returns to the initial position P1 by autonomous movement and also flies to the interruption position by autonomous movement, there is no need for the operator's operation regarding this return, so the burden on the worker is greatly increased. Can be reduced.

  Next, in the detailed inspection, the part determined as the damaged part in the preliminary inspection is imaged while the hovering is performed by the UAV 10, and not only the relevant part but also the surrounding area is set as the imaging range. It is possible to clearly determine whether or not a portion that cannot be broken is damaged.

  The preferred embodiments of the present invention have been described above. However, the configurations described in the above embodiments can be selected or changed to other configurations as appropriate without departing from the gist of the present invention.

As an example, a technique for specifying the position of an arbitrary part in a captured image using projection mapping will be described with reference to FIGS.
When a plurality of tubes are piped densely along the vertical direction V on the inner wall surface IS, even if the self position of the UAV 10 is specified, it is specified which tube is damaged based on the imaging data It is not easy to do. The imaging data includes a tube around the damaged tube, but all are tubes having the same shape. For example, it is possible to specify the number of the tube from the end of the side wall 2a at first glance. difficult. It is possible to define a reference tube and carefully count the number of tubes from this reference tube, but if the reference tube and the damaged tube are separated, the reference tube and the Since the tubes are included in different imaging data, it is difficult to specify the number of the tube, particularly when the indoor space A is large.

  Thus, in the present embodiment, information for specifying the position in the horizontal direction H of the tube and information for specifying the position in the vertical direction V are projected onto the imaged inner wall surface IS by projection mapping, and information for specifying the projected position It is proposed to image with the tube.

  As information for specifying the position in the horizontal direction H and information for specifying the position in the vertical direction V, a grid-like image is projected onto the inner wall surface IS as shown in FIG. The lattice-like image is composed of a plurality of lines extending in the vertical direction V and a plurality of lines extending in the horizontal direction H. As described below, a plurality of lines extending in the vertical direction V are in the horizontal direction H. A plurality of lines extending in the horizontal direction H form information for specifying the position in the vertical direction V.

A plurality of lines extending in the vertical direction V are projected at a pitch of n × P, where P is an interval (pitch) at which the tubes are arranged. That is, every n lines extending in the vertical direction V are projected onto the tube, and the projected lines have different line types. Note that n is an integer of 2 or more.
In the example shown in FIG. 9A, lines extending in the vertical direction V of different types are drawn every three lines. Here, as different types, a thick solid line, a broken line, a one-dot chain line, and a two-dot chain line are selected, and these are drawn every three lines.

Here, in the example shown in FIG. 9A, assuming that the leftmost thick solid line in the drawing is drawn on the reference tube (reference tube), the tube in which the broken line is drawn is the reference. It is specified that the tube is the fourth tube from the reference tube including the tube. The 4th has shown tube No from the reference tube of the tube in which the broken line is drawn.
Similarly, it is possible to specify that the tube in which the one-dot chain line is drawn is the seventh tube from the reference tube including the reference tube, that is, the tube number is 7, and the tube in which the two-dot chain line is drawn includes the reference tube. It can be specified that the tube is tenth from the reference tube, that is, tube No. is 10. For example, the tube No. of the tube in which the solid line between the alternate long and short dash line is drawn can be specified from the tube No. of the alternate long and short dash line and the tube No. of the two-dot chain line.

The plurality of lines extending in the horizontal direction H are projected, for example, every 0.5 m, and the projected lines are different in line type as the lines extending in the vertical direction V.
In the example shown in FIG. 9A, lines extending in the vertical direction V of different types are drawn every other line. Here, as different types, a thick solid line, a broken line, a one-dot chain line, and a two-dot chain line are selected, and these are drawn every three lines. If the lowermost solid line in the figure is drawn at the reference position, for example, 0 m, the broken line can be specified as being 1.5 m from the reference position, and the alternate long and short dash line is 2 m from the reference position. The two-dot chain line can be specified to be 3 m from the reference position.

If the inner wall surface IS is imaged by the UAV 10 while projecting the information specifying both the position in the horizontal direction H and the position in the vertical direction V described above onto the inner wall surface IS, as shown in FIG. In addition to the information for specifying both the position in the horizontal direction H and the position in the vertical direction V, the damaged part indicated by the star mark is displayed in an overlapped manner on the image. Therefore, the operator can easily identify the damaged part by observing this image.
Image data in which the imaged image of the inner wall surface IS and information specifying both the position in the horizontal direction H and the position in the vertical direction V are superimposed are stored in the image data storage unit 18 and the image data storage unit 28.

Projection by projection mapping is performed by placing a projector at a fixed point in the indoor space A. For example, when the side wall 2a of the inner wall surface IS is to be inspected, the orientation of the projector is determined so as to project onto the side wall 2a, and when the side wall 2b is to be inspected, the projector is placed on the side wall 2b. The orientation is changed to project.
As described above, the same image data is common to all of the side walls 2a to 2d as long as the diameter and pitch of the tubes disposed on the side walls 2a to 2d are constant even in the case of a plurality of surfaces to be projected by projection mapping. Can be used.

When performing preliminary inspection by performing projection mapping, the procedure shown in the flowchart of FIG. 10 may be followed. This procedure is the same as the procedure shown in FIG. 7 except that a step (S102 in FIG. 7) for mapping the position information is added.
Moreover, the inspection accompanied by projection by projection mapping can be applied to a detailed inspection as shown in FIG. The procedure shown in the flowchart of FIG. 11 is the same as the procedure shown in FIG. 8 except that a step of projecting mapping position information (S202 in FIG. 8) is added.

  Moreover, although this embodiment illustrated the indoor space A of the simple form, this invention is applicable also to the indoor space A which has a complicated form. Moreover, although the building 1 was demonstrated as what was provided on the ground, this invention is applicable also to the area | region divided with the circumference | surroundings in water. Furthermore, although UAV was illustrated as the main body for imaging, USV (Unmanned Surface Vehicle) that travels on the ground can also be used. In this case, in order to image a high place, the sensor 14 and the camera 15 can be attached to the lifting device. In addition, when an area partitioned in water is targeted, the sensor 14 and the camera 15 can be mounted on a UUV (Unmanned Undersea Vehicle) for imaging.

  In the present embodiment, an example in which the inspection is performed by one UAV 10 has been shown. However, the present invention can perform the inspection by simultaneously using a plurality of UAVs 10 and other unmanned moving objects. For example, if a number of moving bodies corresponding to this number are inserted at a plurality of positions in different vertical directions V, the time until the inspection is completed can be shortened. In this case, not only the same type of mobile body but also different types of mobile bodies can be used.

  Further, in the embodiment described above, a worker takes an image of a still image of the inner wall surface IS of the building 1 and visually inspects the damaged state, but the object of the inspection method according to the present invention is limited to this. In the situation where it is difficult for a worker to enter, the unmanned mobile body can perform various inspections on behalf of the worker.

Examples of inspection other than visual inspection include nondestructive inspection, hammering inspection, radiation dose measurement, temperature / humidity measurement, and the like. Equipment suitable for each of these inspections is mounted on an unmanned mobile body. For example, an ultrasonic sensor is mounted for performing a nondestructive inspection, and a hammer and a speaker are mounted for performing a hammering inspection.
In the present invention, the type of camera for capturing a still image or a moving image is not limited. For example, an infrared camera can be used to capture a dark place.

Moreover, although the above embodiment demonstrated the example which UAV10 flies to a planned path | route, the movement of the unmanned mobile body in this invention is not restricted to this, The form of the following movements is employable.
The unmanned moving body that departs from the initial position finds the inner wall surface to be imaged while flying, and flies along the found inner wall surface. The unmanned mobile body flies by combining the horizontal flight and the vertical flight along the inner wall surface, and it is necessary to instruct the horizontal direction and the vertical direction in advance.

Further, according to the present invention, information on the target point is given to the UAV 10, and the UAV 10 calculates a flight path based on the information on the target point, and flies according to the calculated flight path.
Further, according to the present invention, an operator can operate the UAV 10 by remote control.

1 building 2a, 2b, 2c, 2d side wall 3 floor 4 ceiling 5 door 6 takeoff and landing port 10 UAV
DESCRIPTION OF SYMBOLS 11 Transmission / reception part 13 Control part 14 Sensor 15 Camera 16 Driving part 17 Map data storage part 18 Image data storage part 19 Path | route data storage part 20 Control apparatus 21 Transmission / reception part 23 Control part 24 Input part 25 Display part 27 Map data storage part 28 Image Data storage unit 29 Route data storage unit A Indoor space FV Field of view IS Inner wall surface PR Scheduled route

Claims (9)

An image of the unmanned moving body starting from the initial position is taken by the camera provided while shifting the position of the inner wall surface surrounding the area where the unmanned moving body moves, and after the completion of all scheduled imaging, the initial A first step of returning to a position;
A second step of displaying the captured image after returning to the initial position,
The unmanned mobile body is driven by power supplied from a storage battery,
In the first step,
When the remaining charge of the storage battery reaches a predetermined remaining amount threshold,
The unmanned moving body interrupts imaging and returns to the initial position by autonomous movement, and after the storage battery with insufficient charge remaining is replaced with a new storage battery, returns to the interrupted position where imaging was interrupted by autonomous movement. Then restart imaging,
An indoor space inspection method characterized by the above. The unmanned mobile body generates map data about the inner wall surface after being placed at the initial position, and generates a planned route based on the map data,
The unmanned mobile body starts moving from the initial position according to the generated planned route, and continues to move.
The indoor space inspection method according to claim 1. In the first step, the unmanned moving body stores the image captured by the unmanned moving body and the position information of the imaged unmanned moving body in association with each other,
In the second step, if there is a damaged part that is recognized as being damaged in the displayed image,
The unmanned moving body moves to the damaged site, captures the image of the damaged site while resting with respect to the damaged site, and finishes imaging for all the damaged sites that are recognized as damaged. Performing a third step of returning to the initial position;
The method for inspecting an indoor space according to claim 1 or 2. In the third step,
When the remaining charge of the storage battery reaches a predetermined remaining amount threshold,
The unmanned moving body interrupts imaging and returns to the initial position, and after the storage battery with insufficient charge remaining is replaced with a new storage battery, the unmanned moving body moves to the damaged site to be subjected to the next imaging. Resume imaging from
The indoor space inspection method according to claim 3. When imaging the inner wall surface,
Projecting information specifying the position in the horizontal direction H and information specifying the position in the vertical direction V onto the inner wall surface to be imaged by projection mapping;
The indoor space inspection method according to any one of claims 1 to 4. The unmanned mobile unit includes a control unit that controls the operation of the unmanned mobile unit, a map data storage unit that stores the map data, an image data storage unit that stores the captured image, and data related to the planned route. A route data storage unit for storing,
The controller is
Generating planned route data related to the planned route based on the map data, storing it in the route data storage unit, and
When the remaining charge amount reaches the remaining amount threshold value, the interruption position data relating to the interruption position is stored in the route data storage unit,
The indoor space inspection method according to claim 2. The controller is
Storing actual route data about a route on which the unmanned mobile body has actually moved in the route data storage unit;
The indoor space inspection method according to claim 6. A control device for controlling the operation of the unmanned mobile body outside the indoor space,
The control device stores a control unit that controls the operation of the unmanned mobile body, a map data storage unit that stores the map data, an image data storage unit that stores the captured image, and data related to the planned route. A route data storage unit for
The controller is
Generating planned route data related to the planned route based on the map data, storing it in the route data storage unit, and
When the remaining charge amount reaches the remaining amount threshold value, the interruption position data relating to the interruption position is stored in the route data storage unit,
The indoor space inspection method according to claim 2. The controller is
Storing actual route data about a route on which the unmanned mobile body has actually moved in the route data storage unit;
The indoor space inspection method according to claim 8.

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