JP2016217801A - Omnidirectional mobile robot and deformation detection system by three-dimensional camera system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce a time required for detecting the deformation of a structure and improve accuracy of detection.SOLUTION: A deformation detection system according to the present invention is configured from an omnidirectional mobile robot 1 capable of parallel movement and rotary movement on a structure 20, a three-dimensional camera 2 for photographing the structure 20 and acquiring three-dimensional image data and mounted in the omnidirectional mobile robot 1, and a deformation detection unit 3 for analyzing the three-dimensional image data acquired by the three-dimensional camera 2 and detecting the deformation of the structure 20. The omnidirectional mobile robot 1 is of an independent four-wheel structure, and has a motor for gyration and a motor for movement in each wheel, the motors being assigned to gyration and movement independently of each other.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a deformation detection system that detects deformation such as cracks and corrosion of structures such as airport runways, roads, bridges, tunnels, dams, and buildings.

  A system for detecting deformation of a structure using an image has been studied in various fields and has been put into practical use (see, for example, Patent Document 1).

JP2013-250058A

However, in the conventional system, since the image data obtained by photographing the structure is two-dimensional data, it is difficult to distinguish the deformation and dirt of the structure from the image data. The judgment was made by the workers. For this reason, there is a problem that data processing takes time depending on the ability of the worker, and the detection accuracy of deformation varies depending on the worker.
In addition, for a long target structure, the number of images to be shot increases, and in order to analyze the superimposed images, it is necessary to have a mechanism for taking images continuously by moving the shooting location accurately. For example, a camera may be mounted on an omnidirectional robot that uses omnifoils or an omnidirectional robot that rotates directly above the wheels. In the case of the wheel direct rotation method, there is little slip, but there is a problem that the wheel tends to swing due to friction when turning the steering wheel.

  The present invention was made to solve the above-described problems, and by using an omnidirectional mobile robot capable of high-accuracy positioning, by reducing the overlap of images for panoramic development of a three-dimensional image, It is possible to reduce the shooting time and image analysis time, and to improve the detection accuracy of the structural deformation, reducing the time required for detecting the structural deformation and improving the detection accuracy. It is an object of the present invention to provide a deformation detection system that can realize improvement and can reduce the burden of visual confirmation work by workers.

An omnidirectional mobile robot and a deformation detection system using a three-dimensional camera system according to the present invention are mounted on an omnidirectional mobile robot capable of parallel movement and rotational movement on a structure, and the omnidirectional mobile robot. A three-dimensional camera for photographing a structure and acquiring three-dimensional image data; and a deformation detection means for analyzing the three-dimensional image data acquired by the three-dimensional camera and detecting the deformation of the structure, The omnidirectional mobile robot has an independent four-wheel structure, has a turning motor and a moving motor for each wheel, and is independently assigned to turning and moving. Is.
Further, in one configuration example of a deformation detection system using an omnidirectional mobile robot and a three-dimensional camera system according to the present invention, the deformation detection unit is configured to analyze a depth of a deformation candidate extracted by analyzing the three-dimensional image data. When the length is equal to or greater than a predetermined depth threshold, the deformation candidate is determined to be a deformation generated in the structure.
In the configuration example of the deformation detection system using the omnidirectional mobile robot and the three-dimensional camera system according to the present invention, the omnidirectional mobile robot further transmits the three-dimensional image data acquired by the three-dimensional camera to an external device. A communication means for transmitting to the data collection server and a control device for controlling the movement of the omnidirectional mobile robot are provided, wherein the deformation detection means is provided in the data collection server.
In the configuration example of the deformation detection system using the omnidirectional mobile robot and the three-dimensional camera system according to the present invention, the omnidirectional mobile robot further includes a sensor that acquires position data of the omnidirectional mobile robot. The communication means transmits position data acquired by the sensor to the data collection server in addition to the three-dimensional image data.

  According to the present invention, while moving an omnidirectional mobile robot on a structure, the structure is photographed with a three-dimensional camera, and deformations such as cracks and corrosion of the structure are obtained based on the acquired three-dimensional image data. Can be detected. In the present invention, it is possible to reduce the time required for photographing and image processing by minimizing the overlap required for panoramic development of the image by high-precision positioning of the three-dimensional image of the structure, and it is difficult to distinguish the two-dimensional image. It is possible to distinguish between deformation and dirt, and it is possible to shorten the time required for detecting deformation and improve detection accuracy, so that it is possible to reduce the burden of visual confirmation work for workers.

  Also, in the present invention, 3D image data of a wide-area structure is collected by an omnidirectional mobile robot, 3D image data is transmitted from the omnidirectional mobile robot to a data collection server, and the 3D image is collected by the data collection server. Data can be analyzed to detect structural changes. As a result, in the present invention, the deformation of the structure can be detected fully automatically.

  Further, in the present invention, by measuring not only the 3D image data but also the position of the omnidirectional mobile robot, the 3D image data can be associated with the position of the omnidirectional mobile robot. By transmitting to the data collection server, it becomes possible to collect the deformed position data in the structure.

It is a schematic diagram which shows the structure of the deformation | transformation detection system which concerns on the 1st Embodiment of this invention. It is a block diagram which shows the electrical connection relationship of the deformation | transformation detection system which concerns on the 1st Embodiment of this invention. It is a flowchart explaining operation | movement of the three-dimensional camera and deformation | transformation detection part of the deformation | transformation detection system which concerns on the 1st Embodiment of this invention. It is a block diagram which shows the structure of the deformation | transformation detection system which concerns on the 2nd Embodiment of this invention.

[First Embodiment]
Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a schematic diagram showing a configuration of a deformation detection system according to a first embodiment of the present invention, and FIG. 2 is a block diagram showing an electrical connection relationship of the deformation detection system of FIG. Reference numeral 21 in FIG. 1 is a crack generated in a structure 20 such as an airport runway.

  The deformation detection system of the present embodiment is mounted on the omnidirectional mobile robot 1 that can translate and rotate on the structure 20 and the omnidirectional mobile robot 1. The three-dimensional camera 2 that acquires the two-dimensional image data, and the deformation detection unit 3 that detects the deformation of the structure 20 by analyzing the three-dimensional image data acquired by the three-dimensional camera 2.

  The omnidirectional mobile robot 1 includes a cart unit 10 that realizes parallel movement and rotational movement, a battery 11 that supplies electric power necessary for the omnidirectional mobile robot 1, a control device 12 that controls the cart unit 10, and 3 And an arm 13 for mounting the dimensional camera 2. As will be described later, the omnidirectional robot 1 may be equipped with various sensors.

  Hereinafter, the operation of the deformation detection system of the present embodiment will be described. The omnidirectional mobile robot 1 translates and rotates on the structure 20. The cart unit 10 of the omnidirectional mobile robot 1 has an independent four-wheel structure, and has a turning motor and a moving motor for each wheel, and is independently assigned to turning and moving.

  For example, the control device 12 controls the movement of the carriage unit 10 according to a preset control program. At this time, the control device 12 determines the position and movement of the omnidirectional mobile robot 1 and the surroundings of the omnidirectional mobile robot 1 based on data measured by sensors mounted on the omnidirectional mobile robot 1 as described later. Such an object may be detected and the movement of the carriage unit 10 may be controlled.

  In this embodiment, as described above, the turning motor and the moving motor are independently assigned to turning and moving for each wheel of the carriage unit 10, so the posture (direction) is changed to the designated coordinates. It is possible to move without doing. In addition, when turning, the necessary rotation of the wheel can be obtained simply by rotating the turning motor and when moving, the rotation speed of each of the turning and moving motors can be adjusted even when turning and moving at the same time. By controlling independently, accurate movement control is possible, and the speed calculation of each motor by the controller 12 becomes easy.

  In order to measure cracks over a wide area of the structure 20, it is necessary to develop a panoramic view of the two-dimensional image of the structure 20 obtained by image processing of the three-dimensional image data acquired by the three-dimensional camera 2. Otherwise, it will be inefficient shooting (such as having to take a large overlap) and will take time. In order to collect images with a minimum overlap, a moving device that can move with high accuracy (less blur) and high speed (short time to reach the target position) is required. According to the cart unit 10 of the present embodiment, it is possible to move without changing the posture with respect to the target position, and thus it is possible to obtain a beautifully arranged image with little overlap (high-speed data collection). Further, since the robot is less likely to shake when the steering is turned off, the subsequent error correction process can be completed in a short time (high-speed movement). Moreover, even when movement combining translation and turning is required, the calculation cost can be reduced (high-speed calculation).

  FIG. 3 is a flowchart for explaining the operations of the three-dimensional camera 2 and the deformation detection unit 3. The three-dimensional camera 2 captures the structure 20 and acquires three-dimensional image data (step S1 in FIG. 3). The deformation detection unit 3 performs image processing on the 3D image data acquired by the 3D camera 2 and searches for a deformation candidate of the structure 20 (step S2 in FIG. 3). This deformation candidate search process is a process of extracting a deformation candidate from a two-dimensional image of the structure 20 (an image of the structure 20 viewed from above) obtained by image processing of three-dimensional image data. Since it is a well-known technique, detailed description is omitted.

  When the deformation detection unit 3 finds a candidate for deformation of the structure 20 (YES in step S3 in FIG. 3), the width of the deformation candidate (the size in the direction parallel to the surface of the structure 20). The length in the vertical direction) is less than the predetermined width threshold, and the length of the deformed candidate (the size in the horizontal direction out of the sizes in the direction parallel to the surface of the structure 20) is the predetermined length threshold. If it is less (NO in step S4 in FIG. 3), it is determined that there is no deformation (step S5 in FIG. 3).

  In addition, the deformation detection unit 3 has a case where at least one of the two conditions that the width of the deformation candidate is equal to or larger than the predetermined width threshold or the length of the deformation candidate is equal to or larger than the predetermined length threshold is satisfied ( In step S4, YES), it is determined whether or not the depth of the deformation candidate obtained by image processing the three-dimensional image data is equal to or greater than a predetermined depth threshold (step S6 in FIG. 3). If the depth of the deformation candidate is less than the predetermined depth threshold (NO in step S6), the deformation detection unit 3 determines that there is no deformation (step S5).

In addition, the deformation detection unit 3 determines that the deformation candidate is a deformation that has occurred in the structure 20 when the depth of the deformation candidate is equal to or greater than a predetermined depth threshold (YES in step S6). (FIG. 6, step S7).
The three-dimensional camera 2 and the deformation detection unit 3 continuously perform the processing shown in FIG. 3 while the deformation detection system is operating. As an example of 3D camera 2 and 3D image data analysis software, there is 3D-scanner manufactured by Seiko Wave Inc. (http://www.seikowave.jp/Doc/3DToolbox-RevJ6.pdf). .

  Thus, in the present embodiment, the structure 20 is photographed by the three-dimensional camera 2 while the omnidirectional mobile robot 1 is moved on the structure 20, and the structure 20 is cracked based on the acquired three-dimensional image data. Deformation such as corrosion and corrosion can be detected. In the present embodiment, by using data in the depth direction of a three-dimensional image, it becomes possible to identify deformation and dirt that are difficult to discriminate with a two-dimensional image, and the time required for detecting the deformation. Can be shortened and detection accuracy can be improved, so that the burden of visual confirmation work by the worker can be reduced.

  In the present embodiment, the width and length of the deformation candidate are determined in step S4. However, the present invention is not limited to this, and the area of the deformation candidate may be compared with a predetermined area threshold. Good. That is, the deformation detection unit 3 determines that there is no deformation when the area of the deformation candidate is less than the area threshold (step S5), and proceeds to step S6 when the area of the deformation candidate is equal to or larger than the area threshold. You may make it.

  Each of the deformation detection unit 3 and the control device 12 of the omnidirectional mobile robot 1 described in the present embodiment controls a computer having a CPU (Central Processing Unit), a memory and an interface, and hardware resources thereof. It can be realized by a program to do. The CPU of each device executes the processing described in the present embodiment in accordance with a program stored in the memory of each device.

[Second Embodiment]
Next, a second embodiment of the present invention will be described. FIG. 4 is a block diagram showing the configuration of the deformation detection system according to the second embodiment of the present invention. The same components as those in FIGS. 1 and 2 are denoted by the same reference numerals. The present embodiment is a modification of the first embodiment, and is an example for more specifically describing the first embodiment.

  The omnidirectional mobile robot 1a of the present embodiment is similar to the omnidirectional mobile robot 1 of the first embodiment in that a sensor 14 that acquires information on surrounding objects, information on the robot 1a, and the like, and the position of the robot 1a A GPS (Global Positioning System) sensor 15 that acquires data or a reflection mirror (not shown) of a total station and a communication unit 16 for wireless communication with the outside are added. Further, in the present embodiment, the deformation detection unit provided in the omnidirectional robot 1 is provided outside.

  The control device 12 of the omnidirectional mobile robot 1a receives data measured by the sensor 14 and the GPS sensor 15, or the total station. Examples of the sensor 14 include an encoder that measures the moving direction, moving amount, and angle of the omnidirectional mobile robot 1a, an ultrasonic sensor that measures a distance from surrounding objects, a PSD (Position Sensitive Detector) sensor, and the like. is there. Based on the data measured by the sensor 14 and the GPS sensor 15, the control device 12 detects the position and movement of the omnidirectional mobile robot 1a, objects around the omnidirectional mobile robot 1a, etc. You will control the movement. As a result, the omnidirectional mobile robot 1 a photographs the structure 20 with the three-dimensional camera 2 while traveling on the structure 20. In the case of using the total station, the laser beam emitted from the total station is reflected by the reflecting mirror of the omnidirectional robot 1a, and the reflected light is received by the total station, whereby the distance from the total station of the omnidirectional robot 1a. It is possible to measure the azimuth and angle of attack, and transmit the measured data to the control device 12 of the omnidirectional mobile robot 1a by wireless communication. If necessary, the error can be corrected at the total station, and a new destination can be set in the control device 12 from the total station by wireless communication.

  As described in the first embodiment, the control device 12 controls the movement of the carriage unit 10 according to a preset control program, but the movement of the carriage part 10 according to a command instructed by an operator as necessary. May be controlled. Also, a drive mechanism (not shown) is provided on the arm 13 for mounting the three-dimensional camera 2, and the control device 12 controls the drive mechanism in accordance with a control program or a command from an operator, and the position of the three-dimensional camera 2 is The height may be changed.

  The communication unit 16 of the omnidirectional mobile robot 1 a transmits the 3D image data acquired by the 3D camera 2 and the position data acquired by the GPS sensor 15 to the terminal 5 and the data collection server 6 via the network 4. .

  A terminal 5 possessed by a worker on the site includes a communication unit 50 for wirelessly communicating with the omnidirectional mobile robot 1a, a display unit 51 for displaying information, and for a worker to input information. The input unit 52, the control unit 53 that controls the entire terminal, and a battery 54 that supplies power necessary for the terminal 5.

  Upon receiving the three-dimensional image data and the position data from the omnidirectional mobile robot 1a via the communication unit 50, the control unit 53 receives the three-dimensional image of the structure 20 and the omnidirectional mobile robot based on these data. The position information 1a is displayed on the display unit 51. In this way, the worker at the site can confirm the status of the inspection of the structure 20 by the omnidirectional mobile robot 1a.

  In addition, the operator can input an instruction for the omnidirectional mobile robot 1a by operating the input unit 52. The control unit 53 passes the command received from the worker via the input unit 52 to the communication unit 50. The communication unit 50 transmits the command received from the control unit 53 to the omnidirectional mobile robot 1a via the network 4.

  When the control device 12 of the omnidirectional mobile robot 1a receives a command from the terminal 5 through the communication unit 16, the control device 12 controls the movement of the carriage unit 10 according to the command and determines the position and height of the three-dimensional camera 2. Or control.

  Next, the data collection server 6 includes a communication unit 60 for wirelessly communicating with the omnidirectional mobile robot 1a, a storage unit 61 for storing data transmitted from the omnidirectional mobile robot 1a, and deformation detection. The unit 62, a display unit 63 for displaying information, and a control unit 64 for controlling the entire data collection server.

The three-dimensional image data and the position data transmitted from the omnidirectional mobile robot 1a are received by the communication unit 60 and stored in the storage unit 61. At this time, the simultaneously received 3D image data and position data are stored in association with each other.
Since the processing of the deformation detection unit 62 for the three-dimensional image data stored in the storage unit 61 is the same as the processing of the deformation detection unit 3 of the first embodiment, description thereof is omitted.

  The control unit 64 displays a three-dimensional image of the structure 20 on the display unit 63 based on the three-dimensional image data stored in the storage unit 61 and moves in all directions based on the position data stored in the storage unit 61. The position information of the robot 1a is displayed on the display unit 63, and the deformation detection result of the deformation detection unit 62 is displayed on the display unit 63. In this way, a worker who is away from the site can check the state of inspection of the structure 20 by the omnidirectional mobile robot 1a. The control unit 64 may notify the airport facility maintenance management system of the deformation detection result and the position information (not shown).

  In the present embodiment, three-dimensional image data of a wide structure 20 is collected by the omnidirectional mobile robot 1a and transmitted from the omnidirectional mobile robot 1a to the data collection server 6 via the network 4 to collect data. The server 6 can analyze the three-dimensional image data and detect the deformation of the structure 20. In the present embodiment, since the omnidirectional mobile robot 1a self-travels and collects three-dimensional image data, the deformation of the structure 20 can be detected fully automatically.

In the present embodiment, not only the three-dimensional image data but also the position of the omnidirectional mobile robot 1a is measured, so that the three-dimensional image data can be associated with the position of the omnidirectional mobile robot 1a. By transmitting the position data to the data collection server 6, it becomes possible to collect the deformed position data in the structure 20.
In this embodiment, an airport runway is used as an example of a structure, but the present invention may be applied to a structure such as a road, a bridge, a tunnel, a dam, or a building.

  Each of the control device 12, the terminal 5, and the data collection server 6 described in the present embodiment can be realized by a computer having a CPU, a memory, and an interface, and a program that controls these hardware resources. The CPU of each device executes the processing described in the present embodiment in accordance with a program stored in the memory of each device.

  The present invention can be applied to a technique for detecting deformation such as cracks and corrosion of a structure.

  DESCRIPTION OF SYMBOLS 1, 1a ... Omni-directional mobile robot, 2 ... Three-dimensional camera, 3,62 ... Deformation detection part, 4 ... Network, 5 ... Terminal, 6 ... Data collection server, 10 ... Dolly part, 11, 54 ... Battery, DESCRIPTION OF SYMBOLS 12 ... Control apparatus, 13 ... Arm, 14 ... Sensor, 15 ... GPS sensor, 16, 50, 60 ... Communication part, 20 ... Structure, 21 ... Crack, 51, 63 ... Display part, 52 ... Input part, 53, 64: control unit, 61: storage unit.

Claims (4)

An omnidirectional robot that can translate and rotate on a structure;
A three-dimensional camera mounted on the omnidirectional mobile robot for photographing the structure and acquiring three-dimensional image data;
A deformation detecting means for analyzing the three-dimensional image data acquired by the three-dimensional camera and detecting the deformation of the structure;
The omnidirectional mobile robot has an independent four-wheel structure, has a turning motor and a moving motor for each wheel, and is independently assigned to turning and moving. Deformation detection system using omnidirectional mobile robot and 3D camera system. The deformation detection system using an omnidirectional mobile robot according to claim 1 and a three-dimensional camera system,
When the depth of the deformation candidate extracted by analyzing the three-dimensional image data is equal to or greater than a predetermined depth threshold, the deformation detection unit generates the deformation candidate generated in the structure. A deformation detection system using an omnidirectional mobile robot and a three-dimensional camera system. In the deformation detection system using the omnidirectional mobile robot and the three-dimensional camera system according to claim 1 or 2,
The omnidirectional robot is
A communication means for transmitting the three-dimensional image data acquired by the three-dimensional camera to an external data collection server;
A control device for controlling the movement of the omnidirectional mobile robot,
The deformation detection unit is provided with the omnidirectional mobile robot and a three-dimensional camera system, and is provided in the data collection server. In the deformation detection system using the omnidirectional mobile robot according to claim 3 and a three-dimensional camera system,
The omnidirectional mobile robot further includes a sensor that acquires position data of the omnidirectional mobile robot,
The communication means transmits the position data acquired by the sensor to the data collection server in addition to the three-dimensional image data, and a deformation detection system using an omnidirectional mobile robot and a three-dimensional camera system.

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