JP2008055569A - Inspection robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an inspection robot capable of efficiently checking a closed space such as an underfloor space or the ceiling of a building in a short time without an inspection failure. <P>SOLUTION: This inspection robot for checking an arbitrary closed space comprises a mobile mechanism for moving on a traveling face in the closed space, a rotatable image-taking unit 13 for taking an image of a photographic subject in the closed space with variable zoom magnification at the time of image-taking, a first inspection control part 102 automatically taking the image of the photographic subject at a low magnification zoom using the image-taking unit, and a second inspection control part 103 automatically taking the image in a partial or entire range of the photographic subject automatically taken at the low magnification zoom at a high magnification zoom using the image-taking unit 13. The first and second inspection control parts 102, 103 sequentially shift the image-taking position of the photographic subject by controlling at least one of the mobile mechanism 120 and the image-taking unit 13. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to an inspection robot for inspecting an arbitrary closed space.

  In recent years, interest in renovation of buildings and disaster prevention and disaster prevention has increased, and opportunities for inspecting buildings have increased. In particular, it is considered that there is a high need for inspection of the under floor of the building, the back of the ceiling, and the like because it is difficult to touch the human eye, but is a core part of the building.

  However, under floors and ceilings of buildings are generally very narrow spaces and poor hygiene is difficult for visual inspection by workers. Therefore, in order to inspect the floor under the building, the ceiling, etc., it is desired to introduce an inspection robot that can image the under floor, the ceiling, etc. of the building.

  As such an inspection robot, a self-propelled inspection robot equipped with a camera has been proposed (for example, see Patent Document 1).

  On the other hand, as an inspection method for changing from low magnification to high magnification, for the purpose of inspecting defects in glass plates for liquid crystal display elements, imaging with high magnification is performed for defect candidate parts identified by scanning imaging with low magnification. There has been proposed a method for judging defects by performing (see Patent Document 2).

In addition, when there is an obstacle between the subject and the camera at the time of inspection, a method of avoiding the blind spot by moving in the left-right direction is conceivable. Patent Document 3 discloses a technique for avoiding the blind spot.
JP-A-11-137148 JP 7-270335 A JP 2004-297675 A

  By the way, when an inspection robot is used to inspect a closed space such as under the floor, an efficient inspection sequence without inspection omission is essential.

  In the method of Patent Document 2, the image pickup position by the camera is changed by controlling the operation of a stage (XY stage) that holds a subject (glass plate). It is impossible to apply such a configuration to inspections under the floor or ceiling of a building, and an efficient inspection sequence that has no inspection omission under the floor or ceiling of a building has been realized so far. Absent.

  In addition, since the method of Patent Document 3 moves in the left-right direction, when the movement mechanism is an omnidirectional movement type, the time required for movement is the same regardless of the movement direction if the movement distance is equal. However, when the moving mechanism is not an omnidirectional moving type, a turning operation for changing the direction is necessary for moving in the left-right direction, and the time required for moving is different even if the moving distance is equal. In other words, when there is an obstacle between the subject and the camera, it takes a certain amount of time for the operation to avoid the blind spot, and an efficient inspection is performed in an environment where there are many obstacles. Can not be carried out, and the inspection work will take a long time.

  In view of the above problems, an object of the present invention is to provide an inspection robot capable of realizing an efficient inspection with no inspection omissions in a short time in a closed space such as under the floor of a building or behind a ceiling.

  A further object of the present invention is to provide an inspection robot capable of shortening the time required for the operation for avoiding blind spots in a closed space such as under the floor of a building or behind a ceiling.

  A feature of the present invention is an inspection robot for inspecting an arbitrary closed space, a moving mechanism for moving on a traveling surface in the closed space, a zoom magnification at the time of imaging being variable, A rotatable imaging unit that images the subject, a first inspection control unit that automatically images the subject at the first zoom magnification using the imaging unit, and a part of the subject that is automatically imaged at the first zoom magnification or A second inspection control unit that automatically images the entire range at a second zoom magnification that is higher than the first zoom magnification using the imaging unit, and the first and second inspection control units include a moving mechanism. Alternatively, the gist is to sequentially shift the imaging position of the subject by controlling at least one of the imaging units. Here, “closed space” means, for example, a floor under a building, a ceiling, or the like. When the under floor of the building is divided into a plurality of sections, the entire under floor may be regarded as a “closed space”, and each section may be regarded as a “closed space”. The “subject” means, for example, a floor under a building or a wall surface (for example, a foundation wall surface), a pillar, an installation, or the like of a ceiling. “Shift” means capturing an image of an adjacent image capturing position that is continuous with the image capturing position currently being imaged on the subject.

  According to this feature, the subject is automatically imaged at the first zoom magnification, and part or all of the range of the subject automatically imaged at the first zoom magnification is set to the second zoom having a higher zoom magnification than the first zoom magnification. By automatically imaging at a magnification, it is possible to check with high accuracy at a high zoom magnification while grasping the surroundings at a low zoom magnification. Therefore, efficient inspection can be realized in a short time. Further, by controlling at least one of the moving mechanism or the image pickup unit, the image pickup position in the subject is sequentially shifted, thereby making it possible to perform inspection without inspection omission.

  One feature of the present invention is that the first inspection control unit automatically captures the subject with the first zoom magnification while maintaining the position of the inspection robot and sequentially shifting the imaging position, and automatically using the second zoom magnification. The gist is to identify a location or range that needs to be imaged, and the second inspection control unit automatically images the identified location or range at the second zoom magnification while maintaining the position of the inspection robot.

  According to this feature, since there is no movement, a rough inspection can be performed in a short time. In addition, since the detailed inspection is also performed on the location or range specified (designated) in the general inspection, it can be completed in a short time. Hereinafter, such a combination of the general inspection and the detailed inspection is referred to as “inspection task 1”.

  One feature of the present invention is that the first inspection control unit automatically captures the subject at the first zoom magnification while maintaining the position of the inspection robot and sequentially shifting the imaging position. The gist is to automatically image the entire range of the subject automatically imaged at the first zoom magnification while maintaining the position of the inspection robot at the second zoom magnification.

  According to this feature, since there is no movement, a rough inspection can be performed in a short time. Moreover, since the detailed inspection is performed for the entire range of the general inspection, it is possible to perform a highly accurate inspection without omission. Hereinafter, such a combination of the general inspection and the detailed inspection is referred to as “inspection task 2”.

  One feature of the present invention is that the first inspection control unit moves the inspection robot along the subject, and automatically captures the subject at the first zoom magnification while sequentially shifting the imaging position, and the second zoom magnification. The second inspection control unit automatically captures the identified part or range at the second zoom magnification while maintaining the position of the inspection robot while identifying the part or range that needs to be automatically imaged. .

  According to this feature, the general inspection requires a longer time than the first and inspection tasks 2 due to the movement, but it is effective when there are many obstacles. The “obstacle” here is not an obstacle that hinders movement but means an obstacle that exists between the imaging device and the subject and hinders imaging. Detailed inspection can be completed in a short time because the detailed inspection is performed on the location or range specified in the general inspection. Hereinafter, such a combination of the general inspection and the detailed inspection is referred to as “inspection task 3”.

  One feature of the present invention is that the first inspection control unit automatically captures the subject at the first zoom magnification while maintaining the position of the inspection robot and sequentially shifting the imaging position. The gist is to automatically image the entire range of the subject automatically imaged at the first zoom magnification while moving the inspection robot along the subject at the second zoom magnification.

  According to this feature, since there is no movement, a rough inspection can be performed in a short time. Moreover, since the detailed inspection is performed for the entire range of the general inspection, it is possible to perform a highly accurate inspection without omission. Furthermore, since detailed movement is required for the detailed inspection as compared with the first to inspection tasks 3 due to the movement, it is effective when there are many obstacles (obstacles that hinder imaging). Hereinafter, such a combination of the general inspection and the detailed inspection is referred to as “inspection task 4”.

  One feature of the present invention is that when there is an obstacle in the imaging direction of the imaging unit and between the imaging unit and the subject, the front and rear direction of the inspection robot with respect to the imaging direction is within a plane parallel to the traveling surface. The determination unit further determines whether the angle is within the allowable range, and the first and second inspection control units change the direction when the angle formed by the front-rear direction with respect to the imaging direction is determined to be within the allowable range. If the angle formed by the front-rear direction with respect to the imaging direction is determined to be outside the allowable range, the turning angle is decreased so that the turning angle is within the allowable range. The gist is to avoid blind spots by performing forward and backward movement after performing a turn.

  According to this feature, even if the moving mechanism is not an omnidirectional moving type, it is possible to avoid a blind spot caused by an obstacle without performing a turning operation for changing the direction. Therefore, the time required for the blind spot avoiding operation can be shortened. Even when a turning operation for changing the direction is performed, the time required for the blind spot avoiding operation can be shortened by setting the minimum necessary turning operation to be within the allowable range.

  One feature of the present invention is that the first and second inspection control units sequentially shift the imaging position in a certain direction within a plane parallel to the traveling surface, and the angle formed by the front-rear direction with respect to the imaging direction is within an allowable range. In some cases, when moving forward or backward in a direction that matches the certain direction, and the angle formed by the front-rear direction with respect to the imaging direction is outside the allowable range, the direction is changed and then coincides with the certain direction. The gist is to move forward or backward in such a direction.

  According to this feature, by giving priority to the blind spot avoiding operation in the imaging forward direction, it is possible to avoid the avoided obstacle from making a blind spot again. For this reason, the efficiency of blind spot avoidance is improved, and the time required for avoiding blind spots can be shortened.

  A feature of the present invention is an inspection robot for inspecting an arbitrary closed space, which images a subject in the closed space, a moving mechanism for moving forward and backward and changing directions on a traveling surface in the closed space. An imaging control unit that automatically images the subject using the imaging unit while sequentially shifting the imaging position of the subject by controlling at least one of the movable imaging unit, the moving mechanism, or the imaging unit, and imaging of the imaging unit A determination unit that determines whether or not an angle formed by the front and rear direction of the inspection robot with respect to the imaging direction is within an allowable range when there is an obstacle on the direction and between the imaging unit and the subject. If the angle formed by the front-rear direction with respect to the imaging direction is determined to be within the allowable range, the forward / backward movement is performed without changing the direction to avoid the blind spot, and the front-rear direction with respect to the imaging direction is avoided. If it is determined that the angle formed by the direction is outside the allowable range, the turn angle should be changed to a direction where the turning angle is small so as to be within the allowable range, and then the forward / backward movement is performed to avoid the blind spot. The gist.

  According to this feature, even if the moving mechanism is not an omnidirectional moving type, a blind spot can be avoided without performing a turning operation for changing the direction. Therefore, the time required for the blind spot avoiding operation can be shortened.

  One feature of the present invention is that the inspection control unit sequentially shifts the imaging position in a certain direction within a plane parallel to the traveling surface, and the angle formed by the front-rear direction with respect to the imaging direction is within an allowable range. When moving forward or backward in a direction that matches the fixed direction and the angle formed by the front-rear direction with respect to the imaging direction is outside the allowable range, after changing the direction, the direction is changed to match the fixed direction. The gist is to move forward or backward.

  According to this feature, by giving priority to the blind spot avoiding operation in the imaging forward direction, it is possible to avoid the avoided obstacle from making a blind spot again. For this reason, the efficiency of blind spot avoidance is improved, and the time required for avoiding blind spots can be shortened.

  One feature of the present invention is that the inspection control unit automatically captures an image of the subject at the first zoom magnification using the imaging unit, and partially or entirely covers the subject automatically imaged at the first zoom magnification. The gist is to automatically capture an image at a second zoom magnification that is higher than the first zoom magnification.

  According to this feature, the subject is automatically imaged at the first zoom magnification, and part or all of the range of the subject automatically imaged at the first zoom magnification is set to the second zoom having a higher zoom magnification than the first zoom magnification. By automatically imaging at a magnification, it is possible to check with high accuracy at a high zoom magnification while grasping the surroundings at a low zoom magnification. Therefore, efficient inspection can be realized in a short time.

  One feature of the present invention is that the inspection control unit automatically maintains the position of the inspection robot and sequentially captures the subject at the first zoom magnification while sequentially shifting the imaging position, thereby enabling automatic imaging at the second zoom magnification. Identify the necessary locations or ranges. Further, the gist of the inspection control unit is to automatically image the specified location or range at the second zoom magnification while maintaining the position of the inspection robot.

  According to this feature, the same effect as the inspection task 1 described above can be obtained.

  One feature of the present invention is that the inspection control unit automatically images the subject at the first zoom magnification while maintaining the position of the inspection robot and sequentially shifting the imaging position. Furthermore, the gist of the inspection control unit is to automatically image the entire range of the subject automatically imaged at the first zoom magnification while maintaining the position of the inspection robot.

  According to this feature, the same effect as the inspection task 2 described above can be obtained.

  One feature of the present invention is that the inspection control unit moves the inspection robot along the subject and automatically images the subject at the first zoom magnification while sequentially shifting the imaging position, and automatically uses the second zoom magnification. Specify the location or range that needs to be imaged. Further, the gist of the inspection control unit is to automatically image the specified location or range at the second zoom magnification while maintaining the position of the inspection robot.

  According to this feature, the same effect as the inspection task 3 described above can be obtained.

  One feature of the present invention is that the inspection control unit automatically images the subject at the first zoom magnification while maintaining the position of the inspection robot and sequentially shifting the imaging position. Furthermore, the gist of the inspection control unit is to automatically image the entire range of the subject automatically imaged at the first zoom magnification while moving the inspection robot along the subject at the second zoom magnification.

  According to this feature, the same effect as the inspection task 4 described above can be obtained.

  ADVANTAGE OF THE INVENTION According to this invention, the inspection robot which can implement | achieve the efficient inspection without a check omission in a short time can be provided in closed spaces, such as under the floor of a building, and a ceiling back.

  Furthermore, according to the present invention, it is possible to provide an inspection robot capable of shortening the time required for the operation for avoiding blind spots in a closed space such as under the floor of a building or behind a ceiling.

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

  In the following first and second embodiments, an inspection system and an inspection robot for inspecting a building under the floor will be described.

[First Embodiment]
(Example of overall configuration of inspection system)
First, a configuration example of the entire underfloor inspection system according to the first embodiment will be described. FIG. 1 is an overall configuration diagram of the underfloor inspection system according to the first embodiment.

  The underfloor inspection system according to the first embodiment includes an inspection robot 1a and an operation terminal 2 that remotely operates the inspection robot 1a through wireless communication. For example, a notebook PC can be used as the operation terminal 2.

  The inspection robot 1a inspects the underfloor space A1 of the building. Specifically, the inspection robot 1a images the inside of the underfloor space A1 of the building, and transmits imaging data obtained by imaging to the operation terminal 2.

  The operation terminal 2 displays the imaging data received from the inspection robot 1a to the user in real time. Further, the operation terminal 2 transmits an operation command for operating the inspection robot 1a to the inspection robot 1a according to a user input, and remotely operates the inspection robot 1a.

  A plurality of inspection sequences for inspecting the underfloor space A1 are set in advance in the inspection robot 1a, and the inspection sequence selected by the operation terminal 2 can be automatically executed.

  In particular, in the inspection robot 1a, a plurality of “inspection tasks” are set in advance, which are a combination of an inspection sequence for performing automatic imaging using a low magnification zoom and an inspection sequence for performing automatic imaging using a high magnification zoom. Any one of these inspection tasks can be selected by the operation terminal 2. As a result, inspection work suitable for the environment in the underfloor space A1 can be executed, and efficient inspection can be realized in a short time.

(Configuration example of inspection robot)
Next, a configuration example of the inspection robot 1a will be described. FIG. 2 is a diagram illustrating an appearance of the inspection robot 1a. 2A is a diagram showing a side view of the inspection robot 1a, FIG. 2B is a diagram showing a front view of the inspection robot 1a, and FIG. 2C is a top view of the inspection robot 1a. FIG.

  The inspection robot 1a travels on the travel surface Sr in the underfloor space A1. Specifically, as shown in FIGS. 2A to 2C, the inspection robot 1a includes a front wheel 11a, a rear wheel 11b, a crawler 12, an imaging unit 13, and a front sensor (obstacle sensor) 142l. , 142r and a side sensor (distance sensor) 141.

  The front wheel 11a and the rear wheel 11b are drive wheels that rotate the crawler 12. Further, the left crawler 12l and the right crawler 12r can be driven independently, and form a left and right wheel independent drive type moving mechanism. Therefore, the inspection robot 1a can change direction by super-revolution (in-situ turn).

  The crawler 12 is stretched over the front wheel 11a and the rear wheel 11b and absorbs irregularities on the running surface.

  The imaging unit 13 is configured to be rotatable in a plane parallel to and perpendicular to the traveling surface Sr, and includes a camera 131 that captures an image of the underfloor space A1. Specifically, the imaging unit 13 rotates the camera 131 in the left-right direction (pan direction) and rotates the camera 131 in the up-down direction (tilt direction).

  The front sensors (obstacle sensors) 142l and 142r detect obstacles existing in front of the inspection robot 1a. The side sensor (distance sensor) 141 is used, for example, when moving in parallel with the subject.

  Next, a configuration example of the inspection robot 1a will be described with reference to a functional block diagram shown in FIG.

  The inspection robot 1a includes a moving mechanism 120, an imaging unit 13, a sensor 14, a control unit 100a, a storage unit 150a, and a wireless communication unit 161.

  The moving mechanism 120 is for moving on the traveling surface in the underfloor space A1, and includes the crawler 12, the motor 121, and the like described above.

  The imaging unit 13 images the subject in the underfloor space A1 so as to be rotatable. Specifically, the imaging unit 13 includes a camera 131, a tilt mechanism 132, a pan mechanism 133, a zoom mechanism 134, and a focus mechanism 135. Note that an illumination device that illuminates the underfloor space A <b> 1 may be provided in the imaging unit 13.

  The camera 131 is, for example, a CCD camera, and imaging data obtained from the camera 131 is transmitted to the operation terminal 2 via the control unit 100a and the wireless communication unit 161.

  The tilt mechanism 132 rotates the camera 131 in the tilt direction. The pan mechanism 133 rotates the camera 131 in the pan direction.

  The zoom mechanism 134 changes the zoom magnification of the camera 131. An optical zoom can be used as the zoom mechanism 134. The focus mechanism 135 performs autofocus control on the camera 131.

  The control unit 100a includes an inspection sequence setting unit 101, a first inspection control unit 102, a second inspection control unit 103, an operation command processing unit 104, a zoom magnification adjustment unit 105, and a focus control unit 106.

  The inspection sequence setting unit 101 sets the inspection sequence (inspection task) selected by the operation terminal 2 in the first and second inspection control units 102 and 103.

  The first inspection control unit 102 automatically images the subject with the low-magnification zoom using the imaging unit 13 in accordance with the inspection sequence set by the inspection sequence setting unit 101. In the following, the inspection operation for performing automatic imaging with this low-magnification zoom is called “rough inspection”.

  In this general inspection, the operation terminal 2 instructs in advance the range of the subject to be subjected to the general inspection. Alternatively, continuous automatic imaging is executed until a rough inspection end instruction is given by the operation terminal 2.

  During the execution of the general inspection sequence, the operation terminal 2 displays a low-magnification image, so that a problem that can be detected from the low-magnification image is determined by the user. At the same time, the user may use the operation terminal 2 to instruct a location or range to be imaged with a high magnification zoom.

  The second inspection control unit 103 automatically uses the imaging unit 13 to automatically select a part or all of the range of the subject automatically imaged with the low magnification zoom according to the inspection sequence set by the inspection sequence setting unit 101. Take an image. Hereinafter, the inspection operation for performing automatic imaging with the high-power zoom is referred to as “detailed inspection”.

  During execution of this detailed inspection, on the operation terminal 2 side, a problem (for example, a crack or the like) that can be detected by the high-magnification image is determined by the user by displaying the high-magnification image.

  In addition, the first and second inspection control units 102 and 103 sequentially shift the imaging position of the subject by controlling at least one of the moving mechanism 120 or the imaging unit 13.

  Specifically, the first and second inspection control units 102 and 103 sequentially shift the imaging position by moving forward and backward using the moving mechanism 120 or by turning the superstrate during imaging of the subject. To do. Alternatively, the first and second inspection control units 102 and 103 sequentially shift the imaging position using the tilt mechanism 132 and the pan mechanism 133 of the imaging unit 13 during imaging of the subject.

  The operation command processing unit 104 receives an operation command transmitted from the operation terminal 2 and received by the wireless communication unit 161, and executes processing according to the operation command. When the above-described general inspection sequence and detailed inspection sequence are not executed, that is, when the operation terminal 2 controls the operation of the imaging unit 13 and the moving mechanism 120, the operation command processing unit 104 controls the imaging unit 13 and the moving mechanism 120. Is done.

  The zoom magnification adjustment unit 105 controls the zoom mechanism 134 of the imaging unit 13. Here, there is an appropriate imaging scale (distance to the subject and optical zoom ratio) for performing the general inspection and the detailed inspection. For this reason, the zoom magnification adjusting unit 105 adjusts the optical zoom rate so as to obtain an imaging scale suitable for rough inspection and detailed inspection. Note that the focus value of the camera 131 is used to measure the distance to the subject.

  The focus control unit 106 controls the focus mechanism 135 of the imaging unit 13. In addition, the focus control unit 106 has a function of correcting the focus value when the focus moves to the obstacle during imaging of the subject.

  Specifically, the focus control unit 106 reads the focus value of the camera 131 during automatic imaging of the subject continuously, and determines that the focus has moved to the obstacle when the focus value fluctuates greatly. Details of the focus value correction process will be described later.

  The storage unit 150a includes an inspection sequence information storage unit 151, a subject location / range storage unit 152, a zoom magnification information storage unit 153, and a focus value storage unit 154.

  The inspection sequence information storage unit 151 stores in advance a control program for executing the above-described general inspection sequence and detailed inspection sequence. With this control program, the functions of the first and second inspection control units 102 and 103 are realized, and the inspection robot 1a can automatically perform the inspection work.

  The subject location / range storage unit 152 includes information for designating the range of the subject for which the rough inspection is to be performed, and information for indicating the location or range that is required for the detailed inspection specified by the operation terminal 2 during the rough inspection. Remember.

  The zoom magnification information storage unit 153 stores a table for the zoom magnification adjustment unit 105 to adjust the optical zoom rate of the camera 131, information on the zoom magnification set by the zoom mechanism 134 in the camera 131, and the like. This table stores the focus value, the optical zoom rate, and the distance to the subject in association with each other.

  The zoom magnification information storage unit 153 stores information on a suitable (target) imaging scale (distance to the subject and optical zoom ratio) for each of the general inspection and the detailed inspection. This target imaging scale can be updated at any time.

  The focus value storage unit 154 stores a focus value set in the camera 131 by the focus mechanism 135.

  Note that the wireless communication unit 161 is configured by a wireless LAN, for example, and performs wireless communication with the operation terminal 2.

(Configuration example of operation terminal)
Next, a configuration example of the operation terminal 2 will be described. FIG. 4 is a functional block diagram illustrating a configuration example of the operation terminal 2.

  The operation terminal 2 includes an input unit 21, an inspection sequence selection unit 22, an operation command control unit 23, a wireless communication unit 24, a display control unit 25, and a display unit 26.

  The input unit 21 is configured by a keyboard or a mouse, for example, and accepts user input.

  The inspection sequence selection unit 22 selects an inspection task to be executed by the inspection robot 1a according to the user input received by the input unit 21.

  The operation command control unit 23 controls an operation command transmitted to the inspection robot 1a according to the user input received by the input unit 21.

  The wireless communication unit 24 is, for example, a wireless LAN, and performs wireless communication with the wireless communication unit 161 on the inspection robot 1a side.

  The display control unit 25 causes the display unit 26 to display data (for example, imaging data and various sensor data) received by the wireless communication unit 24 from the inspection robot 1a.

(Example of underfloor environment)
Next, an example of the environment in the underfloor space A1 will be described. FIG. 5 is a diagram illustrating an example of an underfloor environment.

  The underfloor space A1 is a space having a height of about 32 cm to 37 cm, and is divided into rectangular sections by a foundation. Between the compartments, there are holes called a ventilation hole having a height of about 30 cm and a width of about 60 cm (about two places per division). The inspection robot 1a passes through this vent and moves to the adjacent section during underfloor inspection. In addition, a cable, a pipe, or the like is hanging from the underfloor ceiling or scooping around the floor base surface (the traveling surface Sr of the inspection robot 1a).

  In addition, there are pipes near the foundation, and there are thin pillars called bundles everywhere. There is a concrete stand with a height of about 5 cm called a bundle foundation for fixing the bundle. In addition, when the floor ground surface (traveling surface Sr of the inspection robot 1a) is concrete, the bundle is directly fixed to the floor ground surface, and there may be no bundle foundation.

  The contents to be confirmed at the time of underfloor inspection are roughly classified into two types. One is the one that is easier to confirm if the whole is imaged at a low magnification, such as a dead body of a small animal, and the other is the one that cannot be confirmed unless the image is captured at a high magnification, such as a crack in the foundation. However, even if the image cannot be confirmed unless it is a high-magnification image, it is possible to find an inspection candidate location using the low-magnification image.

(Inspection task)
Next, the inspection tasks 1 to 4 executed by the inspection robot 1a will be described.

(1) Inspection task 1
First, the inspection task 1 will be described with reference to FIG. FIG. 6A shows a schematic inspection sequence applied to the inspection task 1, and FIG. 6B shows a detailed inspection sequence applied to the inspection task 1.

  In the general inspection sequence, the inspection robot 1a automatically images the subject with the low-power zoom until the general inspection range is instructed in advance by the operation terminal 2 or the end instruction is given. Further, the inspection robot 1a sequentially shifts the imaging position by performing pan driving of the camera 131 or performing super-revolution by the moving mechanism 120. Therefore, the inspection robot 1a performs a general inspection without changing the position.

  Further, during the execution of the general inspection sequence, the captured image is displayed on the operation terminal 2, and the user determines whether the detailed inspection is necessary. When a location or range that requires detailed inspection is specified, the location or range is stored, and the process proceeds to a detailed inspection sequence. Hereinafter, such a general inspection sequence is referred to as a “first general inspection sequence”.

  On the other hand, in the detailed inspection sequence, the inspection robot 1a automatically picks up an image of a portion or range designated at the time of the rough inspection with a high magnification zoom. Here, when the zoom magnification is insufficient, the inspection robot 1a may autonomously approach the subject and then return autonomously. Further, the inspection robot 1a sequentially shifts the imaging position by pan / tilt driving of the camera 131. Further, during execution of the detailed inspection sequence, a captured image is displayed on the operation terminal 2, and the presence or absence of a problem is determined by the user. Hereinafter, such a detailed inspection sequence is referred to as a “first detailed inspection sequence”. When the inspection in the range where the general inspection is instructed is not completed, the first general inspection sequence is executed again.

(2) Inspection task 2
Next, the inspection task 2 will be described with reference to FIG. FIG. 7A shows a general inspection sequence applied to the inspection task 2, and FIG. 7B shows a detailed inspection sequence applied to the inspection task 2.

  In the general inspection sequence, the inspection robot 1a automatically images the subject with the low-power zoom until the general inspection range is instructed in advance by the operation terminal 2 or the end instruction is given. In addition, the inspection robot 1a performs panning of the camera 131 or performs a superficial turn using the moving mechanism 120 in order to sequentially shift the imaging position.

  In the execution of the general inspection sequence, the operation terminal 2 displays a captured image, and the user determines whether there is a problem. When the rough inspection of the range designated in advance is completed, or when an end instruction is given, the process proceeds to the detailed inspection sequence. Hereinafter, such a general inspection sequence is referred to as a “second general inspection sequence”.

  On the other hand, in the detailed inspection sequence, the inspection robot 1a automatically images the entire range in which the rough inspection is performed with a high magnification zoom. Here, the inspection robot 1a performs pan / tilt driving of the camera 131 and super-revolution by the moving mechanism 120 in order to sequentially shift the imaging position.

  During execution of the detailed inspection sequence, the operation terminal 2 selects a suspicious image by image processing on the captured image. As a result, it is determined whether there is a problem with the suspicious image. Hereinafter, such a detailed inspection sequence is referred to as a “second detailed inspection sequence”.

(3) Inspection task 3
Next, the inspection task 3 will be described with reference to FIG. FIG. 8A shows a general inspection sequence applied to the inspection task 3, and FIG. 8B shows a detailed inspection sequence applied to the inspection task 3.

  In the general inspection sequence, the inspection robot 1a uses the moving mechanism 120 to move in parallel with the subject (wall surface) and perform a superficial turn in order to sequentially shift the imaging position. Further, the inspection robot 1a automatically captures an image of the subject with the low-magnification zoom until an end instruction is given from the operation terminal 2.

  In the execution of the general inspection sequence, the operation terminal 2 displays a captured image, and the user determines whether there is a problem and whether a detailed inspection is necessary. If a location or range that requires a detailed inspection is found, the location or range is stored and the process proceeds to a detailed inspection sequence. Hereinafter, such a general inspection sequence is referred to as a “third general inspection sequence”.

  On the other hand, in the detailed inspection sequence, the same inspection sequence as the first detailed inspection sequence described above is executed.

(4) Inspection task 4
Next, the inspection task 4 will be described with reference to FIG. FIG. 9A shows a general inspection sequence applied to the inspection task 4, and FIG. 9B shows a detailed inspection sequence applied to the inspection task 4.

  In the general inspection sequence, an inspection sequence similar to the second general inspection sequence described above is executed.

  On the other hand, in the detailed inspection sequence, the inspection robot 1a automatically images the entire range in which the rough inspection is performed with a high magnification zoom. Here, in order to sequentially shift the imaging position, the inspection robot 1a performs pan / tilt driving of the camera 131, parallel movement of the wall surface by the moving mechanism 120, and superficial turning.

  During execution of the detailed inspection sequence, the operation terminal 2 selects a suspicious image by image processing on the captured image. As a result, it is determined whether there is a problem with the suspicious image. Hereinafter, such a detailed inspection sequence is referred to as a “third detailed inspection sequence”.

(5) Comparison of each inspection task Next, the inspection tasks 1 to 4 will be compared and described. FIG. 10 is a diagram for comparing inspection tasks 1 to 4.

  The inspection task 1 does not involve the movement of the inspection robot 1a in both of the general inspection and the detailed inspection, so it can be inspected in a short time, but is not suitable when there are many obstacles (obstacles that hinder imaging). is there. Further, since the detailed inspection is performed only for the place / range designated at the time of the rough inspection, the detailed inspection can be performed in a short time.

  As in the inspection task 1, the inspection task 2 does not involve the movement of the inspection robot 1a in both of the general inspection and the detailed inspection, and thus can be inspected in a short time. ) Is not suitable. Further, since the detailed inspection is performed for the entire range of the general inspection, the detailed inspection can be performed without omission, but the time required for the detailed inspection is increased as compared with the inspection task 1.

  Since the inspection task 3 involves the movement of the inspection robot 1a during the rough inspection, the time required for the rough inspection increases. However, the inspection task 3 is effective when there are many obstacles (obstacles that hinder imaging). Further, since the detailed inspection is performed only for the place / range designated at the time of the rough inspection, the detailed inspection can be performed in a short time.

  Since the inspection task 4 involves the movement of the inspection robot 1a during the detailed inspection, the time required for the detailed inspection increases, but it is effective when there are many obstacles (obstacles that hinder imaging). Further, since the detailed inspection is performed for the entire range of the general inspection, the detailed inspection can be performed without omission, but the time required for the detailed inspection increases.

  In the following, for convenience of explanation, each of the first to third schematic inspection sequences and the first to third detailed inspection sequences is referred to as an “inspection module” as necessary. Further, although not the inspection itself, a function for assisting the inspection is called an “inspection submodule”. The inspection submodule includes a moving function for avoiding blind spots, which will be described later.

  The inspection robot 1a may be configured such that a single inspection module can be selected in addition to the inspection task selection function. In this case, the inspection sequence selection unit 22 in FIG. 4 has a function of selecting an inspection module to be executed by the inspection robot 1a according to a user input.

(Specific example of detailed inspection)
Next, a specific example of the detailed inspection will be described. FIG. 11 is a diagram for explaining a specific example of the detailed inspection.

  There are four types of detailed inspections: (1) only the designated location, (2) around the designated location, (3) designated range, and (4) designated height designation.

  “Instructed location only”, “Instructed location surroundings”, and “Instructed range” are used in the detailed inspection only for the location / range designated at the time of the general inspection, that is, in the inspection tasks 1 and 3 described above. .

  On the other hand, “designated height designation” is used when the detailed inspection is performed for the entire range of the general inspection, that is, in the inspection tasks 2 and 4 described above.

  In the “only designated part”, a part requiring a detailed inspection is designated at the time of the rough inspection, and the inspection robot 1a enlarges and images the designated part with a high magnification zoom.

  In the “peripheral area”, a part requiring a detailed inspection is designated at the time of the rough inspection, and the inspection robot 1a zooms in with a high magnification zoom while sequentially shifting the imaging position with respect to the designated part. Take an image.

  In the “instructed range”, the range required for the detailed inspection is designated at the time of the rough inspection, and the inspection robot 1a performs an enlarged image with high magnification zoom while sequentially shifting the imaging position with respect to the designated range. .

  In the “designated height designation”, the height, range, and inspection direction for detailed inspection are designated, and the inspection robot 1a sequentially shifts the imaging position with respect to the designated height and range, while increasing the height. Enlarged image with magnification zoom.

(Overall flow of inspection sequence)
Next, an overall outline flow of an inspection sequence executed by the inspection robot 1a will be described. FIG. 12 is a flowchart showing an overall outline flow of an inspection sequence executed by the inspection robot 1a.

  In step S101 of FIG. 12, the inspection robot 1a is introduced into the underfloor space A1 from the inspection port (the entrance of the underfloor space A1).

  In step S102, the operation terminal 2 moves the inspection robot 1a to an incomplete inspection location in the underfloor space A1 by remote operation.

  In step S103, the operation terminal 2 controls the imaging direction (camera direction) of the inspection robot 1a by remote operation, and sets the imaging direction at the inspection start point in the underfloor space A1.

  In step S104, it is determined whether or not to use an inspection task or an inspection module. When the inspection task or the inspection module is used, the process proceeds to step S105. On the other hand, when the inspection task or the inspection module is not used, the process proceeds to step S106.

  In step S105, an inspection task or an inspection module is selected according to the user input.

  In step S <b> 106, the inspection robot 1 a performs imaging, inspection, image storage, and the like by remote operation using the operation terminal 2.

  In step S107, the inspection robot 1a executes an inspection sequence according to an inspection task or an inspection module. In steps S106 and S107, the above-described inspection submodule is used as needed.

  In step S108, it is determined whether or not to continue the inspection. When the inspection is continued, the process returns to step S102. When the inspection is finished, the process proceeds to step S109.

  In step S109, the operation terminal 2 moves the inspection robot 1a to the inspection port by remote operation.

  In step S110, the inspection robot 1a is collected from the inspection port, and the inspection work is completed.

(Specific example of rough inspection sequence)
Next, a specific example of the general inspection sequence executed by the first inspection control unit 102 of the inspection robot 1a will be described. FIG. 13 is a flowchart showing a general inspection sequence (first general inspection sequence) when the inspection task 1 is executed.

  In step S <b> 201 of FIG. 13, the first inspection control unit 102 sets the optical zoom magnification to a low magnification for the zoom mechanism 134. As a result, the first inspection control unit 102 automatically captures an object with a low magnification zoom. Imaging data obtained by automatic imaging is transmitted to the operation terminal 2.

  In step S202, the operation terminal 2 temporarily stores imaging data. Further, the display control unit 25 of the operation terminal 2 displays image data on the display unit 26.

  In step S203, the user determines whether there is a problem portion on the image data. If there is a problem in the image data, the process proceeds to step S204. On the other hand, if there is no problem in the image data, the process proceeds to step S205.

  In step S204, the image data determined to have a problem in step S203 is stored in the operation terminal 2.

  In step S205, it is determined by the user whether there is a candidate for detailed inspection on the image data. If there is a candidate for detailed inspection on the image data, the process proceeds to step S206. On the other hand, if there is no candidate for detailed inspection on the image data, the process proceeds to step S207.

  In step S206, the second inspection control unit 103 performs a detailed inspection (first detailed inspection sequence). When the detailed inspection is completed, the process proceeds to step S207.

  In step S207, it is determined whether to continue the general inspection. If the general inspection is to be continued, the process proceeds to step S208. When the rough inspection is finished, the inspection sequence is finished.

  In step S208, the first inspection control unit 102 performs pan / tilt control of the camera 131 to the next imaging section.

  In step S209, focus movement avoidance processing for an obstacle is executed as necessary. Details of this processing will be described later.

(Overall flow of detailed inspection sequence)
Next, an overall outline flow of a detailed inspection sequence executed by the second inspection control unit 103 will be described. FIG. 14 is a flowchart showing an overall outline flow of the detailed inspection sequence.

  In step S301 of FIG. 14, it is determined whether or not to use the inspection module. When the inspection module is used, the process proceeds to step S302. On the other hand, when the inspection module is not used, the process proceeds to step S303. In step S303, the inspection robot 1a performs imaging, inspection, image storage, and the like by remote operation using the operation terminal 2.

  In step S302, the detailed inspection type, that is, any one of (1) to (4) in FIG. 11 is selected according to the user input by the user.

  In step S304, the inspection robot 1a performs the detailed inspection selected in step S302.

  In step S305, it is determined whether or not to continue the detailed inspection. When continuing a detailed inspection, it returns to the process of step S301.

(Specific example of detailed inspection sequence)
Next, a specific example of the detailed inspection sequence executed by the second inspection control unit 103 will be described. FIG. 15 is a flowchart showing a processing flow in the case of performing a detailed inspection of (2) “Area indicated” or (3) “Instruction range” in FIG.

  In step S401 in FIG. 15, a range for performing a detailed inspection is instructed by the operation terminal 2. Information indicating the range in which the detailed inspection is performed is stored in the subject location / range storage unit 152.

  In step S402, the second inspection control unit 103 sets the optical zoom magnification to a high magnification. As a result, the subject is imaged with high magnification zoom. Image data obtained by imaging is transmitted to the operation terminal 2.

  In step S403, it is determined whether there is a problem on the image data. If there is a problem on the image data, the process proceeds to step S404. On the other hand, if there is no problem on the image data, the process proceeds to step S406.

  In step S404, the image data determined to have a problem is stored.

  In step S405, the presence / absence of the problem, the pan / tilt angle, and the angle of view are stored.

  In step S406, the second inspection control unit 103 determines whether or not to continue imaging within the range instructed in step S401. When the imaging is continued within the range instructed in step S401, the process proceeds to step S407. On the other hand, when the imaging is finished within the range instructed in step S401, the process proceeds to step S409.

  In step S407, the second inspection control unit 103 performs pan / tilt control of the camera 131 to the next imaging section.

  In step S408, a focus movement avoidance process for an obstacle is executed as necessary. Details of this processing will be described later.

  In step S409, the second inspection control unit 103 sets the optical zoom magnification to a low magnification, and the detailed inspection sequence ends.

(Zoom ratio automatic setting flow)
Next, the zoom ratio automatic setting flow executed by the zoom magnification adjusting unit 105 will be described. FIG. 16 is a flowchart showing a zoom ratio automatic setting flow.

  In step S <b> 501 of FIG. 16, the zoom magnification adjustment unit 105 acquires a focus value from the focus value storage unit 154.

  In step S <b> 502, the zoom magnification adjustment unit 105 acquires the optical zoom rate from the zoom magnification information storage unit 153.

  In step S503, the zoom magnification adjustment unit 105 reads from the zoom magnification information storage unit 153 a table that associates the focus value, the optical zoom rate, and the distance to the subject.

  In step S504, the zoom magnification adjustment unit 105 calculates the distance to the subject based on the table read in step S503 and the focus value and the optical zoom rate acquired in steps S501 and S502, respectively.

  In step S505, the zoom magnification adjustment unit 105 reads the target value of the imaging scale (distance to the subject and optical zoom rate) from the zoom magnification information storage unit 153.

  In step S506, the zoom magnification adjustment unit 105 calculates an optical zoom rate for setting the imaging scale target value based on the distance to the subject calculated in step S504 and the imaging scale target value read in step S505. .

  In step S507, the zoom magnification adjusting unit 105 sets the optical zoom rate calculated in step S506 for the zoom mechanism 134.

  In step S508, the zoom magnification adjustment unit 105 determines whether it is necessary to finely adjust the optical zoom rate. When it is necessary to finely adjust the optical zoom rate, the process proceeds to step S506. On the other hand, when it is not necessary to finely adjust the optical zoom rate, the zoom rate automatic setting flow ends.

  In step S <b> 509, the zoom magnification adjustment unit 105 performs fine adjustment of the optical zoom rate on the zoom mechanism 134.

  In step S510, the zoom magnification adjustment unit 105 updates the value of the imaging scale (distance to the subject and optical zoom rate) from the zoom magnification information storage unit 153 to reflect the result of the fine adjustment in step S509.

(Focus movement avoidance processing for obstacles)
Next, focus movement avoidance processing for an obstacle executed by the focus control unit 106 will be described. As described above, there are many obstacles that hinder the inspection of cables, pipes, piping, bundles, etc. in the underfloor space A1. The focus control unit 106 detects that the focus has moved to these obstacles, and corrects the focus value.

  FIG. 17 is a diagram illustrating an example of focus value correction processing by the focus control unit 106.

  For example, the focus value storage unit 154 stores a focus value for each shift of the imaging position. The focus control unit 106 obtains a difference between the previous focus value F3 and the current focus value F4, and compares this difference with a predetermined threshold value to detect a significant change in the focus value F4. That is, the focus control unit 106 determines that the focus has moved to the obstacle when the difference between the previous focus value F3 and the current focus value F4 exceeds a predetermined threshold.

  When it is determined that the focus has moved to the obstacle, the focus control unit 106 uses the focus value estimated from the previous focus value history (the values of F1, F2, and F3 in FIG. 17) as a correction value. use. Alternatively, the focus control unit 106 may use the previous focus value F3 as a correction value.

  The correction value obtained in this way is set in the focus mechanism 135 by manual focus setting. In FIG. 17, the pan angle of the camera is set on the horizontal axis, but it may be a tilt angle depending on the shift direction of the imaging position.

  Next, the processing flow of the focus movement avoidance process for the obstacle executed by the focus control unit 106 will be described. FIG. 18 is a flowchart illustrating a processing flow of a focus movement avoidance process for an obstacle.

  In step S601 in FIG. 18, the focus control unit 106 determines whether or not the focus value has changed significantly compared to the previous focus value. If the focus value has changed significantly compared to the previous focus value, the process proceeds to step S602. On the other hand, if the focus value has not changed much compared to the previous focus value, the process proceeds to step S603. In step S603, the current focus value is stored in the focus value storage unit 154.

  In step S602, the focus control unit 106 determines that the focus has moved to the obstacle.

  In step S604, the focus control unit 106 sets the focus mechanism 135 to manual focus.

  In step S605, the focus control unit 106 sets the focus value estimated from the previous focus value history or the previous focus value in the focus mechanism 135 as the corrected focus value.

  In step S606, the focus control unit 106 stores the corrected focus value in the focus value storage unit 154.

  In step S607, the focus control unit 106 returns the focus mechanism 135 to autofocus, and the focus value correction processing ends.

(Action / Effect)
As described above in detail, according to the first embodiment, the subject in the underfloor space A1 is automatically imaged with the low magnification zoom, and a part or all of the range of the subject automatically imaged with the low magnification zoom is increased. By automatically taking an image with a magnification zoom, it is possible to check with high accuracy at a high zoom magnification while grasping the surroundings at a low zoom magnification.

  Therefore, efficient inspection can be realized in a short time. Further, by controlling at least one of the moving mechanism 120 or the imaging unit 13, it is possible to prevent the occurrence of inspection omission by sequentially shifting the imaging position of the subject.

[Second Embodiment]
In the following second embodiment, differences from the first embodiment will be mainly described, and overlapping description will be omitted.

  As described above, there are many obstacles that hinder the inspection of cables, pipes, piping, bundles, etc. in the underfloor space A1, and there are obstacles between the inspection robot 1b and the subject. In some cases, it is necessary to check the blind spot of the obstacle.

  Therefore, in the second embodiment, an inspection robot capable of inspecting a spot that is a blind spot of an obstacle in a short time will be described.

(Configuration example of inspection robot)
First, a configuration example of the inspection robot according to the second embodiment will be described. FIG. 19 is a functional block diagram illustrating a configuration example of the inspection robot 1b according to the second embodiment. In the second embodiment, the first and second inspection control units 102 and 103 are collectively referred to simply as “inspection control unit”.

  As shown in FIG. 19, the inspection robot 1 b is different from FIG. 3 in that it includes a determination unit 107 and an allowable angle storage unit 155.

  The determination unit 107 forms an angle formed by the front-rear direction of the inspection robot 1b with respect to the imaging direction when there is an obstacle on the imaging direction of the imaging unit 13 (camera 131) and between the imaging unit 13 (camera 131) and the subject. Is determined to be within the allowable range.

  The inspection control unit (the first and second inspection control units 102 and 103) does not change direction, that is, does not perform super-trust turning when it is determined that the angle formed by the front-rear direction with respect to the imaging direction is within the allowable range. Perform forward and backward movement to avoid blind spots.

  The allowable angle storage unit 155 stores in advance an allowable angle value used for the determination process by the determination unit 107.

(Blinding avoidance operation)
Next, with reference to FIG. 20 to FIG. 23, a blind spot avoiding operation performed by the inspection robot 1 b will be described.

  FIG. 20 is a diagram for explaining a blind spot avoiding operation performed by the inspection robot 1b. As shown in FIG. 20 (a), when viewed from the upper surface of the inspection robot 1b, when the imaging direction of the camera 131 is “A” and the forward / backward direction of the inspection robot 1b is “B”, the angle formed by B with respect to A “Α” is defined.

  Further, as shown in FIG. 20 (b), “β” is the minimum “α” angle that does not require a super turning when avoiding a blind spot, and the maximum “α” angle that does not require a super turning when avoiding a dead angle. “Γ” is defined respectively.

  Therefore, as shown in FIG. 21, when “β <α <γ” holds or when “−β <α <−γ” holds, the inspection robot 1b avoids the blind spot due to the obstacle by moving forward and backward. To do. On the other hand, when neither of “β <α <γ” and “−β <α <−γ” holds, a blind spot caused by an obstacle is avoided by moving forward and backward after a super-revolution.

  In FIG. 21, there are shortest moving paths R1 and R2 for avoiding blind spots, but these shortest moving paths R1 and R2 change depending on the size, distance, imaging direction, etc. of the obstacle, and therefore the shortest moving path. It is difficult to calculate a route. However, according to the blind spot avoidance operation described above, if “β” and “γ” are appropriately set, the blind spot avoidance function is sufficient although it is not the shortest travel route.

  Further, the inspection control unit (the first and second inspection control units 102 and 103) determines the moving direction based on the imaging forward direction of the inspection sequence (the imaging position shift direction) when moving to avoid blind spots. To do.

  FIG. 22 is a diagram for explaining the priority order of the movement route for avoiding blind spots. As shown in FIG. 22 (a), in the case of checking clockwise (clockwise) in a plane parallel to the traveling surface, there is a failure among the movement routes R1 and R2 shown in FIG. 22 (b). The movement route R1 moving to the right side of the object is given priority. In this way, by giving priority to the movement in the imaging forward direction, it is possible to prevent the avoided obstacle from forming a blind spot again and improve the inspection efficiency.

(Bad spot avoidance processing flow 1)
Next, a processing flow when avoiding blind spots when using an inspection task or an inspection module will be described. FIG. 23 is a flowchart showing a processing flow when avoiding a blind spot when using an inspection task or an inspection module.

  In step S701, the determination unit 107 determines whether or not “β <α <γ” is satisfied when the imaging forward direction of the general inspection (or detailed inspection) is positive. If “β <α <γ” holds, the process proceeds to step S703. On the other hand, if “β <α <γ” does not hold, the process proceeds to step S702.

  In step S702, the inspection control unit (the first and second inspection control units 102 and 103) controls the moving mechanism 120 so that “β <α <γ” is satisfied by the super turning. Specifically, the direction change (super turning) is performed in a direction where the turning angle is small so that “β <α <γ”.

  In step S703, the inspection control unit (first and second inspection control units 102 and 103) controls the moving mechanism 120 to move in the imaging forward direction of the general inspection (or detailed inspection).

  In step S704, the inspection control unit (first and second inspection control units 102 and 103) uses the obstacle sensors 142l and 142r to determine whether or not movement is possible due to an obstacle or the like. Here, “impossible to move” means that there is an obstacle in front of the inspection robot 1b and that the robot cannot move at all, that is, both the left and right obstacle sensors 142l and 142r are reacting. Therefore, in a situation where an obstacle can be avoided if the direction is slightly changed, that is, when only one of the left and right obstacle sensors 142l and 142r is reacting and there is no reaction with a slight avoidance movement, a blind spot avoiding operation is performed. Shall continue.

  In step S705, the inspection control unit (first and second inspection control units 102 and 103) returns autonomously by the distance moved in step S703.

  In step S706, the determination unit 107 determines whether “−β <α <−γ” is satisfied when the imaging forward direction of the general inspection (or detailed inspection) is positive. If “−β <α <−γ” holds, the process proceeds to step S708. On the other hand, if “−β <α <−γ” does not hold, the process proceeds to step S707.

  In step S707, the inspection control unit (the first and second inspection control units 102 and 103) controls the moving mechanism 120 so that “−β <α <−γ” is satisfied by the super turning.

  In step S708, the inspection control unit (first and second inspection control units 102 and 103) controls the moving mechanism 120 to move in the imaging forward direction of the general inspection (or detailed inspection).

  In step S709, the inspection control unit (first and second inspection control units 102 and 103) performs a rough inspection (or detailed inspection).

  In step S710, the inspection control units (first and second inspection control units 102 and 103) return autonomously by the distance moved in step S708.

  In step S711, the inspection control unit (first and second inspection control units 102 and 103) restarts the general inspection (or detailed inspection).

(Blind Spot Avoidance Flow 2)
Next, a processing flow when avoiding blind spots when an inspection task or an inspection module is not used will be described. FIG. 24 is a flowchart illustrating a processing flow when avoiding a blind spot when an inspection task or an inspection module is not used.

  In step S801, the operation terminal 2 transmits an operation command for instructing blind spot avoidance to the inspection robot 1b according to the user input. This operation command includes information for instructing a blind spot avoidance direction.

  In step S802, the determination unit 107 determines whether or not “β <α <γ” is satisfied when the direction instructed in step S801 is positive. If “β <α <γ” holds, the process proceeds to step S804. On the other hand, if “β <α <γ” does not hold, the process proceeds to step S803.

  In step S <b> 803, the operation command processing unit 104 controls the moving mechanism 120 so that “β <α <γ” is satisfied by the super turn.

  In step S804, the operation command processing unit 104 controls the moving mechanism 120 to move in the direction instructed in step S801.

  In step S805, the operation command processing unit 104 uses the obstacle sensors 142l and 142r to determine whether or not movement is possible due to an obstacle or the like. If the vehicle cannot be moved due to an obstacle or the like, the process proceeds to step S806. If it is possible to move, it moves in the direction instructed in step S801, and the blind spot avoidance process ends.

  In step S806, the operation terminal 2 displays the state of the obstacle sensors 142l and 142r.

  In step S807, it is determined whether or not to continue the blind spot avoidance process. When continuing the blind spot avoidance process, the process returns to the process of step S801. When the blind spot avoidance process is to be stopped, the blind spot avoidance process ends.

(Action / Effect)
As described above, according to the second embodiment, even if the moving mechanism 120 is not the omnidirectional moving type, it is possible to avoid the blind spot without performing the turning operation for changing the direction. Therefore, the time required for the blind spot avoiding operation can be shortened.

  Further, according to the second embodiment, priority can be given to the blind spot avoiding operation in the imaging forward direction, so that the avoided obstacle can be prevented from making a blind spot again. For this reason, the efficiency of blind spot avoidance is improved, and the time required for avoiding blind spots can be shortened.

[Other Embodiments]
As described above, the present invention has been described according to the first and second embodiments. However, it should not be understood that the description and drawings constituting a part of this disclosure limit the present invention. From this disclosure, various alternative embodiments, examples and operational techniques will be apparent to those skilled in the art.

  For example, the operation terminal 2 can also remotely operate the inspection robot 1a from outside the building.

  In the first and second embodiments described above, an example in which optical zoom is used will be described. However, digital zoom or the like may be used.

  Furthermore, the inspection robots 1a and 1b according to the first and second embodiments are not limited to the under floor of the building, and of course can be applied to the ceiling of the building, for example. .

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

1 is an overall configuration diagram of an underfloor inspection system according to a first embodiment. 2A is a diagram illustrating a side view of the inspection robot according to the first embodiment, and FIG. 2B is a diagram illustrating a front view of the inspection robot according to the first embodiment. ) Is a diagram showing a top view of the inspection robot according to the first embodiment. It is a functional block diagram which shows the structural example of the inspection robot which concerns on 1st Embodiment. It is a functional block diagram which shows the structural example of the operating terminal which concerns on 1st Embodiment. It is a figure which shows an example of an underfloor environment. FIG. 6A shows a schematic inspection sequence applied to the inspection task 1 according to the first embodiment, and FIG. 6B shows a detailed inspection sequence applied to the inspection task 1 according to the first embodiment. Show. FIG. 7A shows a schematic inspection sequence applied to the inspection task 2 according to the first embodiment, and FIG. 7B shows a detailed inspection sequence applied to the inspection task 2 according to the first embodiment. Show. FIG. 8A shows a schematic inspection sequence applied to the inspection task 3 according to the first embodiment, and FIG. 8B shows a detailed inspection sequence applied to the inspection task 3 according to the first embodiment. Show. FIG. 9A shows a schematic inspection sequence applied to the inspection task 4 according to the first embodiment, and FIG. 9B shows a detailed inspection sequence applied to the inspection task 4 according to the first embodiment. Show. It is a figure for comparing the inspection tasks 1-4 which concern on 1st Embodiment. It is a figure for demonstrating the specific example of the detailed inspection which concerns on 1st Embodiment. It is a flowchart which shows the whole outline | summary flow of the inspection sequence which the inspection robot which concerns on 1st Embodiment performs. It is a flowchart which shows the rough inspection sequence (1st rough inspection sequence) at the time of performing the inspection task 1 which concerns on 1st Embodiment. It is a flowchart which shows the whole outline | summary flow of the detailed inspection sequence which concerns on 1st Embodiment. 12 is a flowchart showing a processing flow in the case of performing a detailed inspection of (2) “Area indicated” or (3) “Instruction range” in FIG. 11. It is a flowchart which shows the zoom rate automatic setting flow which concerns on 1st Embodiment. It is a figure which shows an example of the correction process of the focus value by the focus control part which concerns on 1st Embodiment. It is a flowchart which shows the processing flow of the focus movement avoidance process to an obstruction. It is a functional block diagram which shows the structural example of the inspection robot which concerns on 2nd Embodiment. It is a figure for demonstrating the blind spot avoidance operation | movement which the inspection robot which concerns on 2nd Embodiment performs (the 1). It is a figure for demonstrating the blind spot avoidance operation | movement which the inspection robot which concerns on 2nd Embodiment performs (the 2). It is a figure for demonstrating the priority of a movement path | route for avoiding a blind spot which concerns on 2nd Embodiment. It is a flowchart which shows the processing flow at the time of blind spot avoidance at the time of the inspection task or inspection module use which concerns on 2nd Embodiment. It is a flowchart which shows the processing flow at the time of avoiding a blind spot when not using the inspection task or inspection module which concerns on 2nd Embodiment.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1a, 1b ... Inspection robot, 2 ... Operation terminal, 11a ... Front wheel, 11b ... Rear wheel, 12 ... Crawler, 12l ... Left crawler, 12r ... Right crawler, 13 ... Imaging unit, 14 ... Sensor, 21 ... Input part, 22 ... inspection sequence selection unit, 23 ... operation command control unit, 24 ... wireless communication unit, 25 ... display control unit, 26 ... display unit, 100a, 100b ... control unit, 101 ... inspection sequence setting unit, 102 ... first inspection control , 103 ... second inspection control unit, 104 ... operation command processing unit, 105 ... zoom magnification adjustment unit, 106 ... focus control unit, 107 ... determination unit, 120 ... moving mechanism, 121 ... motor, 131 ... camera, 132 ... Tilt mechanism, 133 ... Pan mechanism, 134 ... Zoom mechanism, 135 ... Focus mechanism, 142l, 142r ... Obstacle sensor, 150a, 150b ... Department, 151 ... inspection sequence information storage section, 152 ... object position / range storage unit, 153 ... zoom magnification information storage unit, 154 ... focus value storage section, 155 ... allowable angle storage unit, 161 ... radio communication unit

Claims (8)

An inspection robot for inspecting an arbitrary closed space,
A moving mechanism for moving on the running surface in the closed space;
A zoom magnification at the time of imaging is variable, and a rotatable imaging unit that images a subject in the closed space;
A first inspection control unit that automatically images the subject at a first zoom magnification using the imaging unit;
Second inspection control for automatically capturing an image of a part or all of a subject automatically imaged at the first zoom magnification at a second zoom magnification higher than the first zoom magnification using the imaging unit. An inspection robot, wherein the first and second inspection control units sequentially shift the imaging position of the subject by controlling at least one of the moving mechanism or the imaging unit. The first inspection control unit
While maintaining the position of the inspection robot and sequentially shifting the imaging position, the subject is automatically imaged at the first zoom magnification to identify a location or range that requires automatic imaging at the second zoom magnification. A first general inspection execution unit for executing a first general inspection sequence;
A second general inspection execution unit for maintaining a position of the inspection robot and executing a second general inspection sequence for automatically imaging the subject at the first zoom magnification while sequentially shifting the imaging position;
Where the inspection robot is moved along the subject and the imaging position is sequentially shifted, the subject is automatically imaged at the first zoom magnification, and the location or range where automatic imaging at the second zoom magnification is necessary The inspection robot according to claim 1, further comprising: a third general inspection execution unit that executes a third general inspection sequence that identifies The second inspection control unit
After the execution of the first or third general inspection sequence, a first detailed inspection sequence for automatically imaging the specified portion or range at the second zoom magnification while maintaining the position of the inspection robot is performed. 1 detailed inspection execution section,
After the execution of the second general inspection sequence, a second detailed inspection sequence for automatically imaging the entire range of the subject automatically imaged at the first zoom magnification while maintaining the position of the inspection robot. A second detailed inspection execution unit for executing
After the execution of the second general inspection sequence, the third robot automatically images the entire range of the subject automatically imaged at the first zoom magnification while moving the inspection robot along the subject. The inspection robot according to claim 2, further comprising: a third detailed inspection execution unit that executes a detailed inspection sequence. An inspection robot for inspecting an arbitrary closed space,
A moving mechanism for moving forward and backward and turning on the running surface in the closed space;
A rotatable imaging unit for imaging a subject in the closed space;
An inspection control unit that automatically images the subject using the imaging unit while sequentially shifting the imaging position of the subject by controlling at least one of the moving mechanism or the imaging unit;
Determining whether an angle formed by the front and rear direction of the inspection robot with respect to the imaging direction is within an allowable range when an obstacle exists in the imaging direction of the imaging unit and between the imaging unit and the subject The inspection control unit comprises:
When it is determined that the angle formed by the front-rear direction with respect to the imaging direction is within the allowable range, the blind movement is avoided by performing the forward-reverse movement without performing the direction change,
When it is determined that the angle formed by the front-rear direction with respect to the imaging direction is out of the allowable range, the forward-backward movement is performed after the direction change is performed in a direction where the turning angle is small so as to be within the allowable range. An inspection robot characterized by performing blind spots to avoid blind spots. The inspection control unit
In a plane parallel to the running surface, sequentially shift the imaging position in a certain direction,
When the angle formed by the front-rear direction with respect to the imaging direction is within the allowable range, it moves forward or backward in a direction that matches the certain direction,
The forward or backward movement in a direction that coincides with the one direction after the direction change when the angle formed by the front-rear direction with respect to the imaging direction is outside the allowable range. 4. The inspection robot according to 4.   The inspection control unit uses the imaging unit to automatically image the subject at a first zoom magnification, and to partially or fully cover a range of the subject automatically imaged at the first zoom magnification. The inspection robot according to claim 4 or 5, wherein automatic imaging is performed at a second zoom magnification that is higher than the magnification. The inspection control unit
While maintaining the position of the inspection robot and sequentially shifting the imaging position, the subject is automatically imaged at the first zoom magnification to identify a location or range that requires automatic imaging at the second zoom magnification. A first general inspection execution unit for executing a first general inspection sequence;
A second general inspection execution unit for maintaining a position of the inspection robot and executing a second general inspection sequence for automatically imaging the subject at the first zoom magnification while sequentially shifting the imaging position;
Where the inspection robot is moved along the subject and the imaging position is sequentially shifted, the subject is automatically imaged at the first zoom magnification, and the location or range where automatic imaging at the second zoom magnification is necessary The inspection robot according to claim 6, further comprising: a third general inspection execution unit that executes a third general inspection sequence that identifies the third general inspection sequence. The inspection control unit
After the execution of the first or third general inspection sequence, a first detailed inspection sequence for automatically imaging the specified portion or range at the second zoom magnification while maintaining the position of the inspection robot is performed. 1 detailed inspection execution section,
After the execution of the second general inspection sequence, a second detailed inspection sequence for automatically imaging the entire range of the subject automatically imaged at the first zoom magnification while maintaining the position of the inspection robot. A second detailed inspection execution unit for executing
After the execution of the second general inspection sequence, the third robot automatically images the entire range of the subject automatically imaged at the first zoom magnification while moving the inspection robot along the subject. The inspection robot according to claim 7, further comprising: a third detailed inspection execution unit that executes a detailed inspection sequence.

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