JPWO2020003818A1 - Inspection equipment and inspection method - Google Patents

Abstract

The inspection device (100) has a position recognition unit (102) and a measurement unit (10) that calculate the position of the measurement unit (10) with respect to the building based on the information of the building and the position information of the measurement unit (10). Based on the image and the position of the measurement unit (10), the part determination unit (101) that identifies the inspection target part to be projected on the image, the identified inspection target part, and the inspection standard The abnormality determination unit (103) and the type recognition unit (104) are provided as a determination unit for determining and outputting the inspection result of the inspection target portion by comparing the above.

Description

The present disclosure relates to inspection equipment and inspection methods for buildings.

In recent years, automation of quality inspection has been studied. For example, Patent Document 1 discloses a product shape inspection system for detecting shape defects generated in an inspection target. This inspection system acquires distance image data that displays distance information to the inspection target as an image, and extracts a height profile on the surface of the inspection target based on the distance image data. Further, the inspection system determines whether or not there is a defect in the shape of the inspection target based on the difference data between the extracted height profile and the reference profile.

Japanese Unexamined Patent Publication No. 2010-197313

The inspection system of Patent Document 1 is suitable for inspection of an inspection target having a predetermined contour and the same distance from the camera. Such an inspection system is not suitable for inspection of buildings having various types, shapes and positions of inspection targets.

The present disclosure provides inspection equipment and inspection methods for automating the inspection of buildings.

The inspection device according to one aspect of the present disclosure is an inspection device for inspecting a building, and is an information holding unit that holds information on the building and a measuring unit that captures an image of an inspection target portion in the building. A position recognition unit that acquires position information and calculates the position of the measurement unit with respect to the building based on the information of the building held in the information holding unit and the position information of the measurement unit, and the measurement unit. Acquires the image captured by the above image, and holds the inspection standard for each part of the building and the part determination unit that identifies the part to be inspected to be projected on the image based on the image and the position of the measurement part. A determination to determine and output the inspection result of the inspection target part by comparing the reference holding unit to be inspected, the inspection target part specified by the part determination unit, and the inspection standard held by the reference holding part. It has a part.

The inspection method according to one aspect of the present disclosure is an inspection method for inspecting a building by acquiring an image of an inspection target portion in the building and information on an imaging position of the image, and information on the building. Is acquired, the imaging position with respect to the building is calculated based on the information of the building and the information of the imaging position, and the image is projected on the image based on the image and the imaging position with respect to the building. The inspection result of the inspection target part is determined by specifying the inspection target part, acquiring the inspection standard for each part of the building, and comparing the identified inspection target part with the inspection standard.

The above-mentioned comprehensive or specific embodiment may be realized by a recording medium such as a system, an apparatus, a method, an integrated circuit, a computer program, or a computer-readable recording disk, and the system, the apparatus, the method, and the integrated circuit. , Computer programs and any combination of recording media. Computer-readable recording media include non-volatile recording media such as CD-ROMs (Compact Disc-Read Only Memory).

According to the inspection device and the like according to the present disclosure, it becomes possible to automate the inspection of a building.

FIG. 1 is a schematic perspective view showing an example of a situation in which the inspection device according to the first embodiment performs an inspection. FIG. 2 is a block diagram showing an example of a functional configuration of the inspection device according to the first embodiment. FIG. 3 is a diagram showing an example of a floor plan of a building stored in the building information holding unit according to the first embodiment. FIG. 4 is a diagram showing an example of information included in the floor plan of FIG. FIG. 5 is a diagram showing an example of an abnormality determination standard stored in the abnormality standard holding unit according to the first embodiment. FIG. 6 is a schematic diagram showing an example of the type of abnormality in the inspection target site. FIG. 7 is a diagram showing an example of an abnormality type determination standard stored in the type standard holding unit according to the first embodiment. FIG. 8A is a diagram showing an example of an image of the inspection result output by the inspection apparatus according to the first embodiment. FIG. 8B is a diagram showing an example of an image of the inspection result output by the inspection apparatus according to the first embodiment. FIG. 9 is a flowchart showing an example of the operation flow of the inspection device according to the first embodiment. FIG. 10 is a block diagram showing an example of a functional configuration of the inspection device according to the modified example of the first embodiment. FIG. 11 is a block diagram showing an example of a functional configuration of the inspection device according to the second embodiment. FIG. 12 is a block diagram showing an example of the functional configuration of the inspection device according to the third embodiment. FIG. 13 is a block diagram showing an example of the functional configuration of the inspection device according to the fourth embodiment. FIG. 14 is a diagram showing an example of the positional relationship between the building component and the measuring unit stored in the positional relationship holding unit according to the fourth embodiment. FIG. 15 is a block diagram showing an example of a functional configuration of the inspection device according to the fifth embodiment.

Hereinafter, the inspection apparatus and the like according to the embodiment of the present disclosure will be described in detail with reference to the drawings. It should be noted that all of the embodiments described below show a preferred specific example of the technique of the present disclosure. Therefore, the numerical values, shapes, materials, components, arrangement and connection forms of the components, steps (processes), the order of steps, etc. shown in the following embodiments are examples, and the techniques of the present disclosure are limited. It is not the intention to do it. Therefore, among the components in the following embodiments, the components not described in the independent claims indicating the highest level concept of the technique of the present disclosure will be described as arbitrary components.

Further, each figure is a schematic view and is not necessarily exactly illustrated. Further, in each figure, the same components are designated by the same reference numerals. Further, in the present specification and claims, the "device" may mean not only one device but also a system including a plurality of devices.

[Embodiment 1]
[1-1. Inspection device configuration]
First, a schematic configuration of the inspection device 100 according to the first embodiment will be described. FIG. 1 is a schematic perspective view showing an example of a situation in which the inspection device 100 according to the first embodiment performs an inspection. As shown in FIG. 1, the inspection device 100 can inspect the inside and outside of the building C. In the present embodiment, the building C is described as a house, but the inspection target of the inspection device 100 may be any building.

Further, it is assumed that the inspection device 100 is mounted on the moving body 1 together with the measuring unit 10, and inspects various parts of the building C while moving together with the moving body 1. The moving body 1 may be a moving body running on a support surface, a moving body 1 flying in the air, or a moving body traveling on or under water. Examples of the mobile body 1 are land mobile robots, drones and water or underwater mobile robots. In the present embodiment, the moving body 1 is a land-based mobile robot. All of the inspection device 100 may be mounted on the moving body 1, and a part or all of the inspection device 100 may be mounted on one or more devices different from the moving body 1. In the former case, the inspection device 100 is electrically connected to the measuring unit 10. In the latter case, the inspection device 100 may exchange information and commands with the measurement unit 10 of the mobile body 1 via wired communication or wireless communication. Examples of the device equipped with the latter inspection device 100 are a control device 1a for controlling the moving body 1 and a computer device (not shown).

In the example of FIG. 1, the moving body 1 arbitrarily travels on the floor surface F inside the building C, and the measuring unit 10 captures an image of the inside of the building C. The inspection device 100 inspects the inside of the building C, for example, the interior, using the image captured by the measuring unit 10.

Further, a detailed configuration of the inspection device 100 according to the first embodiment will be described. FIG. 2 is a block diagram showing an example of a functional configuration of the inspection device 100 according to the first embodiment. The inspection device 100 includes a part determination unit 101, a position recognition unit 102, an abnormality determination unit 103, a type recognition unit 104, a building information holding unit 105, an abnormality reference holding unit 106, and a type reference holding unit 107. including. Further, the measurement unit 10 includes a position acquisition unit 11, a 2D (two-dimensional: 2-Dimensions) image acquisition unit 12, and a 3D (three-dimensional: 3-Dimensions) image acquisition unit 13.

The position acquisition unit 11 acquires the position of the measurement unit 10, specifically, the position of the moving body 1. The position of the measuring unit 10 may be a two-dimensional position, a three-dimensional position, or may be determined according to the movable direction of the moving body 1. For example, when the moving body 1 moves on the floor surface F, the position of the measuring unit 10 may be a two-dimensional position, and when the moving body 1 flies, the position of the measuring unit 10 is a three-dimensional position. May be good. The position acquisition unit 11 may include an acceleration sensor and a gyro sensor (also referred to as an “angular velocity sensor”), and / or a GPS (Global Positioning System) receiver. The position acquisition unit 11 can calculate the position of the measurement unit 10 using the acceleration and the angular velocity detected by the acceleration sensor and the gyro sensor. The position acquisition unit 11 can calculate the position of the measurement unit 10 based on the satellite signal acquired via the GPS receiver. The position acquisition unit 11 outputs the position information of the measurement unit 10 to the position recognition unit 102 of the inspection device 100. The position information of the measuring unit 10 includes the position of the measuring unit 10 and the imaging direction which is the direction of the 2D image acquisition unit 12 and the 3D image acquisition unit 13. The imaging direction is a direction along the optical axis of the 2D image acquisition unit 12 and the 3D image acquisition unit 13. Examples of the position of the measuring unit 10 include a position based on coordinates with respect to the earth such as a map, a position based on coordinates set in a specific area, a position relative to a reference point, and the like. Further, when the moving body 1 includes an acceleration sensor, a gyro sensor, and / or a GPS receiver, the position acquisition unit 11 may acquire position information from the moving body 1.

The 2D image acquisition unit 12 captures a two-dimensional image of a portion of the building C to be inspected, specifically, a two-dimensional digital image. The two-dimensional image is an image including a luminance value as a pixel value of each pixel. An example of the 2D image acquisition unit 12 is a 2D camera such as a monocular camera. The 2D image acquisition unit 12 may be provided with a pan head such as a gimbal (not shown) so that the imaging direction thereof can be freely changed. Then, the 2D image acquisition unit 12 may change its orientation and take an image according to the control command of the inspection device 100 or the control device 1a. The 2D image acquisition unit 12 outputs the captured two-dimensional image to the site determination unit 101 of the inspection device 100.

The 3D image acquisition unit 13 captures a three-dimensional image of a portion of the building C to be inspected, specifically, a three-dimensional digital image. The three-dimensional image is an image including distance information from the 3D image acquisition unit 13 to the subject. An example of a three-dimensional image is a distance image including the distance from the 3D image acquisition unit 13 to the subject as a pixel value of each pixel. An example of the 3D image acquisition unit 13 is a 3D camera such as a laser light projection type camera and a compound eye camera. The 3D image acquisition unit 13 may be provided with a pan head such as a gimbal (not shown) so that the imaging direction thereof can be freely changed. Then, the 3D image acquisition unit 13 may change its orientation and take an image according to the control command of the inspection device 100 or the control device 1a. The 3D image acquisition unit 13 images an area that is the same as or overlaps with the image area of the 2D image acquisition unit 12. When the 3D image acquisition unit 13 is composed of a laser beam projection type camera, the 2D image acquisition unit 12 may also serve as the 3D image acquisition unit 13. Alternatively, when the 3D image acquisition unit 13 is composed of a compound eye camera, the 3D image acquisition unit 13 may also serve as the 2D image acquisition unit 12. The 3D image acquisition unit 13 outputs the captured three-dimensional image to the site determination unit 101 of the inspection device 100.

The building information holding unit 105, the abnormality standard holding unit 106, and the type standard holding unit 107 can store information and enable the stored information to be taken out. The building information holding unit 105, the abnormality reference holding unit 106, and the type reference holding unit 107 may be, for example, a semiconductor memory such as a ROM (Read Only Memory), a RAM (Random Access Memory), or a flash memory, a hard disk drive, or an SSD (Solid). It is realized by a storage device such as State Drive).

The abnormality standard holding unit 106 and the type standard holding unit 107 store, that is, hold the inspection standard for each part of the building C. The abnormality standard holding unit 106 holds, as an inspection standard, a criterion for determining the presence or absence of an abnormality in each part of the building C. The type standard holding unit 107 holds, as an inspection standard, a criterion for discriminating the type of abnormality for each part of the building C. The details of the determination criteria and the determination criteria held by the abnormality reference holding unit 106 and the type reference holding unit 107 will be described later.

The building information holding unit 105 stores the information of the building C created in advance. Examples of information on building C include a diagram showing the appearance of building C, a diagram showing the inside of building C, and the types, shapes, colors, and patterns of materials and members used in each part of building C. Information such as surface roughness and position, information such as type, shape, color, pattern, surface roughness and position of fittings of building C, and type, shape, color, pattern, surface of accessories of building C. Information such as roughness and position. In this way, the building information holding unit 105 stores information on building components that are components used in the building C, such as materials, members, fittings, and accessories. Here, the building information holding unit 105 is an example of the information holding unit.

Examples of materials used are wall materials, floor materials, ceiling materials and roofing materials. Examples of materials used are pillars, timbers and wiring fixtures such as outlets and lighting switches. Examples of fittings are partitions that open and close doors, windows, and other openings. Examples of accessories are baths, toilets, kitchens, storage shelves, closets, closets and shoe racks. Examples of the figure showing the appearance of the building C are a front view, a side view, a rear view, and a top view of the building C. Examples of the figure showing the inside of the building C are a cross-sectional view of the building C and a floor plan of the building C as shown in FIG. Note that FIG. 3 is a diagram showing an example of a floor plan of the building C stored in the building information holding unit 105 according to the first embodiment. The information on the building components of each part is associated with the position where they are arranged in the external view, the cross-sectional view, and the floor plan of the building C.

For example, FIG. 4 is a diagram showing an example of information included in the floor plan of FIG. As shown in FIG. 4, the building components existing in each part of the floor plan are associated with, for example, the positions indicated by the three-dimensional coordinates set in the floor plan.

The position recognition unit 102 acquires the position information of the measurement unit 10 from the measurement unit 10 that captures the image of the inspection target portion in the building C, and measures the information and the measurement of the building C held in the building information holding unit 105. The position of the measuring unit 10 with respect to the building C is calculated based on the position information of the unit 10. Specifically, the position recognition unit 102 calculates the position and orientation of the measurement unit 10 with respect to the building C. The orientation of the measurement unit 10 is the imaging direction of the 2D image acquisition unit 12 and the 3D image acquisition unit 13. When the moving body 1 is located inside the building C as in the present embodiment, the position recognition unit 102 associates the position of the measurement unit 10 with the floor plan of the building C, and measures on the floor plan. The position and orientation of the unit 10 are calculated. The position recognition unit 102 outputs position information including the position and orientation of the measurement unit 10 with respect to the building C to the part determination unit 101.

The part determination unit 101 acquires an image captured by the measurement unit 10, and is a part to be projected on the image based on the acquired image and the position information of the measurement unit 10 acquired from the position recognition unit 102. The position and area of the imaged area are specified for the building C. In the present embodiment, the site determination unit 101 uses both a two-dimensional image and a three-dimensional image, but at least one of the two-dimensional image and the three-dimensional image may be used. Further, in the present embodiment, the position and area of the imaged portion are the position and area on the floor plan, but may be the position and area with respect to other references of the building C. When the field of view, that is, the viewing angle of the 2D image acquisition unit 12 and the 3D image acquisition unit 13 is known, the part determination unit 101 does not use an image, and the position, orientation, and floor plan of the measurement unit 10 with respect to the building C. Based on the above, the position and area of the imaged portion may be specified.

Further, the part determination unit 101 identifies an inspection target part which is a region of each building component included in the imaged part in the image. The part determination unit 101 collates the information of each building component included in the floor plan with the information such as the contour, color and texture of the subject extracted from the image, and thereby the building component and its inspection target. Identify the site. The part determination unit 101 includes the position and area of the imaged part, the position and area on the image of each building component in the imaged part and the part to be inspected, and the image corresponding to the imaged part. The information is output to the abnormality determination unit 103. The part determination unit 101 may calculate the position and area of the inspection target part with respect to the building C or the floor plan by using the three-dimensional image.

The abnormality standard holding unit 106 stores a determination standard for the presence or absence of an abnormality for each part of the building C created in advance, that is, an abnormality determination standard. Specifically, the abnormality standard holding unit 106 stores an abnormality determination standard for each building component used in each part of the building C. The anomaly judgment standard is a judgment standard based on a two-dimensional image and a three-dimensional image of a building component. Specifically, the abnormality determination standard defines a predetermined state in which the change of the parameter regarding the pixel value of the pixels arranged in the image is normal. That is, if the change in the parameter deviates from the abnormality determination standard, it can be determined that there is an abnormality. Here, the abnormality reference holding unit 106 is an example of the reference holding unit.

The pixel value may be either a luminance value or a distance value. Examples of parameter changes are the pattern of pixel values of the arranged pixels, that is, the spatial frequency, the change in the color of the arranged pixels, the change in the contrast of the arranged pixels, and the distance value indicated by the pixel values of the arranged pixels. However, it is not limited to these. For example, the spatial frequency of the brightness value indicated by the pixel value indicates the surface pattern and the state of surface processing such as grain, and the spatial frequency of the distance value indicated by the pixel value indicates the state of surface processing such as the uneven structure of the surface. Can be shown. Changes in the combination of two or more parameters may be evaluated as targets for abnormality determination. Further, the abnormality determination standard may be a unique standard set for the building C, or may be a general-purpose standard set for a general building component. For example, FIG. 5 shows an example of an abnormality determination standard stored in the abnormality standard holding unit 106 according to the first embodiment, which is composed of a general-purpose standard.

Further, FIG. 6 shows a schematic diagram showing an example of the type of abnormality in the inspection target site. The abnormality judgment criteria are not the criteria for identifying the types of abnormalities as shown in FIG. 6, but are excessive gaps, uneven gaps, contacts, bulges, dents, steps, chipped edges, and edges. It is a standard for the purpose of extracting abnormal features such as protrusion and different colors.

Based on the information acquired from the part determination unit 101, the abnormality determination unit 103 determines whether or not there is an abnormality in the building component for each inspection target portion in the acquired image. Specifically, the abnormality determination unit 103 scans the pixel values of the pixels that project each inspection target portion in the acquired two-dimensional image and / or three-dimensional image. The abnormality determination unit 103 collates the scanning result of the pixel value of each inspection target part with the abnormality determination standard of the building component corresponding to the inspection target part stored in the abnormality standard holding unit 106, and thereby scans the result. Determines whether or not deviates from the abnormality criterion. The abnormality determination unit 103 performs the above-mentioned abnormality determination on all the images acquired from the measurement unit 10. Then, when deviating from the abnormality determination standard, the abnormality determination unit 103 calculates the position of the pixel that projects the abnormality area, which is the region deviating from the abnormality determination standard on the image on which the abnormality determination is performed, that is, the pixel coordinates. The abnormality determination unit 103 includes an image in which the abnormality is determined, pixel coordinates of the abnormality region extracted in the image, an inspection target portion including the abnormality region, and a building component corresponding to the inspection target portion. The information associated with the position of the inspection target portion is output to the type recognition unit 104. Here, the abnormality determination unit 103 is an example of the determination unit.

The type standard holding unit 107 stores a discriminating standard for the type of abnormality for each part of the building C created in advance, that is, the type discriminating standard. Specifically, the type standard holding unit 107 stores a standard for determining the type of abnormality for each building component used in the building C. The type discrimination standard is a standard for the purpose of specifying up to the type of abnormality as shown in FIG. 6, and is a discrimination standard based on a two-dimensional image and a three-dimensional image of a building component. For example, as shown in FIG. 7, in the type discrimination standard, the shape and / or dimension of the abnormal region of each building component is associated with the type of abnormality. If the shape and / or dimension of the anomalous region of the building component satisfies any of the shapes and / or dimensions of the type determination criteria corresponding to the building component, the type of anomaly of the building component is: It can be considered to be the type of anomaly corresponding to the shape and / or dimension to be satisfied. Note that FIG. 7 is a diagram showing an example of an abnormality type determination standard stored in the type standard holding unit 107 according to the first embodiment. Here, the type reference holding unit 107 is an example of the reference holding unit.

The type recognition unit 104 includes an image acquired from the abnormality determination unit 103, pixel coordinates of the abnormality region extracted in the image, an inspection target portion including the abnormality region, and a building configuration corresponding to the inspection target portion. Based on the element and the position of the inspection target site, the type of abnormality in the abnormal region is determined. Specifically, the type recognition unit 104 calculates the shape of the abnormal region based on the image and the pixel coordinates of the abnormal region. Further, the type recognition unit 104 may calculate the dimension of the abnormal region based on the pixel coordinates of the abnormal region and the pixel value of the pixel coordinates by using the three-dimensional image. The type recognition unit 104 collates the shape and / or dimension of the abnormal area with the building component corresponding to the inspection target part including the abnormal area with the type discrimination standard of the type standard holding unit 107, that is, pattern matching. By doing so, the type of abnormality in the abnormal area is specified. The type recognition unit 104 associates the image obtained by determining the type of abnormality with the type of abnormality in the abnormal area, the building component including the abnormal area, and its position, and outputs the image to the outside of the inspection device 100. To do. Here, the type recognition unit 104 is an example of a determination unit.

The output destination of the type recognition unit 104 may be a storage device (not shown), an output device such as a display, an output interface such as an output terminal, or a computer device. Further, the type recognition unit 104 may refer to the information on the floor plan of the building C from the building information holding unit 105 and associate the position on the floor plan with the above output information. Further, the type recognition unit 104 may generate and output data in which the position on the floor plan is associated with the above output information, for example, data for displaying the images of FIGS. 8A and 8B. 8A and 8B are diagrams showing an example of an image of the inspection result output by the inspection device 100 according to the first embodiment.

The images of FIGS. 8A and 8B are displayed on the display of the computer device to which the type recognition unit 104 is output. In FIG. 8A, points F1 to F10 indicate positions determined to have an abnormality on the floor plan, and in FIG. 8B, the type of abnormality and the height position from the floor surface are shown for each of points F1 to F10. There is. When the user selects any of the points F1 to F10 in FIG. 8A by operating the computer device, the captured image corresponding to the selected point may be displayed. Examples of displays are liquid crystal panels and organic or inorganic EL (Electroluminescence) panels. From the images of FIGS. 8A and 8B, the user can visually recognize the inspection result output by the type recognition unit 104.

Further, each component of the inspection device 100 including the part determination unit 101, the position recognition unit 102, the abnormality determination unit 103, and the type recognition unit 104 as described above is a CPU (Central Processing Unit), a DSP (Digital Signal Processor), or the like. It may be composed of a computer system (not shown) including a processor of the above and a memory such as a RAM and a ROM. Some or all of the functions of each component may be achieved by the CPU or DSP using the RAM as working memory to execute a program recorded in ROM. In addition, some or all of the functions of each component may be achieved by a dedicated hardware circuit such as an electronic circuit or an integrated circuit. Some or all of the functions of each component may be configured by a combination of the above software functions and hardware circuits. The program may be stored in the ROM in advance, and is provided as an application in communication via a communication network such as the Internet, communication according to a mobile communication standard, other wireless network, wired network, broadcasting, etc. and stored in the ROM. You may.

[1-2. Inspection device operation]
Further, an example of the operation of the inspection device 100 according to the first embodiment will be described. FIG. 9 is a flowchart showing an example of the operation flow of the inspection device 100 according to the first embodiment. As shown in FIG. 9, in step S1, the 2D image acquisition unit 12 and the 3D image acquisition unit 13 of the measurement unit 10 capture a two-dimensional image and a three-dimensional image of the inspection target portion of the building C, respectively, and inspect the device. It is output to the part determination unit 101 of 100. In the present embodiment, the 2D image acquisition unit 12 and the 3D image acquisition unit 13 simultaneously capture images, but the present invention is not limited to this.

Next, in step S2, the position acquisition unit 11 of the measurement unit 10 acquires the position information of the measurement unit 10 at the time of imaging of the 2D image acquisition unit 12 and the 3D image acquisition unit 13, and acquires the 2D image acquisition unit 12 and the 3D image. It is output to the position recognition unit 102 of the inspection device 100 in association with the image of the unit 13.

Next, in step S3, the position recognition unit 102 of the inspection device 100 constructs based on the acquired position information of the measurement unit 10 by referring to the information of the building C held by the building information holding unit 105. The position and orientation of the measuring unit 10 with respect to the object C are calculated and output to the part determination unit 101.

Next, in step S4, the site determination unit 101 identifies the site to be inspected. Specifically, the site determination unit 101 projects the image acquired from the measurement unit 10 and the position and orientation of the measurement unit 10 at the time of imaging of the image acquired from the position recognition unit 102 on the image. The position and area of the imaged area to be imaged are specified for the building C. Further, the part determination unit 101 identifies the position and area of the inspection target part of each building component included in the imaged part in the image. The part determination unit 101 outputs the position and area of the imaged part, the position and area of each building component and the inspection target part thereof, and the image corresponding to the imaged part to the abnormality determination unit 103.

Next, in step S5, the abnormality determination unit 103 determines the presence or absence of an abnormality in the inspection target site. The abnormality determination unit 103 is a building component for each inspection target part in each image based on the information acquired from the part determination unit 101 and the abnormality determination standard stored in the abnormality standard holding unit 106. Determine if there is an abnormality. The abnormality determination unit 103 outputs the determination result to the type recognition unit 104.

Next, in step S6, the type recognition unit 104 determines the type of abnormality in the inspection target site. The type recognition unit 104 includes an image acquired from the abnormality determination unit 103, pixel coordinates of the abnormality region extracted in the image, an inspection target part including the abnormality region, its position, and construction corresponding to the inspection target part. The type of abnormality in the abnormal region is specified based on the object component and the type discrimination standard stored in the type standard holding unit 107.

Next, in step S7, the type recognition unit 104 outputs a discrimination result, that is, an inspection result. Specifically, the type recognition unit 104 provides data in which the image obtained by determining the type of abnormality, the type of abnormality in the abnormal area, the building component including the abnormal area, and the position thereof are associated with each other. For example, as shown in FIGS. 8A and 8B, the output is associated with the floor plan of the building C.

[1-3. Effect, etc.]
As described above, the inspection device 100 according to the first embodiment inspects the building C. The inspection device 100 acquires the position information of the building information holding unit 105 as an information holding unit for holding the information of the building C and the measuring unit 10 for capturing an image of the inspection target portion in the building C, and acquires the position information of the building. The position recognition unit 102 that calculates the position of the measurement unit 10 with respect to the building C based on the information of the building C held in the information holding unit 105 and the position information of the measurement unit 10, and the image captured by the measurement unit 10. As a part determination unit 101 that identifies the part to be inspected to be projected on the image based on the image and the position of the measurement unit 10, and as a standard holding unit that holds the inspection standard for each part of the building C. By comparing the abnormality standard holding unit 106 and the type standard holding unit 107 of the above with the inspection target part specified by the part determination unit 101 and the inspection standard held by the abnormality standard holding unit 106 and the type standard holding unit 107. It includes an abnormality determination unit 103 and a type recognition unit 104 as a determination unit that determines and outputs the inspection result of the inspection target portion.

According to the above configuration, the inspection device 100 obtains an image captured by the measuring unit 10 based on the position of the measuring unit 10 with respect to the building C calculated by using the information of the building C and the position information of the measuring unit 10. Identify the part to be inspected to be projected. Further, the inspection device 100 determines the inspection result of the inspection target part by comparing the inspection target part with the inspection standard for each part of the building C. In this way, the inspection device 100 identifies various inspection target parts from various images captured by the measurement unit 10, and outputs each inspection result. Therefore, the inspection device 100 enables automation of inspection of a building.

Further, in the inspection device 100 according to the first embodiment, the measurement unit 10 captures a two-dimensional image and a three-dimensional image of the inspection target part, and acquires the position information of the measurement unit 10, and the part determination unit 101 determines the part. The inspection target site may be specified by using at least one of the two-dimensional image and the three-dimensional image captured by the measuring unit 10. According to the above configuration, the part determination unit 101 can specify the shape of the inspection target part and the position of the inspection target part on the two-dimensional image by using the two-dimensional image. By using the three-dimensional image, the part determination unit 101 can specify the shape and dimensions of the part to be inspected and the three-dimensional position of the part to be inspected. It should be noted that the identification of the shape of the inspection target portion using the two-dimensional image is more accurate than the three-dimensional image because of the difference in the target indicated by the pixel value. Further, by using the two-dimensional image and the three-dimensional image, it is possible to specify the shape, dimensions and position of the inspection target portion with higher accuracy.

Further, in the inspection device 100 according to the first embodiment, the type recognition unit 104 may output the inspection result of the inspection target portion, the information of the inspection target portion, and the image of the inspection target portion in association with each other. According to the above configuration, for example, by displaying the output result of the type recognition unit 104 on a display or the like, the user can easily recognize the inspection result and the state of each inspection target portion.

[Modified Example of Embodiment 1]
The inspection device 100A according to the modified example of the first embodiment will be described. In the first embodiment, the abnormality determination unit 103 and the type recognition unit 104 of the inspection device 100 perform abnormality determination and abnormality type determination processing on all of the images acquired by the measurement unit 10, respectively. The abnormality determination unit 103A of the inspection device 100A related to this deformation performs abnormality determination processing on all the images acquired by the measurement unit 10, and the type recognition unit 104A determines that there is an abnormality by the abnormality determination unit 103. Only the image including the inspection target part that has been inspected is processed to determine the type of abnormality. Hereinafter, the points different from those of the first embodiment will be mainly described.

FIG. 10 is a block diagram showing an example of a functional configuration of the inspection device 100A according to the modified example of the first embodiment. As shown in FIG. 10, the inspection device 100A has a site determination unit 101, a position recognition unit 102, a building information holding unit 105, an abnormality standard holding unit 106, and a type standard holding unit, as in the first embodiment. Includes part 107. Further, the inspection device 100A includes an abnormality determination unit 103A and a type recognition unit 104A. The configuration and operation of the part determination unit 101, the position recognition unit 102, the building information holding unit 105, the abnormality reference holding unit 106, and the type reference holding unit 107 are the same as those in the first embodiment. The configuration and operation of the measuring unit 10 are the same as those in the first embodiment.

Similar to the first embodiment, the abnormality determination unit 103A determines whether or not there is an abnormality in the inspection target portion in the images for all the images acquired from the measurement unit 10. Then, the abnormality determination unit 103A includes the inspection target part determined to have an abnormality and its position, the building component corresponding to the inspection target part, the pixel coordinates of the abnormality region of the inspection target part, and the inspection target. The image obtained by determining the abnormality of the portion is output to the type recognition unit 104A. The image obtained by determining the abnormality of the inspection target site is an image including the inspection target site. The abnormality determination unit 103A does not output the information regarding the inspection target part to the type recognition unit 104A for the inspection target part determined to have no abnormality.

The type recognition unit 104A includes an image acquired from the abnormality determination unit 103A, an inspection target part and its position in the image, a building component corresponding to the inspection target part, and pixels of an abnormality region of the inspection target part. The type of anomaly in the anomaly region is determined using the coordinates. Since the other operations of the type recognition unit 104A are the same as those of the type recognition unit 104 of the first embodiment, the description thereof will be omitted.

Further, since the other configurations and operations of the inspection device 100A according to this modification are the same as those in the first embodiment, the description thereof will be omitted. Then, the same effect as that of the first embodiment can be obtained by the inspection device 100A according to the present modification as described above.

Further, in the inspection device 100A, the abnormality standard holding unit 106 holds a determination standard for the presence or absence of an abnormality in each part of the building C as an inspection standard, and the type standard holding unit 107 holds the building C as an inspection standard. The criteria for determining the type of abnormality for each part of the above may be retained. The abnormality determination unit 103A determines whether or not the inspection target part satisfies the judgment criteria, and the type recognition unit 104A determines whether or not the inspection target part that does not meet the judgment criteria meets the judgment criteria. , The determination result may be output as an inspection result. According to the above configuration, the abnormality determination unit 103A can make a determination based on the determination criteria for the inspection target parts included in all the images, but the type recognition unit 104A is not the inspection target part included in all the images. , Judgment based on the judgment criteria is performed only for the image including the inspection target part that does not meet the judgment criteria. Therefore, when the calculation amount of the discrimination process of the type recognition unit 104A is large, the calculation load of the inspection device 100A can be reduced.

[Embodiment 2]
The inspection device 200 according to the second embodiment will be described. In the first embodiment, the abnormality determination unit 103 and the type recognition unit 104 of the inspection device 100 each perform processing on the inspection target portion in the image acquired by the measurement unit 10. The inspection device 200 according to the second embodiment does not include the type recognition unit, and outputs the determination result of the abnormality determination unit 203 as the inspection result. Hereinafter, the points different from those of the first embodiment and the modified example will be mainly described.

FIG. 11 is a block diagram showing an example of the functional configuration of the inspection device 200 according to the second embodiment. As shown in FIG. 11, the inspection device 200 includes a site determination unit 101, a position recognition unit 102, a building information holding unit 105, and an abnormality reference holding unit 106, as in the first embodiment. Further, the inspection device 200 includes an abnormality determination unit 203. The configuration and operation of the site determination unit 101, the position recognition unit 102, the building information holding unit 105, and the abnormality reference holding unit 106 are the same as those in the first embodiment. The configuration and operation of the measuring unit 10 are the same as those in the first embodiment.

Similar to the first embodiment, the abnormality determination unit 203 determines whether or not there is an abnormality in the inspection target portion in the images for all the images acquired from the measurement unit 10. Then, the abnormality determination unit 103A associates the image on which the abnormality is determined with the building component corresponding to the inspection target portion including the abnormality region and its position, and outputs the image to the outside of the inspection device 200. The output destination of the abnormality determination unit 203 may be a storage device (not shown), an output device such as a display, an output interface such as an output terminal, or a computer device.

Further, the abnormality determination unit 203 may refer to the information on the floor plan of the building C from the building information holding unit 105, and may associate the position on the floor plan with the above output information. Further, the abnormality determination unit 203 may generate and output data in which the position on the floor plan and the above output information are associated with each other. The image displayed using such data shows, for example, a position determined to have an abnormality on the floor plan, and also shows height information of the position. Further, when the user selects the above position by operating the computer device, the captured image corresponding to the selected position may be displayed.

Further, since the other configurations and operations of the inspection device 200 according to the second embodiment are the same as those of the first embodiment, the description thereof will be omitted. Then, the same effect as that of the first embodiment can be obtained by the inspection device 200 according to the second embodiment as described above.

Further, in the inspection device 200, the abnormality standard holding unit 106 holds a determination standard for the presence or absence of an abnormality in each part of the building C as an inspection standard, and the abnormality determination unit 203 satisfies the determination standard for the inspection target part. Depending on whether or not, the inspection result of the inspection target site may be determined. According to the above configuration, the inspection device 200 outputs only the determination result of the presence or absence of abnormality as the inspection result, so that the processing amount can be reduced. Further, since the abnormality determination unit 203 does not determine the type of abnormality, it is possible to reduce erroneous detection of an abnormality that is difficult to determine the type. Therefore, it is possible to improve the abnormality detection accuracy.

[Embodiment 3]
The inspection device 300 according to the third embodiment will be described. In the first embodiment, the abnormality determination unit 103 and the type recognition unit 104 of the inspection device 100 each perform processing on the inspection target portion in the image acquired by the measurement unit 10. The inspection device 300 according to the third embodiment does not include the abnormality determination unit, and outputs the determination result of the type recognition unit 304 as the inspection result. Hereinafter, the points different from the first and second embodiments and the modified examples will be mainly described.

FIG. 12 is a block diagram showing an example of the functional configuration of the inspection device 300 according to the third embodiment. As shown in FIG. 12, the inspection device 300 includes a site determination unit 101, a position recognition unit 102, a building information holding unit 105, and a type reference holding unit 107, as in the first embodiment. Further, the inspection device 300 includes a type recognition unit 304. The configuration and operation of the part determination unit 101, the position recognition unit 102, the building information holding unit 105, and the type reference holding unit 107 are the same as those in the first embodiment. The configuration and operation of the measuring unit 10 are the same as those in the first embodiment.

The type recognition unit 304 determines the type of the abnormal region included in the inspection target portion in the image for all the images acquired from the measurement unit 10. Then, the type recognition unit 304 associates the image obtained by determining the type of abnormality with the type of abnormality in the abnormal region, the building component including the abnormal region, and its position, and is the same as in the first embodiment. Is output to the outside of the inspection device 300.

Specifically, the type recognition unit 304 scans the pixel value of the pixel that projects each inspection target portion in each acquired image. Further, the type recognition unit 304 extracts a feature amount related to the pixel value of the pixels arranged in the inspection target portion. Then, the type recognition unit 304 collates the extracted feature amount with the building component corresponding to the inspection target portion projected on the extracted pixel with the type discrimination standard of the type standard holding unit 107. By doing so, the presence or absence of an abnormality is specified, and if there is an abnormality, the type of the abnormality is also specified. Extraction of features and identification of the presence or absence of abnormalities and the types of abnormalities can be carried out by methods such as multi-class classification using deep learning. When the type of abnormality is specified, the type recognition unit 304 associates the image obtained by determining the type of abnormality with the type of abnormality, the building component including the abnormality, and its position, and inspects the device. Output to the outside of 300.

Further, since the other configurations and operations of the inspection device 300 according to the third embodiment are the same as those of the first embodiment, the description thereof will be omitted. Then, the same effect as that of the first embodiment can be obtained by the inspection device 300 according to the third embodiment as described above.

Further, in the inspection device 300, the type standard holding unit 107 holds a discrimination standard for the type of abnormality for each part of the building C as an inspection standard, and the type recognition unit 304 matches the inspection target part with the discrimination standard. The inspection result of the inspection target site may be determined depending on whether or not the inspection is performed. According to the above configuration, the inspection device 300 detects an abnormality in the inspection target portion based only on the determination criteria of the type of abnormality. Such an inspection device 300 can determine the type of abnormality without performing the determination process of the abnormality determination unit 103 according to the first embodiment. Therefore, the inspection device 300 can reduce the number of processes performed to determine the type of abnormality.

[Embodiment 4]
The inspection device 400 according to the fourth embodiment will be described. The inspection device 100 according to the first embodiment performs an inspection process using an image arbitrarily captured by the measuring unit 10. The inspection device 400 according to the fourth embodiment determines the suitability of the image captured by the measuring unit 10 for inspection, and performs the inspection process using the image suitable for the inspection. Hereinafter, the points different from the first to third embodiments and the modified examples will be mainly described.

FIG. 13 is a block diagram showing an example of the functional configuration of the inspection device 400 according to the fourth embodiment. As shown in FIG. 13, the inspection device 400 has a position recognition unit 102, an abnormality determination unit 103, a type recognition unit 104, a building information holding unit 105, and an abnormality reference holding unit, as in the first embodiment. 106 and a type reference holding unit 107 are included. Further, the inspection device 400 includes a site determination unit 401, a positional relationship recognition unit 408, a position / attitude control unit 409, and a positional relationship holding unit 410. The configuration and operation of the position recognition unit 102, the abnormality determination unit 103, the type recognition unit 104, the building information holding unit 105, the abnormality reference holding unit 106, and the type reference holding unit 107 are the same as those in the first embodiment. The positional relationship recognition unit 408 and the position / attitude control unit 409 are realized by the same configuration as the above-mentioned components. The configuration and operation of the measuring unit 10 are the same as those in the first embodiment.

The positional relationship holding unit 410 is configured in the same manner as the building information holding unit 105 and the like, and is realized by a storage device as illustrated with respect to the building information holding unit 105 and the like. The positional relationship holding unit 410 holds a criterion for the suitability of the positional relationship between each part of the building C and the measuring unit 10. Specifically, the positional relationship holding unit 410 stores a predetermined positional relationship between the building component and the measuring unit 10. The positional relationship includes a range of distances between the building component and the measuring unit 10 and a range of orientation of the measuring unit 10 with respect to the surface of the building component. When the range of the distance between the building component and the measuring unit 10 and the range of the direction of the measuring unit 10 with respect to the surface of the building component satisfy the range defined by the positional relationship holding unit 410, the measuring unit 10 causes the measurement unit 10. The captured image is suitable for inspection, and if it is not satisfied, it can be determined that the image is not suitable for inspection.

The range of the distance between the building component and the measuring unit 10 is a range of distance suitable for imaging of the building component by the measuring unit 10. The range of this distance can be set according to the imaging ability of the 2D image acquisition unit 12 and the 3D image acquisition unit 13 of the measurement unit 10, the size of the abnormal region that may occur in the building component, and the like.

The range of orientation of the measuring unit 10 with respect to the surface of the building component is a range of directions suitable for imaging of the building component by the measuring unit 10. This range of orientation can be set depending on the surface properties of the building components. The orientation of the measurement unit 10 is the imaging direction of the 2D image acquisition unit 12 and the 3D image acquisition unit 13. In the present embodiment, the orientation of the measuring unit 10 with respect to the surface of the building component is the orientation in the three-dimensional space, but it may be the orientation in the two-dimensional space such as a horizontal plane. For example, if the building component is a kitchen or a mirror, the surface of the building component can be a glossy surface or a mirror surface. When the 2D image acquisition unit 12 and the 3D image acquisition unit 13 take an image from the front of such a surface, abnormalities such as scratches or dents on the surface are buried in the reflected image on the surface and appear on the image. It may not appear. By imaging such a surface from an oblique direction, an abnormality on the surface is projected on the image.

For example, as shown in FIG. 14, the positional relationship holding unit 410 has a range of distances between the building component, the building component and the measuring unit 10, and the orientation of the measuring unit 10 with respect to the surface of the building component. Store in association with the range. When the range of the distance suitable for the measuring unit 10 is not set, the positional relationship holding unit 410 associates only the building component with the range of the direction of the measuring unit 10 with respect to the surface of the building component. It may be stored.

Similar to the first embodiment, the site determination unit 401 determines the position and region of the imaged portion, each building component in the object to be imaged, and the site to be inspected for each image acquired from the measuring unit 10. The position and area on the image are calculated, and the information including these and the image corresponding to the imaged portion is output to the abnormality determination unit 103 and the positional relationship recognition unit 408. Further, the site determination unit 401 outputs the position information of the measurement unit 10 acquired from the position recognition unit 102 to the position relationship recognition unit 408.

The positional relationship recognition unit 408 acquires the positional relationship between the measurement unit 10 and the inspection target part based on the position of the measurement unit 10 and the information of the inspection target part specified by the part determination unit 401. Specifically, the positional relationship recognition unit 408 refers to the information of the building C stored in the building information holding unit 105, and is based on the information of the building C and the information acquired from the part determination unit 401. Calculate the position of the inspection target part with respect to the building C. At this time, the positional relationship recognition unit 408 sets the information of the floor plan of the building C, the position and area of the projected portion, and the position and region of each building component in the projected portion and the inspection target portion thereof. Based on this, the position of the inspection target part on the floor plan is calculated. Further, the positional relationship recognition unit 408 is based on the position of the inspection target part on the floor plan and the position information of the measurement unit 10 acquired from the part determination unit 401, and the position and orientation of the measurement unit 10 with respect to the inspection target part. Is calculated. Specifically, the positional relationship recognition unit 408 calculates the position and orientation of the measurement unit 10 with respect to the surface of the building component at the inspection target site. The positional relationship recognition unit 408 outputs information including the position of the inspection target portion and the position and orientation of the measurement unit 10 with respect to the surface of the building component of the inspection target portion to the position / attitude control unit 409.

The position / attitude control unit 409 is constructed so that the positional relationship between the measurement unit 10 and the inspection target part acquired by the positional relationship recognition unit 408 is held by the positional relationship holding unit 410 and corresponds to the measurement unit 10 and the inspection target part. The inspection result of the inspection target part is determined by comparing with the positional relationship with the object component. Further, the position / attitude control unit 409 generates control information of the position and attitude of the measurement unit 10 based on the two compared positional relationships. Here, the position / attitude control unit 409 is an example of a determination unit and a control information generation unit.

The position / attitude control unit 409 has the measurement unit 10 and the construction in which the positional relationship between the measurement unit 10 acquired by the position relationship recognition unit 408 and the inspection target part of the building component is held by the position relationship holding unit 410. It is determined whether or not the positional relationship with the object component is satisfied. When the position / attitude control unit 409 satisfies the condition, the position / attitude control unit 409 determines that the image of the inspection target part is appropriate, and causes the abnormality determination unit 103 and the type recognition unit 104 to perform processing using the image of the inspection target part. If the position / attitude control unit 409 does not satisfy the condition, the position / attitude control unit 409 determines that the image of the inspection target part is inappropriate, and causes the abnormality determination unit 103 and the type recognition unit 104 to stop the process using the image of the inspection target part. ..

Further, in the latter case, the position / attitude control unit 409 instructs the measurement unit 10 to re-image the inspection target portion. At this time, the position / attitude control unit 409 changes the imaging direction of the measurement unit 10 so that the positional relationship between the measurement unit 10 and the inspection target portion satisfies the positional relationship held by the positional relationship holding unit 410. A control command for changing the position of the measuring unit 10, that is, the position of the moving body 1 is generated. The position / attitude control unit 409 outputs a control command to a control device (not shown) of the measurement unit 10 and a control device (not shown) of the moving body 1 before the reimaging command. The control device of the measuring unit 10 controls, for example, the driving device of the gimbal of the measuring unit 10 and changes the posture of the measuring unit 10. The control device of the moving body 1 controls the driving device of the moving body 1 and changes the position of the moving body 1. The measuring unit 10 recognizes a change in the posture and position of the measuring unit 10 and the moving body 1 via the position acquisition unit 11 and the like, and then performs reimaging. As a result, an image suitable for inspection can be obtained.

Further, since the other configurations and operations of the inspection device 400 according to the fourth embodiment are the same as those of the first embodiment, the description thereof will be omitted. Then, the same effect as that of the first embodiment can be obtained by the inspection device 400 according to the fourth embodiment as described above.

Further, the inspection device 400 is a positional relationship recognition unit that acquires the positional relationship between the measurement unit 10 and the inspection target part based on the position of the measurement unit 10 and the information of the inspection target part specified by the part determination unit 401. 408 may be further provided with a positional relationship holding unit 410 that holds a positional relationship between each portion preset in each portion of the building C and the measuring unit 10. Then, the position / attitude control unit 409 as a determination unit inspects the positional relationship between the measurement unit 10 acquired by the positional relationship recognition unit 408 and the inspection target portion with the measurement unit 10 held by the positional relationship holding unit 410. The inspection result of the inspection target site may be determined by comparing with the positional relationship with the target site. According to the above configuration, the position / attitude control unit 409 invalidates the inspection result, for example, when the positional relationship between the measurement unit 10 and the inspection target portion does not satisfy the relationship held by the positional relationship holding unit 410 and is not appropriate. be able to. In this case, the position / attitude control unit 409 may instruct the measurement unit 10 to re-image the image. This makes it possible to improve the accuracy of the inspection result.

Further, in the inspection device 400, the position / attitude control unit 409 as the control information generation unit holds the positional relationship between the measurement unit 10 and the inspection target portion acquired by the positional relationship recognition unit 408 and the positional relationship holding unit 410. Control information of the position and posture of the measuring unit 10 may be generated based on the positional relationship between the measuring unit 10 and the inspection target portion. According to the above configuration, the position / attitude control unit 409 determines the position and orientation of the measurement unit 10 when the positional relationship between the measurement unit 10 and the inspection target part does not satisfy the relationship held by the positional relationship holding unit 410 and is not appropriate. Control information including a command to make it appropriate may be output to the measuring unit 10 and the moving body 1, and further, the measuring unit 10 may be instructed to re-image the image. As a result, it becomes possible to perform an inspection using an image suitable for detecting an abnormality, and it is possible to improve the accuracy of the inspection result.

[Embodiment 5]
The inspection device 500 according to the fifth embodiment will be described. The inspection device 500 according to the fifth embodiment is configured to control the imaging operation of the measuring unit 10 and the operation of the moving body 1 and to stop the moving body 1 at the time of imaging of the measuring unit 10. It is different from the fourth embodiment. Hereinafter, the points different from those of the first to fourth embodiments and the modified examples will be mainly described.

FIG. 15 is a block diagram showing an example of the functional configuration of the inspection device 500 according to the fifth embodiment. As shown in FIG. 15, the inspection device 500 includes a position recognition unit 102, an abnormality determination unit 103, a type recognition unit 104, a building information holding unit 105, and an abnormality reference holding unit, as in the fourth embodiment. It includes 106, a type reference holding unit 107, a part determination unit 401, a positional relationship recognition unit 408, and a positional relationship holding unit 410. The configuration and operation of the above components are the same as those in the fourth embodiment. Further, the inspection device 500 includes a position / attitude control unit 509 and a measurement control unit 511. The measurement control unit 511 is realized by the same configuration as the above-mentioned components. The configuration and operation of the measuring unit 10 are the same as those in the first embodiment.

The position / attitude control unit 509 operates in the same manner as in the fourth embodiment. Further, when the position / attitude control unit 509 receives a command from the measurement control unit 511 to stop the movement of the moving body 1, the position / attitude control unit 509 gives a command to stop the movement of the moving body 1 to a control device (not shown) of the moving body 1. Is output.

The measurement control unit 511 commands the measurement unit 10 to capture an image of the inspection target portion, and controls the imaging operation of the measurement unit 10. Further, when the measurement control unit 511 outputs an imaging command to the measurement unit 10, the measurement control unit 511 outputs a command to stop the movement of the moving body 1 in advance. Specifically, the measurement control unit 511 acquires a command for performing imaging by the measurement unit 10 via the input device 520. Next, the measurement control unit 511 outputs a command to stop the movement of the moving body 1 to the position / attitude control unit 509. Next, the measurement control unit 511 outputs a command to the measurement unit 10 to perform imaging after the movement of the moving body 1 is stopped. The order of commands output to the measuring unit 10 is not limited to the above, and may be reversed. When the measuring unit 10 detects that the moving body 1 has stopped moving via the position acquisition unit 11, it performs an image pickup. Therefore, the measuring unit 10 takes an image while the moving body 1 is stopped moving. Here, the measurement control unit 511 is an example of a control command unit.

In the present embodiment, the input device 520 is an input interface such as a switch that receives an input of a user's command to the inspection device 500. For example, the input device 520 may be mounted on the control device 1a of the moving body 1. Alternatively, the input device 520 may be mounted on a device different from the control device 1a and may be connected to the mobile body 1 via wired communication or wireless communication. The input device 520 may not output the command for performing imaging in the OFF state, but may output the command for performing imaging in the ON state.

When the measurement unit 10 is configured to perform imaging in order according to a predetermined program, the measurement control unit 511 acquires the imaging timing from the measuring unit 10 in advance, and moves the moving body 1 before the imaging timing. A command to stop may be output.

Further, the measurement control unit 511 is mounted together with other components of the inspection device 500, but is not limited to this, and may be included in the measurement unit 10, for example, and is included in the control device 1a. May be good.

Further, since the other configurations and operations of the inspection device 500 according to the fifth embodiment are the same as those of the fourth embodiment, the description thereof will be omitted. Then, the same effect as that of the fourth embodiment can be obtained by the inspection device 500 according to the fifth embodiment as described above.

Further, the inspection device 500 further includes a measurement control unit 511 as a control command unit for instructing the measurement unit 10 to capture an image of the inspection target portion, and the measurement control unit 511 outputs an imaging command to the measurement unit 10. , A command to stop the movement of the moving body 1 may be output in advance. According to the above configuration, when the measurement unit 10 takes an image, the movement of the moving body 1 on which the measurement unit 10 is mounted is stopped. As a result, the vibration and displacement applied to the measuring unit 10 from the moving body 1 are reduced, so that the measuring unit 10 can stably capture a clear image. Therefore, the accuracy of detecting an abnormality in the inspection device 500 is improved.

[Other]
As described above, embodiments and modifications of the inspection device according to the present disclosure have been described. However, the technique of the present disclosure is not limited to the above-described embodiment and modification, and can be applied to a modification or other embodiment of the embodiment in which modifications, replacements, additions, omissions, etc. are appropriately performed. is there. It is also possible to combine the components described in the embodiments and modifications to form new embodiments or modifications.

For example, as described above, the techniques of the present disclosure may be implemented in recording media such as systems, devices, methods, integrated circuits, computer programs or computer readable recording disks, systems, devices, methods, integrated circuits. , Computer programs and any combination of recording media. Computer-readable recording media include non-volatile recording media such as CD-ROMs.

For example, each processing unit included in the above-described embodiment and modification is typically realized as an LSI (Large Scale Integration) which is an integrated circuit. These may be individually integrated into one chip, or may be integrated into one chip so as to include a part or all of them.

Further, the integrated circuit is not limited to the LSI, and may be realized by a dedicated circuit or a general-purpose processor. An FPGA (Field Programmable Gate Array) that can be programmed after the LSI is manufactured, or a reconfigurable processor that can reconfigure the connection and settings of circuit cells inside the LSI may be used.

In the above-described embodiment and modification, each component may be configured by dedicated hardware or may be realized by executing a software program suitable for each component. Each component may be realized by a program execution unit such as a processor such as a CPU reading and executing a software program recorded on a recording medium such as a hard disk or a semiconductor memory.

In addition, some or all of the above components may be composed of a removable IC (Integrated Circuit) card or a single module. An IC card or module is a computer system composed of a microprocessor, ROM, RAM, and the like. The IC card or module may include the above LSI or system LSI. When the microprocessor operates according to a computer program, the IC card or module achieves its function. These IC cards and modules may have tamper resistance.

The technique of the present disclosure may be realized by a method such as the following inspection method. The inspection method may be realized by a processor such as an MPU (Micro Processing Unit) and a CPU, a circuit such as an LSI, an IC card, a single module, or the like. Such an inspection method is an inspection method for inspecting a building, in which an image of an inspection target portion in the building and information on an imaging position of the image are acquired, and information on the building is acquired. The imaging position with respect to the building is calculated based on the information of the building and the information of the imaging position, and the inspection target portion projected on the image is calculated based on the image and the imaging position with respect to the building. The inspection result of the inspection target part is determined by specifying, acquiring the inspection standard for each part of the building, and comparing the identified inspection target part with the inspection standard.

Further, the technique of the present disclosure may be realized by a software program or a digital signal composed of the software program, or may be a non-temporary computer-readable recording medium on which the program is recorded. Needless to say, the above program can be distributed via a transmission medium such as the Internet.

In addition, all the numbers such as the ordinal number and the quantity used above are exemplified for the purpose of concretely explaining the technique of the present disclosure, and the present disclosure is not limited to the illustrated numbers. Further, the connection relationship between the components is illustrated for the purpose of specifically explaining the technique of the present disclosure, and the connection relationship for realizing the function of the present disclosure is not limited thereto.

Further, the division of the functional block in the block diagram is an example, and a plurality of functional blocks are realized as one functional block, one functional block is divided into a plurality of ones, and some functions are transferred to other functional blocks. You may. Further, the functions of a plurality of functional blocks having similar functions may be processed by a single hardware or software in parallel or in a time division manner.

1 Mobile body C Construction 10 Measuring unit 100, 100A, 200, 300, 400, 500 Inspection device 101, 401 Part determination unit 102 Position recognition unit 103, 103A, 203 Abnormality determination unit (determination unit)
104, 104A, 304 Type recognition unit (decision unit)
105 Building Information Holding Department (Information Holding Department)
106 Abnormality reference holding part (reference holding part)
107 Type standard holding unit (standard holding unit)
408 Positional relationship recognition unit 409,509 Position / attitude control unit (decision unit, control information generation unit)
410 Positional relationship holding unit 511 Measurement control unit (control command unit)

Claims (10)

An inspection device that inspects buildings
An information holding unit that holds information on the building,
The position information of the measuring unit that captures an image of the inspection target portion in the building is acquired, and based on the information of the building held in the information holding unit and the position information of the measuring unit, the said to the building. A position recognition unit that calculates the position of the measurement unit, and
A site determination unit that acquires an image captured by the measurement unit and identifies the inspection target portion to be projected on the image based on the image and the position of the measurement unit.
A standard holding part that holds inspection standards for each part of the building,
An inspection device including a determination unit that determines and outputs an inspection result of the inspection target part by comparing the inspection target part specified by the part determination unit with the inspection standard held by the reference holding unit. .. The measuring unit captures a two-dimensional image and a three-dimensional image of the inspection target portion, and acquires the position information of the measuring unit.
The inspection device according to claim 1, wherein the site determination unit uses at least one of a two-dimensional image and a three-dimensional image captured by the measurement unit to identify the inspection target site. The inspection device according to claim 1 or 2, wherein the determination unit outputs an inspection result of the inspection target site, information on the inspection target site, and the image of the inspection target site in association with each other. The standard holding unit holds, as an inspection standard, a criterion for determining the presence or absence of an abnormality in each part of the building.
The inspection device according to any one of claims 1 to 3, wherein the determination unit determines an inspection result of the inspection target portion depending on whether or not the inspection target portion satisfies the determination criteria. The standard holding unit holds, as an inspection standard, a criterion for discriminating the type of abnormality for each part of the building.
The inspection device according to any one of claims 1 to 4, wherein the determination unit determines an inspection result of the inspection target site according to whether or not the inspection target site meets the discrimination criteria. The reference holding unit holds, as inspection criteria, a criterion for determining the presence or absence of an abnormality in each part of the building and a criterion for determining the type of abnormality for each part of the building.
The determination unit determines whether or not the inspection target site satisfies the determination criteria, and determines whether or not the inspection target site that does not meet the determination criteria meets the determination criteria, and determines. The inspection apparatus according to any one of claims 1 to 4, which outputs the result as an inspection result. A positional relationship recognition unit that acquires the positional relationship between the measurement unit and the inspection target site based on the position of the measurement unit and the information of the inspection target site specified by the site determination unit.
Each part of the building is further provided with a positional relationship holding unit that holds a positional relationship between each part preset and the measuring unit.
The determination unit determines the positional relationship between the measurement unit and the inspection target portion acquired by the positional relationship recognition unit, and the positional relationship between the measurement unit and the inspection target portion held by the positional relationship holding unit. The inspection apparatus according to any one of claims 1 to 6, wherein the inspection result of the inspection target site is determined by comparison. A positional relationship recognition unit that acquires the positional relationship between the measurement unit and the inspection target site based on the position of the measurement unit and the information of the inspection target site specified by the site determination unit.
A positional relationship holding unit that holds a positional relationship between each part preset in each part of the building and the measuring unit, and a positional relationship holding unit.
The measurement is based on the positional relationship between the measurement unit and the inspection target portion acquired by the positional relationship recognition unit and the positional relationship between the measurement unit and the inspection target portion held by the positional relationship holding unit. The inspection device according to any one of claims 1 to 6, further comprising a control information generating unit that generates control information of the position and posture of the unit. The inspection device according to any one of claims 1 to 8, wherein the measuring unit is mounted on a moving body.
The measurement unit is further provided with a control command unit that commands the imaging of the inspection target portion.
When the control command unit outputs an imaging command to the measurement unit, the control command unit is an inspection device that outputs a command to stop the movement of the moving body in advance. An inspection method for inspecting buildings
The image of the inspection target part in the building and the information of the imaging position of the image are acquired, and the information is obtained.
Get information about the building
Based on the information of the building and the information of the imaging position, the imaging position with respect to the building is calculated.
Based on the image and the imaging position with respect to the building, the inspection target part projected on the image is specified.
Obtained inspection standards for each part of the building
An inspection method for determining the inspection result of the inspection target site by comparing the identified inspection target site with the inspection standard.

Images