JP2021039071A - Device, method and program for identifying image position, and temperature management system - Google Patents

Abstract

To provide a device for identifying an image position in which a position on a thermal image can be accurately identified for a measurement position of a measurement object.SOLUTION: A device for identifying an image position identifies an image position on a thermal image corresponding to a measurement position of a temperature on a measurement object. The device includes: a thermal image acquisition section for acquiring a thermal image obtained by imaging the measurement position with an infrared camera; an imaging information acquisition section for acquiring imaging information including an angle of view and an attitude of the infrared camera at the time of imaging the acquired thermal image; an imaging position acquisition section for acquiring a measurement result of a relative imaging position which is a relative position of the imaging position of the thermal image relative to a reference position arranged at a predetermined position around the measurement object; a measurement position acquisition section for acquiring the measurement result of the relative measurement position which is a relative position of the measurement position to the reference position measured in advance; and a position identifying section for calculating an image position corresponding to the relative measurement position based on the relative imaging position, relative measurement position and imaging information.SELECTED DRAWING: Figure 3

Description

The present disclosure relates to a technique for identifying (identifying) a position on a thermal image corresponding to a measurement position of the temperature of a measurement object.

Patent Document 1 discloses a self-propelled inspection device that inspects indoor or outdoor production equipment (measurement object) in the steel industry. This self-propelled inspection device estimates the position of the device by GPS or SLAM technology, travels along a predetermined route based on the estimated position, and also includes visible images (visible light images) mounted on the device. Perform inspection work using an imaging device or temperature measuring device that captures thermal images. As a result, it is said that the inspection work of the production equipment can be executed even in the area where information communication is difficult or the running surface is not flat.

Japanese Unexamined Patent Publication No. 2015-161577

However, Patent Document 1 does not specifically disclose a method of temperature measurement using a visible light image, a thermal image, a temperature measuring device, or the like. For example, when the object to be measured is large, the temperature of the object to be measured may be measured by measuring the temperature at a desired position on the object to be measured. At this time, in the thermal image, the outline and surface details of the object to be measured tend to be unclear, and even if the location can be clearly distinguished visually or on the visible image, the shooting position and shooting direction of the measurement position appearing in the thermal image. If is different from the visible image or the visual situation, it may not be easy to specify the measurement position on the thermal image.

In addition, when the temperature of the same measurement position of the object to be measured is periodically measured, and when the same shooting direction is measured by an infrared camera installed at a predetermined position (fixed point measurement), this periodicity is used. Since the positions of the measurement positions in the thermal image taken at each measurement can be matched, no major problem occurs. However, instead of such fixed point measurement, when a self-propelled inspection device equipped with an infrared camera is periodically moved to a predetermined imaging position to capture a thermal image, the periodic imaging is performed. , It is practically difficult to perform the same camera posture at the same shooting position. For this reason, even if the thermal image is obtained by trying to shoot the same measurement position from the same shooting position, the appearance of the measurement target is likely to be different, and it is difficult to specify (identify) the position of the target measurement position on the thermal image. It's not easy. Furthermore, performing this specific work manually requires a great deal of labor.

In view of the above circumstances, it is an object of at least one embodiment of the present invention to provide an image position specifying device capable of accurately specifying the position of the measurement position of the measurement object in the thermal image.

The image positioning device according to at least one embodiment of the present invention is
An image position specifying device for specifying an image position on a thermal image corresponding to a temperature measurement position on a measurement object.
A thermal image acquisition unit configured to acquire the thermal image obtained by photographing the measurement position with an infrared camera, and a thermal image acquisition unit.
A shooting information acquisition unit configured to acquire shooting information including the angle of view and orientation of the infrared camera at the time of shooting the acquired thermal image, and a shooting information acquisition unit.
An imaging position acquisition unit configured to acquire a measurement result of a relative imaging position, which is a relative position of the imaging position of the thermal image with respect to a reference position provided at a predetermined position around the measurement object.
A measurement position acquisition unit configured to acquire a measurement result of a relative measurement position, which is a relative position of the measurement position with respect to the reference position, which has been measured in advance.
A position specifying unit configured to calculate the image position corresponding to the relative measurement position based on the relative shooting position, the relative measurement position, and the shooting information is provided.

The temperature control system according to at least one embodiment of the present invention is
The above-mentioned image position specifying device for specifying the image position on the thermal image corresponding to the measurement position of the temperature of the measurement object, and
A self-propelled self-propelled inspection device for capturing the thermal image of the measurement position.
With the main body
A moving device that movably supports the main body and
An infrared camera installed in the main body capable of capturing the thermal image and
A sensor installed in the main body, which is used to identify the image position, and a sensor for measuring the distance and direction from a reference position provided at a predetermined position around the measurement object.
A self-propelled inspection device having a control device for controlling the moving device and a self-propelled inspection device installed in the main body is provided.

The image position specifying method according to at least one embodiment of the present invention is
It is an image position specifying method for specifying an image position on a thermal image corresponding to a measurement position of a temperature on a measurement object.
The step of acquiring the thermal image obtained by photographing the measurement position with an infrared camera, and
A step of acquiring shooting information including the angle of view and orientation of the infrared camera at the time of shooting the acquired thermal image, and
A step of acquiring a measurement result of a relative imaging position, which is a relative position of the imaging position of the thermal image with respect to a reference position provided at a predetermined position around the measurement object, and a step of acquiring the measurement result.
A step of acquiring a measurement result of a relative measurement position, which is a relative position of the measurement position with respect to the reference position, which has been measured in advance.
It includes a step of calculating the image position corresponding to the relative measurement position based on the relative shooting position, the relative measurement position, and the shooting information.

The image position identification program according to at least one embodiment of the present invention is
An image position identification program for specifying an image position on a thermal image corresponding to a temperature measurement position on an object to be measured.
On the computer
A thermal image acquisition unit configured to acquire the thermal image obtained by photographing the measurement position with an infrared camera, and a thermal image acquisition unit.
A shooting information acquisition unit configured to acquire shooting information including the angle of view and orientation of the infrared camera at the time of shooting the acquired thermal image, and a shooting information acquisition unit.
An imaging position acquisition unit configured to acquire a measurement result of a relative imaging position, which is a relative position of the imaging position of the thermal image with respect to a reference position provided at a predetermined position around the measurement object.
A measurement position acquisition unit configured to acquire a measurement result of a relative measurement position, which is a relative position of the measurement position with respect to the reference position, which has been measured in advance.
This is a program for realizing a position specifying unit configured to calculate the image position corresponding to the relative measurement position based on the relative shooting position, the relative measurement position, and the shooting information.

According to at least one embodiment of the present invention, there is provided an image position specifying device capable of accurately specifying a position of a measurement position of a measurement object in a thermal image.

It is the schematic which shows the structure of the temperature control system which concerns on one Embodiment of this invention. It is the schematic which shows the structure of the self-propelled inspection apparatus which concerns on one Embodiment of this invention. It is a block diagram which shows schematic the function of the image position specifying apparatus which concerns on one Embodiment of this invention. It is a figure which shows the plan view around the measurement object shown in FIG. 1 for demonstrating the time of measuring the temperature of the measurement object which concerns on one Embodiment of this invention. It is a block diagram which shows roughly the function of the image position specifying apparatus concerning the calculation of the relative measurement position which concerns on one Embodiment of this invention. It is a figure which shows the plan view in the vicinity of the measurement object shown in FIG. 1 for demonstrating the time of measuring the relative measurement position which concerns on one Embodiment of this invention. It is a figure which shows the plan view in the vicinity of the measurement object shown in FIG. 1 for demonstrating the time of measuring the relative measurement position which concerns on another Embodiment of this invention. It is a figure which shows the visible image which image | photographed the measurement object which concerns on one Embodiment of this invention from the 1st imaging position. It is a figure which shows the visible image which image | photographed the measurement object which concerns on one Embodiment of this invention from the 2nd imaging position. It is a figure for demonstrating the embodiment which takes a plurality of candidate images which concerns on one Embodiment of this invention. It is a figure which shows the image position specifying method which concerns on one Embodiment of this invention. It is a figure which shows the position calculation step which concerns on one Embodiment of this invention.

Hereinafter, some embodiments of the present invention will be described with reference to the accompanying drawings. However, the dimensions, materials, shapes, relative arrangements, etc. of the components described as embodiments or shown in the drawings are not intended to limit the scope of the present invention to this, but are merely explanatory examples. Absent.
For example, expressions that represent relative or absolute arrangements such as "in a certain direction", "along a certain direction", "parallel", "orthogonal", "center", "concentric" or "coaxial" are exact. Not only does it represent such an arrangement, but it also represents a state of relative displacement with tolerances or angles and distances to the extent that the same function can be obtained.
For example, expressions such as "same", "equal", and "homogeneous" that indicate that things are in the same state not only represent exactly the same state, but also have tolerances or differences to the extent that the same function can be obtained. It shall also represent the existing state.
For example, the expression representing a shape such as a quadrangular shape or a cylindrical shape not only represents a shape such as a quadrangular shape or a cylindrical shape in a geometrically strict sense, but also an uneven portion or chamfering within a range where the same effect can be obtained. The shape including the part and the like shall also be represented.
On the other hand, the expressions "equipped", "equipped", "equipped", "included", or "have" one component are not exclusive expressions that exclude the existence of other components.

(overall structure)
FIG. 1 is a schematic view showing the configuration of a temperature control system 7 according to an embodiment of the present invention. Further, FIG. 2 is a schematic view showing the configuration of the self-propelled inspection device 8 according to the embodiment of the present invention.

The temperature control system 7 is a system for monitoring the temperature of a facility subject to temperature control (hereinafter referred to as a target facility 70; see FIG. 1) and detecting an abnormality in the target facility 70. The target facility 70 may be a power generation plant such as a thermal power plant or a nuclear power plant as shown in FIG. For example, a thermal power plant is composed of a plurality of facilities such as a boiler, a steam turbine, and a generator. Then, the temperature control system 7 is configured to execute temperature control for any one or more facilities (measurement target 9) constituting the target facility 70.

Therefore, as shown in FIG. 1, the temperature control system 7 is a self-propelled self-propelled type for capturing a thermal image Dt (described later) of the measurement position M of each measurement object 9 installed in the target facility 70. It includes an inspection device 8, a temperature control device 71 that manages the temperature of the target facility 70, and an image position identification device 1. The measurement position M on the measurement object 9 is a position (three-dimensional) for measuring the temperature, which is preset in the measurement object 9. The measurement position M is set, for example, one or more for each of one or more (for example, a plurality of) measurement objects 9 provided in the target facility 70. In FIG. 1, only one of the plurality of measurement objects 9 included in the target facility 70, which is used in the following description, is designated by a reference numeral.
The configurations included in these temperature control systems 7 will be described respectively.

(Structure of self-propelled inspection device 8)
The self-propelled inspection device 8 is a device that collects information such as a thermal image Dt necessary for inspection while traveling on a predetermined route (hereinafter, set route R) by itself. This thermal image Dt is an image generated based on information (amount of infrared rays such as far infrared rays) obtained by photographing with an infrared camera 83t described later. More specifically, the thermal image Dt is an image represented by information such as colors corresponding to the measured temperatures in each region when the imaging range Rt of the infrared camera 83t is divided into a plurality of regions such as a grid pattern. is there. That is, the thermal image Dt is an image showing the temperature distribution on the two-dimensional plane representing the above-mentioned photographing range Rv as a diagram. Further, the setting path R is set so as to comprehensively and sequentially follow all the shooting instruction positions T set in the target facility 70 as the positions where the thermal image Dt should be shot. Note that FIG. 1 shows a part of the set path R, and the remaining part of the set path R is omitted.

Then, as shown in FIG. 2, the self-propelled inspection device 8 can move the main body 81, which is a housing forming the outer shell of the self-propelled inspection device 8, and the main body 81. An infrared camera 83t that captures a thermal image Dt of the measurement position M of the measurement object 9, which is realized by a far-infrared camera or the like installed in the moving device 82 supported by the above main body 81, and an image position described later. It controls a sensor 84 for measuring the distance and direction to a detection target, which is a reference position Po to be described later, provided at a predetermined position around the measurement target 9 used for specifying the Dp, and a moving device 82. It includes various devices including a control device 85. Further, in some embodiments, as shown in FIG. 2, the self-propelled inspection device 8 mounts a visible camera 83v for photographing the measurement position M of the measurement object 9 installed in the main body 81. You may prepare further.

The moving device 82 may be a device such as a wheel, an endless track, or a leg mechanism that movably supports the main body 81 by touching the ground. Alternatively, the moving device 82 may be a device such as a thruster such as a propeller that supports the main body 81 so as to be movable in water or in the air. In the embodiment shown in FIG. 2, the moving device 82 has an endless track, which enables the main body 81 to rotate on the spot, and also makes it possible to reduce the turning radius at the time of the rotation.

Further, the infrared camera 83t and the visible camera 83v may be attached to the main body 81 so as to face sideways with respect to the moving direction F (forward direction) of the moving device 82 (see FIG. 2). In the embodiment shown in FIG. 2, the infrared camera 83t and the visible camera 83v are attached to the main body 81 so that the shooting direction is fixed with respect to the main body 81. Therefore, the shooting direction changes according to the posture such as the direction of the main body 81 and the inclination in the gravity direction. However, the present invention is not limited to the present embodiment, and the infrared camera 83t and the visible camera 83v may have a mechanism capable of adjusting the photographing direction.

The sensor 84 may be a LiDAR (Light Detecting And Ranger), a visible camera 83v, or an RFID (Radio Frequency Identifier) reader. It is configured to detect the marker 76, which is a detection target, provided at a predetermined position around the measurement target 9 (see FIG. 1 and FIGS. 4, 6A to 9 described later). For example, when the sensor 84 is LiDAR, the marker 76 becomes a reflector such as a retroreflective reflector. When the sensor 84 is the visible camera 83v, the marker 76 becomes an AR marker (AR: Augmented Reality). When the sensor 84 is an RFID reader, the marker 76 is an RFID. In the embodiment shown in FIGS. 1 and 2, a pole 75 having a columnar shape having a predetermined height is installed in the vicinity of the measurement target 9 in the target facility 70, and is placed on the upper portion of the pole 75 or the like. A retroreflective plate (marker 76) is provided. Then, by detecting the retroreflective plate with the LiDAR sensor 84, the detected position (three-dimensional position) is set as the reference position Po.

Further, the control device 85 acquires the position (self-position) and the direction (self-direction) of the self-propelled inspection device 8 and controls the traveling of the moving device 82 so that the self-position is on the set path R. To do. The detection (estimation) of the self-position and the self-direction may be performed by a well-known method. For example, a signal related to GNSS (Global Navigation Satellite System), autonomous navigation based on the orientation and distance detected by a sensor mounted on the self-propelled inspection device 8, or a distance output from a LiDAR or depth camera mounted on the self-propelled device 8. It may be performed by any method of SLAM (Simultaneus Localization and Mapping) using the distribution (the distribution of the distance on the two-dimensional plane representing the imaging range). Further, the control device 85 may control the execution of shooting by the infrared camera 83t, or may control the measurement by the sensor 84.

Here, one or more positions (hereinafter, shooting instruction position T) at which the thermal image Dt should be captured are set (teaching) in advance on or near the setting path R described above (FIG. 4 described later). , See FIG. 9). Therefore, when the shooting instruction position T of the thermal image Dt is not on the set path R, the control device 85 directs the shooting instruction position T from the set path R at an appropriate position for shooting the thermal image Dt. The self-propelled inspection device 8 is moved. For example, the control device 85 is configured to control the execution of shooting by the infrared camera 83t after stopping the self-propelled inspection device 8 at a position where the detected self-position becomes the shooting instruction position T. May be done.

In the embodiment shown in FIGS. 1 to 2, the control device 85 is installed inside the main body 81, and the set path R is repeated until a predetermined number of patrols and end instructions are given according to the signal output by the control device 85. It is configured to patrol. That is, the self-propelled inspection device 8 is a patrol inspection device. At this time, the control device 85 is configured to detect the self-position and the self-direction by SLAM using the distance distribution output by LiDAR or the like, and the position where the thermal image Dt is actually taken (hereinafter, the shooting position P). ), The thermal image Dt of the measurement object 9, the distance distribution, and the position information indicating the photographing position P and the direction are transmitted to the temperature control device 71. As a result, the temperature control device 71 creates a mapping (three-dimensional temperature distribution) of the temperature distribution output by the infrared camera 83t to the three-dimensional position information generated based on the distance distribution and the position information. Is possible. However, the control device 85 may create a three-dimensional temperature distribution and transmit it.

(Configuration of temperature control device 71)
Based on the information received from the self-propelled inspection device 8, the temperature control device 71 creates a temperature map in which the temperature is mapped on a plane map in which the target facility 70 is viewed in a plan view from the height direction. Then, the temperature control device 71 identifies a portion of the target facility 70 where an abnormality has occurred based on the temperature map. The temperature control device 71 may be installed in the target facility 70, or may be installed in a place remote from the target facility 70. Further, the temperature control device 71 may be provided in the self-propelled inspection device 8. Since there is no temperature map value before the start of the patrol by the self-propelled inspection device 8 (at the time of the first start), the average value of the ambient temperature of the target facility 70, the design value of the temperature of the target facility 70, and the initial value, Alternatively, the actual value of the other target facility 70 may be recorded.

(Configuration of image position specifying device 1)
Next, the image position specifying device 1 will be described with reference to FIGS. 3 to 9.
FIG. 3 is a block diagram schematically showing the function of the image position specifying device 1 according to the embodiment of the present invention. Further, FIG. 4 is a diagram showing a plan view of the vicinity of the measurement object 9 shown in FIG. 1 for explaining the time of measuring the temperature of the measurement object 9 according to the embodiment of the present invention.

The image position specifying device 1 is a device for specifying a position on the thermal image Dt (hereinafter, image position Dp) corresponding to the temperature measurement position M on the measurement object 9. As shown in FIG. 3, the image position specifying device 1 includes a thermal image acquisition unit 21, a photographing information acquisition unit 22, a photographing position acquisition unit 23, a measurement position acquisition unit 3, and a position identification unit 4. ..
The configuration included in these image position specifying devices 1 will be described by taking the case where the measurement position M in the following description is the first measurement position M ₁ (see FIGS. 4, 6A to 6B, and FIG. 9) as an example. Unless otherwise specified, the directions in the following description shall be in the same coordinate system as the above self-position.

Further, the image position specifying device 1 may be composed of a computer, and includes a CPU (processor) (not shown), a memory such as a ROM or RAM, and a storage device 12 as an external storage device. Then, the CPU operates (data calculation, etc.) according to the instructions of the program (image position specifying program) loaded in the memory (main storage device) to realize each of the above functional units. In other words, the above program is software for realizing each functional unit described later in a computer, and may be stored in a storage medium that can be read by the computer. In the present embodiment, the image position identification device 1 shares hardware with the temperature control device 71, such as operating on the same OS (Operation System) as the temperature control device 71 described above, and the image position identification device 1 of the image position identification device 1. The storage device 12 is also that of the temperature control device 71.

The thermal image acquisition unit 21 is a functional unit configured to acquire the thermal image Dt obtained by photographing the measurement object 9 with the infrared camera 83t at the measurement position M. For example, the thermal image Dt obtained through photographing from the self-propelled inspection device 8 is stored in the storage device 12 of the image position specifying device 1, and the thermal image acquisition unit 21 is stored in the storage device 12 from the storage device 12. The thermal image Dt may be acquired.

The shooting information acquisition unit 22 is configured to acquire shooting information S including the angle of view (viewing angle) and orientation of the infrared camera 83t at the time of shooting the thermal image Dt acquired by the thermal image acquisition unit 21 described above. It is a functional part. This imaging information S is stored in, for example, a storage device 12 so that the correspondence with the thermal image Dt can be understood. As a result, even when the shooting information S changes according to the actual shooting situation by the self-propelled inspection device 8, the shooting information S at the time of shooting the thermal image Dt acquired by the thermal image acquisition unit 21 can be obtained. It becomes possible to obtain. If the shooting information S does not change, it may be stored in advance in the storage device 12 or the like.

The shooting position acquisition unit 23 is a functional unit configured to acquire the measurement result of the relative shooting position Pr, which is the relative position of the shooting position P of the thermal image Dt with respect to the reference position Po provided around the measurement object 9. is there. The reference position Po is the coordinates (three-dimensional coordinates; the same applies hereinafter) of the first marker 76a located at the position closest to the self-propelled inspection device 8. Then, by detecting the first marker 76a by the sensor 84 installed in the self-propelled inspection device 8, the distance (straight line distance) between the sensor 84 and the first marker 76a at the time of detection, and the sensor 84 to the first marker The detection result in the direction to 76a (sensor detection result Pm) is obtained. Therefore, the relative positional relationship between the sensor 84 and the first marker 76a can be known from the sensor detection result Pm. In the embodiment shown in FIGS. 1 to 4, for example, the coordinates of the shooting position P with the reference position Po as the origin are calculated based on this positional relationship, and this is set as the relative shooting position Pr.

The measurement position acquisition unit 3 is a functional unit configured to acquire the measurement result of the relative measurement position QR, which is the relative position of the measurement position M of the measurement object 9 with respect to the reference position Po already described. The relative measurement position Qr is obtained by actually performing the measurement as described later. The relative measurement position Qr is stored in advance in a storage device 12 or the like, and the measurement position acquisition unit 3 acquires the relative measurement position Qr from the storage device 12 or the like. The measurement method of this relative measurement position QR will be described later.

The position specifying unit 4 is on the thermal image Dt corresponding to the relative measurement position Qr (measurement position M) based on the relative shooting position Pr, the relative measurement position Qr, and the shooting information S acquired as described above, respectively. It is a functional unit configured to calculate a position (image position Dp). In some embodiments, the position identifying unit 4 may convert the relative measurement position Qr to the image position Dp by a well-known perspective projection conversion. Specifically, for example, a matrix A that converts the coordinate system (x, y, z) of the reference position Po into the coordinate system (x', y', z') of the infrared camera 83t based on the shooting information S. (Attitude conversion matrix) and b (translation vector), and a matrix C (projection conversion matrix) for converting the coordinate system of the infrared camera 83t into the coordinate system of the thermal image Dt are created. Then, the relative measurement position Qr can be converted to the image position Dp by the determinant of Dp = C (AQr + b) using these matrices.

In the embodiment shown in FIGS. 1 to 4, as shown in FIG. 4, three measurement positions M are set in the measurement object 9. Two poles 75 (first pole 75a, second pole 75b) are provided around the measurement object 9. Further, there are two shooting instruction positions T for shooting the three measurement positions M set on the measurement object 9, in total of _{the first shooting instruction position T 1} and the second shooting instruction position T _2. There is. Specifically, the first imaging instruction position T ₁ is a position in front of the first pole 75a with respect to the moving direction F of the self-propelled inspection device 8, and the second imaging instruction position T ₂ is the first. It is provided at a position between the pole 75a and the second pole 75b. Then, from the first shooting instruction position T ₁ and the second shooting instruction position T ₂ , the above three measurement positions M (M1 to M3) are photographed at once, respectively. The reference position Po of the thermal image Dt obtained by photographing from the second imaging instruction position T ₂ is either the marker 76 of the first marker 76a of the first pole 75a or the second marker 76b of the second pole 75b. Is also good. Then, the image position Dp on the thermal image Dt corresponding to each measurement position M can be obtained by processing in the same manner as described above.

Further, the broken line 8d in FIG. 4 indicates the self-propelled inspection device 8 when the relative measurement position Qr is measured, and the image D of the measurement position M taken by the visible camera 83v described later (visible image in FIG. 4). This is when the position of the self-propelled inspection device 8 is adjusted so that the Dv) imaging is optimized. However. As shown by the solid line in FIG. 4, the shooting position P and the moving direction F of the main body 81 when shooting with the infrared camera 83t completely match those of the main body 81 when shooting with the visible camera 83v shown by the broken line 8d. Absent. Therefore, the shooting range Rt of the infrared camera 83t and the shooting range Rv of the visible camera 83v do not completely match. In this way, it is not easy to move the self-propelled inspection device 8 so as to completely match the imaging instruction position T and photograph from the same imaging direction, and it is easy for deviation to occur. However, by processing as described above, it is possible to accurately obtain the image position Dp on the thermal image Dt corresponding to each measurement position M.

According to the above configuration, the set measurement position M on the measurement object 9 identifies (identifies) which position on the thermal image Dt of the same measurement object 9 taken by the infrared camera 83t. In order to do so, first, a reference position Po whose relative position with respect to the measurement object 9 does not change is provided around the measurement object 9. Further, for example, the measurement result (relative measurement position Qr) of the measurement position M relative to the reference position Po, which is the coordinates of the measurement position M with the reference position Po as the origin, is measured in advance (before the position is specified). Prepare through. Then, when the measurement position in the actually photographed thermal image Dt is specified, the reference position Po is measured from the imaging position P at the time of photographing the thermal image Dt, so that the relative position of the imaging position P with respect to the reference position Po is measured. (Relative shooting position Pr) is acquired, and the relative measurement position Qr measured in advance is acquired.

As a result, the measurement position M and the shooting position P of the thermal image Dt in the same coordinate system (for example, the origin is the reference position Po) can be obtained. Based on this, for example, the image position Dp can be accurately specified by executing a perspective projection conversion or the like. For example, when the measurement position M is periodically photographed by the self-propelled inspection device 8, the image position Dp is specified by using the self-position and the self-direction of the self-propelled inspection device 8 at the time of photographing the thermal image Dt. The accuracy of depends on the estimation accuracy of its own position and the like. However, the accuracy of the relative shooting position Pr obtained by measuring the reference position Po is relatively high, and according to the above configuration, the image position Dp can be specified with high accuracy.

Next, how to obtain the relative measurement position QR (relative position between the reference position Po and the measurement position M) described above will be described with reference to FIGS. 5 to 8.
FIG. 5 is a block diagram schematically showing the function of the image position specifying device 1 relating to the calculation of the relative measurement position QR according to the embodiment of the present invention. FIG. 6A is a diagram showing a plan view of the vicinity of the measurement object 9 shown in FIG. 1 for explaining the measurement time of the relative measurement position QR according to the embodiment of the present invention. FIG. 6B is a diagram showing a plan view of the vicinity of the measurement object 9 shown in FIG. 1 for explaining the measurement time of the relative measurement position QR according to another embodiment of the present invention. FIG. 7 is a diagram showing a visible image of the measurement object 9 according to the embodiment of the present invention taken from the first shooting position P1. Further, FIG. 8 is a diagram showing a visible image of the measurement object 9 according to the embodiment of the present invention taken from the second shooting position P2.

In some embodiments, as shown in FIG. 5, the measurement position acquisition unit 3 may have a position calculation unit 40 configured to calculate the relative measurement position QR. Specifically, the position calculation unit 40 acquires at least one image D obtained by photographing the measurement position M by an arbitrary type of camera 83 (visible camera 83v in FIG. 5) from at least one imaging position. Based on the image acquisition unit 41 configured as described above and one or more images D acquired by the image acquisition unit 41, the relative measurement position Qr of the measurement position M commonly included in the one or more images D is calculated. The relative position calculation unit 42 is provided.

More specifically, in some embodiments, the position calculation unit 40 may be configured to obtain the coordinates of the measurement position M by triangulation. That is, for each of the two different positions (first shooting position P ₁ and second shooting position P _{2 in} FIG. 6A), the position (three-dimensional coordinates) with respect to the reference position Po and the two shooting positions P ( The direction (three-dimensional direction) of the measurement position M from each of P ₁ and P _{2) is obtained.} As a result, the measurement positions M from the _two shooting positions P (P ₁ , P 2) in the same coordinate system and each of the two shooting positions P (P ₁ , P _{2) are unknown.} (In FIG. 6A, since the directions (d ₁ , d _{2 ) of the first measurement position M 1} ) can be obtained, it is possible to obtain the coordinates of the measurement position M by triangulation.

Therefore, in some embodiments, as shown in FIG. 5, the position calculation unit 40 includes an image acquisition unit 41, a second shooting information acquisition unit 43, a direction calculation unit 44, and a second shooting position. It has an acquisition unit 45 and a calculation unit 46.
Each of the functional units included in the position calculation unit 40 will be described by taking as an example a case where the image acquisition unit 41 acquires the visible image Dv captured by the visible camera 83v. However, the present invention is not limited to the present embodiment, and the image acquisition unit 41 may acquire a thermal image Dt taken by, for example, an infrared camera 83t.

The image acquisition unit 41 is configured to acquire two visible images Dv (see FIGS. 7 to 8) obtained by photographing the same measurement position M by the visible cameras 83v from two different imaging positions P. It is a department. The visible image Dv obtained by taking a picture with the visible camera 83v from the self-propelled inspection device 8 or the like described above is stored in the storage device 12 of the image position specifying device 1, and the image acquisition unit 41 is stored in the storage device 12. Two visible images Dv may be acquired from the storage device 12. In the embodiment shown in FIG. 6A, the self-propelled inspection device 8 sequentially moves to the two positions of the first shooting position P1 and the second shooting position P2 described above, and captures the visible image Dv at each of these two positions. doing.

The second shooting information acquisition unit 43 obtains the second shooting information Sv including the angle of view (viewing angle) and the posture of the visible camera 83v at the time of shooting the two visible images Dv acquired by the image acquisition unit 41 described above. It is a functional part configured to be acquired. This second shooting information Sv is stored in, for example, a storage device 12 so that the correspondence relationship with the visible image Dv can be understood. The second shooting information acquisition unit 43 is the same as the processing content of the shooting information acquisition unit 22 already described, and is different in that the information to be acquired is related to the visible image Dv. Is also good.

_{The direction calculation unit 44 sets the measurement position direction d (d 1} , d ₂ ), which is the direction of the measurement position M in each of the two visible image Dvs acquired by the image acquisition unit 41 described above, into the two visible image Dvs. It is a functional unit configured to calculate each based on the second shooting information Sv of the above. That is, since the shooting direction of the visible camera 83v with respect to the main body 81 of the self-propelled inspection device 8 is known, the visible camera at the time of shooting is based on the posture of the self-propelled inspection device 8 at the time of shooting such as the inclination of the main body 81 in the gravity direction. Since the posture of 83v can be known, the shooting direction can be known. Further, since the angle of view of the visible camera 83v is known, the direction of the measurement position M in the visible image Dv can be known based on the position of the measurement position M in the visible image Dv. Therefore, it is possible to calculate the measurement position direction d based on the shooting direction of the visible camera 83v and the direction of the measurement position M in the visible image Dv. _{The direction calculation unit 44 has a first measurement position direction d 1} which is a measurement position direction d from the first shooting position P1 to the measurement position M, and a second measurement which is a measurement position direction d from the second shooting position P2 to the measurement position M. The position direction d ₂ is calculated.

The second shooting position acquisition unit 45 is a relative shooting position Pr (hereinafter, a second relative shooting position) which is a relative position with respect to the reference position Po _{of each shooting position P (P 1} , P _{2) of the above two visible images Dv.} It is a functional unit configured to acquire the measurement results of Pv) respectively. Since the second shooting position acquisition unit 45 is the same as the processing content of the shooting position acquisition unit 23 already described, it is omitted. That is, the second shooting position acquisition unit 45 may be the shooting position acquisition unit 23. As a result, the three-dimensional coordinates of the _{two shooting positions P (P 1} , P 2) with the reference position Po as the origin can be obtained.

The calculation unit 46 is a functional unit configured to calculate a target relative measurement position Qr based on the Pv and the measurement position direction d for each of the above two visible image Dvs. Specifically, the calculation unit 46 obtains the measurement position M by triangulation. That is, the second shooting position acquisition unit 45 obtains the coordinates with the reference position Po of _{the first shooting position P 1} and the second shooting position P _{2 as the origin.} Further, the direction calculation section 44, and (in this case the first measurement position _{M 1)} measurement position M from the first shooting position _{P 1} direction (the first measurement position direction _{d 1),} the measurement position from the second imaging position P2 M (Second measurement position direction d ₂ ) is obtained. Accordingly, by triangulation based on the information, from the measurement position M, the first imaging position P ₁ and the length L can see a vertical line beat the straight line Lb of the second connecting the imaging position P _2, the reference position Po It is possible to obtain the coordinates of the measurement position M as the origin.

In the embodiment shown in FIG. 5, when the visible image Dv is captured by the visible camera 83v, the detection result (sensor) of the visible image Dv and the reference position Po measured by the sensor 84 described above from the imaging position P of the visible image Dv. The detection result Pm) is associated with the information of the second shooting information Sv of the visible camera 83v at the time of shooting, and is stored in the storage device 12. Then, the image acquisition unit 41 acquires two visible images Dv (Dv ₁ , Dv ₂ ) from the storage device 12. The second shooting information acquisition unit 43 acquires the second shooting information Sv (Sv ₁ , Sv ₂ ) _{of each of the two visible images Dv (Dv 1} , Dv _2). The direction calculation unit 44 is connected to the image acquisition unit 41 and the second shooting information acquisition unit 43, and is the input visible image Dv (Dv ₁ , Dv ₂ ) and the second visible image Dv. When the shooting information Sv (Sv ₁ , Sv ₂ ) is input, the measurement position direction d (d ₁ , d ₂ ) in the input visible image Dv described above is calculated. _{On the other hand, the second imaging position acquisition unit 45 acquires the sensor detection results Pm (Pm 1} , Pm ₂ ) at each of the _{two imaging positions P (P 1} , P ₂ ) from the storage device 12, and the second imaging position acquisition unit 45 acquires each of the sensor detection results Pm (Pm 1, Pm 2). 2 Relative shooting position Pv (Pv ₁ , Pv ₂ ) is calculated. Then, the calculation unit 46 is connected to the direction calculation unit 44 and the second shooting position acquisition unit 45, and the relative shooting positions Pr (Pv ₁ , Pv _{2 ) of the two shooting positions P (P 1} , P 2) are respectively connected. ) And the two measurement position directions d (d ₁ , d ₂ ) are input, and the coordinates (relative measurement position Qr) of the measurement position M with the reference position Po as the origin are calculated by triangulation.

According to the above configuration, the relative value (relative measurement position Qr) of the measurement position M with respect to the reference position Po is set to the relative position (second relative shooting position Pv) of each of the two shooting positions P of the visible camera with respect to the reference position Po. Based on the measurement result of the above and the direction of the measurement position M from each of the two shooting positions P (measurement position direction d) measured through the shooting of the measurement object 9 (measurement position M) by the visible camera 83v. Calculated by triangulation. As a result, the relative measurement position Qr can be appropriately obtained.

However, the present invention is not limited to the above-described embodiment. In the embodiment described above, the position calculation unit 40 for calculating the relative measurement position Qr, 2 single imaging position _P (P 1, P ₂ in FIG. 6A) image taken from D (visible image Dv in FIG. 6A) However, in some other embodiments, the position calculation unit 40 calculates the relative measurement position Qr based on the image D (visible image Dv in FIG. 6B) taken from one shooting position P. May be used (see FIG. 6B). In this case, in the same manner as described above, the measurement position direction d of the measurement position M is obtained based on one visible image Dv and the second shooting information Sv of the visible image Dv, and the reference position of the visible image Dv is obtained. The relative shooting position Pr, which is a relative position with respect to Po, is obtained by measurement. On the other hand, the distance Ld in the depth direction from the shooting position P of the visible image Dv to the measurement object 9 can be measured by a tool such as a ruler or a measure, or a range finder capable of measuring the distance (for example, RFID, millimeter wave radar, laser measurement). The distance from the shooting position P to the measurement position M (the first measurement position M _{1 in} FIG. 6B) can be found by actually measuring the distance using a range finder or the like. That is, since the relative position of the measurement position M with respect to the photographing position P can be obtained, the relative measurement position Qr can be calculated by converting this into a relative position from the reference position Po. This depth direction is the direction of the measurement position M from the virtual position where the shooting position P and the Y coordinate and the Z coordinate are the same and the measurement position M and the X coordinate are the same in the coordinate system with the reference position Po as the origin. Means.

In some other embodiments, for example, the relative measurement position Qr is directly measured from the position of the marker 76 at the site where the measurement object 9 is installed by using a tool such as a major or a distance measuring sensor. It is also possible to acquire the relative measurement position Qr measured by another method such as.

Next, other configurations included in the image position specifying device 1 will be described.
In some embodiments, as shown in FIG. 5, the image position identifying device 1 measures a designated position using the image D (visible image Dv in FIG. 5) acquired by the image acquisition unit 41 described above. A measurement position setting unit 5 configured to be acquired as the position M may be further provided.

In the embodiment shown in FIG. 5, the measurement position setting unit 5 is connected to a personal computer 6 such as a laptop type or a desktop type of a user having a display 61 for displaying a visible image Dv. Then, as shown in FIGS. 7 to 8, when the user selects a desired position (arrows in FIGS. 7 to 8) on the visible image Dv displayed on the display 61 by operating the mouse or tapping, the selected position is selected. The position (two-dimensional coordinates) in the visible image Dv of the above is input to the measurement position setting unit 5, and the measurement position setting unit 5 stores the input coordinates as the measurement position M in the storage device 12. It has become.

The example of FIG. 7 corresponds to the visible image Dv taken at the first shooting position P1, and the example of FIG. 8 corresponds to the visible image Dv taken at the second shooting position P2. The user specifies a desired position to be the measurement position M in each of the two visible images Dv obtained by shooting at each of the two shooting positions P. The measurement positions M selected in the two visible images Dv are selected on the respective visible images Dv so as to be at the same positions as each other. Further, in the embodiment shown in FIGS. 7-8, selected two-dimensional coordinates _{(u xx, v xx)} in the visible image Dv of (specified) by the position (measurement position M) becomes viewable. The two-dimensional coordinates in FIGS. 7 and 8 are, for example, coordinates with a predetermined position (lower left end, etc.) of each visible image Dv as the origin, and even if the same measurement position M is specified in FIGS. 7 and 8. The two coordinates are usually different from each other.

In the above embodiment, the measurement position M is specified on the visible image Dv, but in some other embodiments, the measurement position M is specified on the thermal image Dt, for example, other than the visible image Dv. The measurement position M may be specified on the image D of the above.

According to the above configuration, for example, the visible image Dv taken for calculating the relative measurement position Qr is displayed on the display 61, and the designated position of the visible image Dv specified by the user on the screen is set to the measurement position M. Set as. As a result, the measurement position M in the measurement object 9 can be easily set without having to go to the site where the measurement object 9 is installed and specify the measurement position M.

However, the present invention is not limited to the above-described embodiment. In some other embodiments, the measurement position M may be specified by another method such as installing a marker indicating the measurement position M on the measurement object 9.

FIG. 9 is a diagram for explaining an embodiment in which a plurality of candidate images Dc according to an embodiment of the present invention are captured.
Further, in some embodiments, the above-mentioned thermal image acquisition unit 21 (see FIG. 3) is obtained by photographing with an infrared camera 83t at a plurality of candidate positions Pc which are candidates for photographing the thermal image Dt. From the candidate images Dc of the above, the candidate image Dc taken in the situation closest to the shooting situation of the visible image Dv is acquired as the thermal image Dt.

For example, this shooting situation may include at least one of the shooting position P and the shooting direction. That is, the candidate image Dc that is the shooting position P closest to the shooting position P of the visible camera 83v may be used as the thermal image Dt. The candidate image Dc that is the shooting direction closest to the shooting direction of the visible camera 83v may be used as the thermal image Dt. Alternatively, the shooting position P of the visible camera 83v and the candidate image Dc having the shooting position P and the shooting direction closest to the shooting direction may be used as the thermal image Dt.

At this time, in some embodiments, as shown in FIG. 9, the imaging by the infrared camera 83t is performed in front (front) of one imaging instruction position T by a predetermined distance from the imaging instruction position T. It may be configured to be performed at a plurality of positions including a certain one or more positions and one or more positions while being away from the shooting instruction position T by a predetermined distance. The thermal image acquisition unit 21 acquires one thermal image Dt using the plurality of thermal image Dt captured in this way as the candidate image Dc.

In the embodiment shown in FIG. 9, when approaching from the position that is determined to be shooting instruction position T (the first photographing instruction position in FIG. 9 T ₁₎ to a predetermined distance, a prescribed number of times taken at a predetermined time interval or distance interval It is supposed to run. As a result, a specified number of times of shooting are executed before and after the shooting instruction position T, so that a total of a specified number of times including the position determined to be the shooting instruction position T (5 times in the embodiment of FIG. 9). ) Is taken at the shooting position P along the path actually moved.

According to the above configuration, among the plurality of thermal image Dt obtained by photographing the thermal image Dt by the infrared camera 83t at a plurality of different imaging positions P (candidate positions Pc), the imaging situation by the visible camera 83v. The thermal image Dt taken in the shooting condition closest to the above is targeted for processing. As a result, the influence of the difference in the shooting conditions of the visible camera 83v and the infrared camera 83t can be reduced, and the identification accuracy can be improved.

Hereinafter, an image position specifying method corresponding to the processing performed by the image position specifying device 1 having the above-described configuration (function) will be described with reference to FIGS. 10 to 11.
FIG. 10 is a diagram showing an image position specifying method according to an embodiment of the present invention. Further, FIG. 11 is a diagram showing a position calculation step according to an embodiment of the present invention.

The image position specifying method is a method for specifying the image position Dp corresponding to the temperature measurement position M on the measurement object 9 described above. As shown in FIG. 10, the image position specifying method includes a thermal image acquisition step (S1), a shooting information acquisition step (S2), a shooting position acquisition step (S3), a measurement position acquisition step (S4), and a position. A specific step (S5) is provided.
These steps will be described in the order of the steps of FIG.

In step S1 of FIG. 10, the thermal image acquisition step is executed. The thermal image acquisition step (S1) is a step of acquiring a thermal image Dt obtained by photographing the measurement object 9 with the infrared camera 83t at the measurement position M. Since the thermal image acquisition step (S1) is the same as the processing content executed by the thermal image acquisition unit 21 already described, the details will be omitted.

In step S2, the shooting information acquisition step is executed. The shooting information acquisition step (S2) is a step of acquiring the shooting information S of the infrared camera 83t at the time of shooting the thermal image Dt acquired by the thermal image acquisition step (S1). Since the shooting information acquisition step (S2) is the same as the processing content executed by the shooting information acquisition unit 22 already described, the details will be omitted.

In step S3, the shooting position acquisition step is executed. The shooting position acquisition step (S3) is a step of acquiring the measurement result of the relative shooting position Pr of the shooting position P of the thermal image Dt acquired by the thermal image acquisition step (S1). Since the shooting position acquisition step (S3) is the same as the processing content executed by the shooting position acquisition unit 23 already described, the details will be omitted.

In step S4, the measurement position acquisition step is executed. The measurement position acquisition step (S4) is a step of acquiring the measurement result of the relative measurement position QR that has been measured in advance. Since the measurement position acquisition step (S4) is the same as the processing content executed by the measurement position acquisition unit 3 already described, the details will be omitted.

In step S5, the position specifying step is executed. In the position specifying step (S5), the thermal image Dt corresponding to the relative measurement position Qr (measurement position M) is based on the relative shooting position Pr, the relative measurement position Qr, and the shooting information S acquired as described above, respectively. This is a step of calculating the upper position (image position Dp). Since the position specifying step (S5) is the same as the processing content executed by the measurement position acquisition unit 3 already described, the details will be omitted. In the embodiment shown in FIG. 10, in the position identification step (S5), the relative measurement position Qr is converted to the image position Dp by a well-known perspective projection conversion.

The thermal image Dt to be processed is specified in the execution order of the thermal image acquisition step (S1), the shooting information acquisition step (S2), the shooting position acquisition step (S3), and the measurement position acquisition step (S4) described above. If so, the order may be exchanged with each other as long as they are executed before the position specifying step (S5). The thermal image Dt to be processed may be specified in the thermal image acquisition step (S1), or the step of specifying the thermal image Dt executed before all the steps (S1 to S5) (not shown). ) May be executed.

Further, in some embodiments, the measurement position acquisition step (S4) includes a position calculation step (S41 to S45) configured to calculate the relative measurement position QR as shown in FIG. You may. This position calculation step is the same as the processing content executed by the position calculation unit 40 already described.

In the embodiment shown in FIG. 11, it is calculated by triangulation. Therefore, in this position calculation step (S41 to S45), two images obtained by photographing the same measurement position M by the camera 83 (visible camera 83v in FIG. 11) from two different imaging positions P (FIG. 11). Then, the image acquisition step (S41) configured to acquire the visible image Dv (see FIGS. 7 to 8) and the second shooting information Sv of the camera 83 at the time of shooting the above two images D are shown. The second shooting information acquisition step (S42) to be acquired and the direction calculation step (S42) for calculating the measurement position direction d of the measurement position M from each of the above two images D based on the above second shooting information Sv. S43), the second shooting position acquisition step (S44) for acquiring the measurement results of the second relative shooting position Pv, which is the relative position of the shooting position P of each of the above two images D with respect to the reference position Po, and the above. It has a calculation step (S45) of calculating a target relative measurement position Qr based on a second relative imaging position Pv and a measurement position direction d for each of the two images D.
In some other embodiments, the above-mentioned position calculation steps (S41 to S45) acquire one image D (image acquisition step (S41)), and based on this one image D, the relative measurement position QR. May be calculated.

The image acquisition step (S41), the second shooting information acquisition step (S42), the direction calculation step (S43), the second shooting position acquisition step (S44), and the calculation step (S45) are the image acquisition steps already described. Since the processing contents are the same as those executed by the unit 41, the second imaging information acquisition unit 43, the direction calculation unit 44, the second imaging position acquisition unit 45, and the calculation unit 46, details will be omitted.

In the embodiment shown in FIG. 11, the self-propelled inspection device 8 is moved along the set path R to capture a visible image Dv at the measurement position M. Then, the shooting position P when the visible image Dv is shot is set as the shooting instruction position T. After that, in order to capture the thermal image Dt, the self-propelled inspection device 8 is moved again along the set path R, and the thermal image Dt is captured at the imaging instruction position T. For example, while moving the self-propelled inspection device 8 around the set path R, a visible image Dv of each measurement position M is photographed, and the self-propelled inspection is performed each time while periodically performing the second and subsequent laps. The thermal image Dt at each measurement position M may be captured while the device 8 is moved (automatically or the like) along the set path R.

In the embodiment shown in FIG. 11, in step S41, two imaging position P (FIG. 6A of P _1, P ₂₎ from two visible images are example results obtained by photographing the same measuring position M at each visible camera 83v Get Dv. In step S42, the second shooting information Sv of the visible camera 83v at the time of shooting the two visible images Dv is acquired. In step S43, the measurement position direction d (d ₁ , d ₂ of FIG. 6A) of the measurement position M in each of the two visible images Dv is calculated based on the second shooting information Sv of the two visible images Dv, respectively. .. In step S44, the measurement result of the relative position (second relative shooting position Pv) of each of the two visible image Dvs with respect to the reference position Po is acquired. In step S45, the relative measurement position Qr is calculated based on the second relative imaging position Pv and the measurement position direction d of each of the two visible images Dv.

The order of the image acquisition step (S41) and the second shooting information acquisition step (S42) described above may be reversed as long as they are before the direction calculation step (S43). The order of the direction calculation step (S43) and the second shooting position acquisition step (S44) may be reversed as long as they are executed before the calculation step (S45).

The present invention is not limited to the above-described embodiment, and includes a modified form of the above-described embodiment and a combination of these embodiments as appropriate.
(Additional note)

(1) The image position specifying device (1) according to at least one embodiment of the present invention is
An image position specifying device (1) for specifying an image position (Dp) on a thermal image (Dt) corresponding to a temperature measurement position (M) on a measurement object (9).
A thermal image acquisition unit (21) configured to acquire the thermal image (Dt) obtained by photographing the measurement position (M) with an infrared camera (83t).
A shooting information acquisition unit (22) configured to acquire shooting information (S) including the angle of view and orientation of the infrared camera (83t) at the time of shooting the acquired thermal image (Dt), and a shooting information acquisition unit (22).
The measurement result of the relative imaging position (Pr), which is the relative position of the imaging position (P) of the thermal image (Dt) with respect to the reference position (Po) provided at a predetermined position around the measurement object (9). The shooting position acquisition unit (23) configured to acquire, and
A measurement position acquisition unit (3) configured to acquire a measurement result of a relative measurement position (Qr), which is a position relative to the measurement position (M) with respect to the reference position (Po), which has been measured in advance.
A position configured to calculate the image position (Dp) corresponding to the relative measurement position (Qr) based on the relative shooting position (Pr), the relative measurement position (Qr), and the shooting information (S). A specific unit (4) is provided.

According to the configuration of (1) above, for example, the measurement object (9) is set through designation on an image (D) such as a visible image (Dv) taken by a camera (83) such as a visible camera (83v). Identify which position (M) on the measured object (9) corresponds to which position on the thermal image (Dt) taken by the infrared camera (83t) of the same measurement object (9) ( In order to identify), first, a reference position (Po) whose relative position with respect to the measurement object (9) does not change is provided around the measurement object (9). Further, for example, the measurement result (relative measurement position (Qr)) of the measurement position (M) relative to the reference position (Po), which is the coordinates of the measurement position (M) with the reference position (Po) as the origin, is obtained. , Prepare in advance (before position identification) through measurement. Then, when the measurement position (M) in the actually photographed thermal image (Dt) is specified, the reference position (Po) is measured from the imaging position (P) at the time of photographing the thermal image (Dt). , The relative position (relative shooting position (Pr)) of the shooting position (P) with respect to the reference position (Po) is acquired, and the relative measurement position (Qr) measured in advance is acquired.

As a result, the measurement position (M) and the shooting position (P) of the thermal image (Dt) in the same coordinate system (for example, the origin is the reference position (Po)) can be obtained. The position (image position (Dp)) of the measurement position (M) in the thermal image (Dt) is accurately specified by executing, for example, perspective projection conversion based on the shooting information (S) including the angle of view and the orientation. can do. For example, when the measurement position (M) is periodically photographed by the self-propelled inspection device (8), the self-position and self-direction of the self-propelled inspection device (8) at the time of photographing the thermal image (Dt) are used. The accuracy of specifying the image position (Dp) depends on the estimation accuracy of its own position and the like. However, the accuracy of the relative imaging position (Pr) obtained by measuring the reference position (Po) is relatively high, and according to the above configuration, the image position (Dp) can be specified with high accuracy.

(2) In some embodiments, in the configuration of (1) above,
The position specifying unit (4) converts the relative measurement position (Qr) into the image position (Dp) by perspective projection conversion.
According to the configuration of (2) above, the image position (Dp) can be accurately specified by the perspective projection conversion.

(3) In some embodiments, in the above configurations (1) and (2),
The measurement position acquisition unit (3) includes a position calculation unit (40) configured to calculate the relative measurement position (Qr).
The position calculation unit (40)
An image acquisition unit (41) configured to acquire at least one image (D) obtained by photographing the measurement position (M) by the camera (83) from at least one imaging position (P).
A relative position calculation unit (42) that calculates the relative measurement position (Qr) of the measurement position (M) included in the image (D) based on the acquired one or more images (D). Have.

According to the configuration of (3) above, the relative measurement position (Qr) can be appropriately obtained based on the acquired one or more images (D).

(4) In some embodiments, in the configuration of (3) above,
The measurement position acquisition unit (3) has a position calculation unit (40) configured to calculate the relative measurement position (Qr).
The position calculation unit (40)
It is configured to acquire two images (D) obtained by shooting at the same measurement position (M) by a camera (83, for example, a visible camera, etc., the same applies hereinafter) from two different shooting positions (P). Image acquisition unit (41) and
A second shooting information acquisition unit (42) configured to acquire the second shooting information including the angle of view and the posture of the camera (83) at the time of shooting each of the two images (D).
The measurement position direction, which is the direction of the measurement position (M) in each of the acquired two images (D), is set based on the second shooting information (Sv) of each of the two images (D). A direction calculation unit (43) configured to calculate, and
A second shooting position configured to acquire a measurement result of a second relative shooting position (Pv), which is a relative position of the shooting position (P) of each of the two images (D) with respect to the reference position (Po). Acquisition department (44) and
A calculation unit (45) configured to calculate the relative measurement position (Qr) based on the second relative imaging position (Pv) of each of the two images (D) and the measurement position direction. Have.

According to the configuration of (4) above, the relative value (relative measurement position (Qr)) of the measurement position (M) with respect to the reference position (Po) is set to a camera such as a visible camera (83v) or an infrared camera (83t). The measurement result of the relative position (second relative shooting position (Pv)) with respect to each reference position (Po) of the two shooting positions (P) of 83, and the measurement target (9) (measurement position) by the camera (83v). It is calculated by triangulation based on the direction (measurement position direction) of the measurement position (M) from each of the two shooting positions (P) measured through the shooting of (M)). As a result, the relative measurement position (Qr) can be appropriately obtained.

(5) In some embodiments, in the configurations (3) to (4) above,
A measurement position (M) setting unit (5) configured to acquire a position designated by using each of the images (D) acquired by the image acquisition unit as the measurement position (M) is further provided. ..

According to the configuration of (5) above, for example, an image (D) taken for calculating the relative measurement position (Qr) is displayed on the display (61), and an image specified by the user on the screen ( The designated position of D) is set as the measurement position (M). As a result, the measurement position (M) in the measurement object (9) can be set without having to go to the site where the measurement object (9) is installed and specify the measurement position (M). It can be set easily.

(6) In some embodiments, in the configurations (3) to (5) above,
The thermal image acquisition unit (21) captures the image (D) from among the plurality of candidate images (Dc) obtained by photographing with the infrared camera (83t) at the plurality of candidate positions (Pc). The candidate image (Dc) taken in the situation closest to the situation is acquired as the thermal image (Dt).

According to the configuration of (6) above, a plurality of heats obtained by photographing a thermal image (Dt) with an infrared camera (83t) at a plurality of different imaging positions (P) (candidate positions (Pc)). Among the images (Dt), the thermal image (Dt) taken in the shooting condition closest to the shooting condition by the camera (83) is targeted for processing. As a result, the influence of the difference in the shooting conditions of the camera (83) and the infrared camera (83t) can be reduced, and the identification accuracy can be improved.

(7) In some embodiments, in the configuration of (6) above,
The shooting situation includes at least one of the shooting position (P) and the shooting direction.

According to the configuration of (7) above, among the plurality of candidate images (Dc) of the thermal image (Dt), at least one of the shooting position (P) of the image (D) and the shooting direction at the time of shooting is close. The candidate image (Dc) is used as the thermal image (Dt) to be processed. Thereby, the identification accuracy of the measurement position (M) on the thermal image (Dt) can be improved.

(8) In some embodiments, in the configurations (1) to (7) above,
The relative imaging position (Pr) is measured using a sensor (84) for measuring the distance and direction to the reference position (Po).

According to the configuration of (8) above, the relative imaging position (Pr) with high accuracy can be acquired by using the sensor (84). Similarly, by measuring the second relative imaging position (Pv) using this sensor (84), it is possible to acquire the second relative imaging position (Pv) with high accuracy, and the same sensor (84). It is possible to prevent the cost increase by using.

(9) The temperature control system (7) according to at least one embodiment of the present invention is
To identify the image position (Dp) on the thermal image (Dt) corresponding to the temperature measurement position (M) of the measurement object (9) according to any one of (1) to (8) above. Image position identification device (1) and
A self-propelled self-propelled inspection device (8) for capturing the thermal image (Dt) at the measurement position (M).
Main body (81) and
A moving device (82) that movably supports the main body (81) and
An infrared camera (83t) installed in the main body (81) capable of capturing the thermal image (Dt), and an infrared camera (83t).
The distance and direction from the reference position (Po) provided at a predetermined position around the measurement object (9) used to identify the image position (Dp) installed in the main body (81). A sensor (84) for measurement and
It includes a control device (85) for controlling the moving device (82) installed in the main body (81), and a self-propelled inspection device (8) having the control device (85).

According to the configuration of the above (9), for example, it is possible to obtain the same effect as the above (1) while taking a thermal image (Dt) while moving automatically. If the camera (83) used to obtain the relative measurement position (Qr) is different from the infrared camera (83t), such as when it is a visible camera (83v), the camera (83) is also the main body (81). ), The self-propelled inspection device (8) can be used for inspection more efficiently.

(10) The image position specifying method according to at least one embodiment of the present invention is
It is an image position specifying method for specifying an image position (Dp) on a thermal image (Dt) corresponding to a temperature measurement position (M) on a measurement object (9).
A step of acquiring the thermal image (Dt) obtained by photographing the measurement position (M) with an infrared camera (83t), and
A step of acquiring shooting information (S) including the angle of view and orientation of the infrared camera (83t) at the time of shooting the acquired thermal image (Dt), and
The measurement result of the relative imaging position (Pr), which is the relative position of the imaging position (P) of the thermal image (Dt) with respect to the reference position (Po) provided at a predetermined position around the measurement object (9). Steps to get and
A step of acquiring a measurement result of a relative measurement position (Qr), which is a relative position of the measurement position (M) with respect to the reference position (Po), which has been measured in advance.
A step of calculating the image position (Dp) corresponding to the relative measurement position (Qr) based on the relative shooting position (Pr), the relative measurement position (Qr), and the shooting information (S) is provided. ..
According to the configuration of the above (10), the same effect as the above (1) is obtained.

(11) The image position (Dp) specifying program according to at least one embodiment of the present invention is
An image position (Dp) specifying program for specifying an image position (Dp) on a thermal image (Dt) corresponding to a temperature measurement position (M) on a measurement object (9).
On the computer
A thermal image acquisition unit (21) configured to acquire the thermal image (Dt) obtained by photographing the measurement position (M) with an infrared camera (83t).
A shooting information acquisition unit (22) configured to acquire shooting information (S) including the angle of view and orientation of the infrared camera (83t) at the time of shooting the acquired thermal image (Dt), and a shooting information acquisition unit (22).
The measurement result of the relative imaging position (Pr), which is the relative position of the imaging position (P) of the thermal image (Dt) with respect to the reference position (Po) provided at a predetermined position around the measurement object (9). The shooting position acquisition unit (23) configured to acquire, and
A measurement position acquisition unit (3) configured to acquire a measurement result of a relative measurement position (Qr), which is a position relative to the measurement position (M) with respect to the reference position (Po), which has been measured in advance.
A position configured to calculate the image position (Dp) corresponding to the relative measurement position (Qr) based on the relative shooting position (Pr), the relative measurement position (Qr), and the shooting information (S). It is a program for realizing the specific part (4).
According to the configuration of the above (11), the same effect as the above (1) is obtained.

1 Image position identification device 12 Storage device 21 Thermal image acquisition unit 22 Imaging information acquisition unit 23 Imaging position acquisition unit 3 Measurement position acquisition unit 4 Position identification unit 40 Position calculation unit 41 Image acquisition unit 42 Relative position calculation unit 43 Second imaging information Acquisition unit 44 Direction calculation unit 44 Second shooting position acquisition unit 45 Calculation unit 5 Measurement position setting unit 6 Computer 61 Display 7 Temperature control system 70 Target facility 71 Temperature control device 75 Pole 75a 1st pole 75b 2nd pole 76 Marker 76a No. 1 marker 76b 2nd marker 8 Self-propelled inspection device 81 Main body 82 Mobile device 83 Camera 83t Infrared camera 83v Visible camera 84 Sensor 85 Control device 8d Broken line (main body at the time of taking a visible image)
9 Measurement target M Measurement position M ₁ First measurement position M ₂ Second measurement position M ₃ Third measurement position T Shooting instruction position T ₁ First shooting instruction position T ₂ Second shooting instruction position D Image Dt Thermal image Dc Candidate Image (thermal image)
Dv Visible image Dp Image position Po Reference position P Shooting position P1 First shooting position P2 Second shooting position Pc Candidate position Pr Relative shooting position Pv Second relative shooting position Pm Sensor detection result Qr Relative measurement position R Setting path S Shooting information ( Infrared camera)
Sv 2nd shooting information (camera)
d Measurement position direction d1 First measurement position direction d2 Second measurement position direction F Movement direction Rt Infrared camera shooting range Rv Camera shooting range Lb Straight line Ld Depth direction distance

Claims (11)

An image position specifying device for specifying an image position on a thermal image corresponding to a temperature measurement position on a measurement object.
A thermal image acquisition unit configured to acquire the thermal image obtained by photographing the measurement position with an infrared camera, and a thermal image acquisition unit.
A shooting information acquisition unit configured to acquire shooting information including the angle of view and orientation of the infrared camera at the time of shooting the acquired thermal image, and a shooting information acquisition unit.
An imaging position acquisition unit configured to acquire a measurement result of a relative imaging position, which is a relative position of the imaging position of the thermal image with respect to a reference position provided at a predetermined position around the measurement object.
A measurement position acquisition unit configured to acquire a measurement result of a relative measurement position, which is a relative position of the measurement position with respect to the reference position, which has been measured in advance.
An image position specifying device including a position specifying unit configured to calculate the image position corresponding to the relative measurement position based on the relative shooting position, the relative measurement position, and the shooting information. The image position specifying device according to claim 1, wherein the position specifying unit converts the relative measurement position into the image position by perspective projection conversion. The measurement position acquisition unit includes a position calculation unit configured to calculate the relative measurement position.
The position calculation unit
An image acquisition unit configured to acquire at least one image obtained by photographing the measurement position with a camera from at least one imaging position, and an image acquisition unit.
The image position specifying device according to claim 1 or 2, further comprising a relative position calculation unit that calculates the relative measurement position of the measurement position included in the image based on the acquired one or more images. The image acquisition unit is configured to acquire two images obtained by photographing the same measurement position by the camera from two different imaging positions.
The relative position calculation unit
A second shooting information acquisition unit configured to acquire the second shooting information including the angle of view and the posture of the camera at each time of shooting the two images, and a second shooting information acquisition unit.
A direction calculation unit configured to calculate the measurement position direction, which is the direction of the measurement position in each of the acquired two images, based on the second shooting information of each of the two images.
A second shooting position acquisition unit configured to acquire a measurement result of a second relative shooting position, which is a relative position of the shooting position of each of the two images with respect to the reference position.
The image position specifying device according to claim 3, further comprising a calculation unit configured to calculate the relative measurement position based on the second relative photographing position and the measurement position direction of each of the two images. The image position specifying device according to claim 3 or 4, further comprising a measurement position setting unit configured to acquire a position designated by using the image acquired by the image acquisition unit as the measurement position. The thermal image acquisition unit heats the candidate image taken in a situation closest to the shooting condition of the image from among a plurality of candidate images obtained by shooting with the infrared camera at a plurality of candidate positions. The image position specifying device according to any one of claims 3 to 5, which is acquired as an image. The image position specifying device according to claim 6, wherein the shooting situation includes at least one of the shooting position and the shooting direction. The image position specifying device according to any one of claims 1 to 7, wherein the relative photographing position is measured by using a sensor for measuring a distance and a direction to the reference position. The image position specifying device for specifying an image position on a thermal image corresponding to a measurement position of a temperature of a measurement object according to any one of claims 1 to 8.
A self-propelled self-propelled inspection device for capturing the thermal image of the measurement position.
With the main body
A moving device that movably supports the main body and
An infrared camera installed in the main body capable of capturing the thermal image and
A sensor installed in the main body, which is used to identify the image position, and a sensor for measuring the distance and direction from a reference position provided at a predetermined position around the measurement object.
A temperature control system including a control device for controlling the mobile device and a self-propelled inspection device provided in the main body. It is an image position specifying method for specifying an image position on a thermal image corresponding to a measurement position of a temperature on a measurement object.
The step of acquiring the thermal image obtained by photographing the measurement position with an infrared camera, and
A step of acquiring shooting information including the angle of view and orientation of the infrared camera at the time of shooting the acquired thermal image, and
A step of acquiring a measurement result of a relative imaging position, which is a relative position of the imaging position of the thermal image with respect to a reference position provided at a predetermined position around the measurement object, and a step of acquiring the measurement result.
A step of acquiring a measurement result of a relative measurement position, which is a relative position of the measurement position with respect to the reference position, which has been measured in advance.
An image position specifying method including a step of calculating the image position corresponding to the relative measurement position based on the relative shooting position, the relative measurement position, and the shooting information. An image position identification program for specifying an image position on a thermal image corresponding to a temperature measurement position on an object to be measured.
On the computer
A thermal image acquisition unit configured to acquire the thermal image obtained by photographing the measurement position with an infrared camera, and a thermal image acquisition unit.
A shooting information acquisition unit configured to acquire shooting information including the angle of view and orientation of the infrared camera at the time of shooting the acquired thermal image, and a shooting information acquisition unit.
An imaging position acquisition unit configured to acquire a measurement result of a relative imaging position, which is a relative position of the imaging position of the thermal image with respect to a reference position provided at a predetermined position around the measurement object.
A measurement position acquisition unit configured to acquire a measurement result of a relative measurement position, which is a relative position of the measurement position with respect to the reference position, which has been measured in advance.
A program for realizing a position specifying unit configured to calculate the image position corresponding to the relative measurement position based on the relative shooting position, the relative measurement position, and the shooting information.

Images