JP2023175181A - Inspection system, inspection unit, and server - Google Patents

Abstract

To provide an inspection system allowing for situation detection targeting a wide range with reduced battery consumption of a device.SOLUTION: The inspection system includes an inspection unit and a server. The inspection unit includes an automatically patrolling vehicle, an autonomously movable device, a cradle pulled by the vehicle with the device thereon, a detection unit which detects peripheral situations, a communication unit which communicates with the server, and a loading/unloading unit which causes the device to be loaded/unloaded. The server includes an instruction unit which instructs the inspection unit to start the device on the basis of information detected by the detection unit.SELECTED DRAWING: Figure 1

Description

The present invention relates to an inspection system, an inspection unit, and a server.

BACKGROUND ART Devices such as robots that have an inspection function for detecting abnormal conditions such as gas leaks and high temperatures, and functions for dealing with the abnormalities have been proposed in various fields (for example, Patent Document 1). Devices are often developed for specific uses, and some are equipped with means of transportation. Transportation means are often provided for the purpose of approaching objects that are located at a short distance.

JP2022-12110A

When detecting the status of a plant such as a refinery using an autonomously mobile device, it is necessary to have the device patrol a vast site. For example, a device may travel distances ranging from hundreds of meters to several kilometers from its storage location. If devices are toured using each device's transportation means, the battery will be consumed and the situation detection function and operation after detection may be affected.

Therefore, an object of the present invention is to provide an inspection system, an inspection unit, and a server that can solve the above-mentioned problems.

According to one aspect of the present disclosure, an inspection system includes an inspection unit and a server, and the inspection unit includes a vehicle that performs automatic patrol, a device that can move autonomously, and a vehicle equipped with the device. The server has a stand that is towed by the device, a detection unit that detects surrounding conditions, a communication unit that communicates with the server, and a departure and arrival unit that sends and receives the device, and the server The apparatus includes a command unit that commands the inspection unit to start the device based on the information.

According to one aspect of the present disclosure, the inspection unit includes a vehicle that performs automatic patrolling, a device that can move autonomously, a pedestal that carries the device and is towed by the vehicle, and a detection unit that detects surrounding conditions. , an instruction unit that commands the device to start based on information detected by the detection unit, and a departure and arrival unit that causes the device to depart and arrive.

According to one aspect of the present disclosure, the server includes an acquisition unit that acquires detection information indicating the surrounding situation of the vehicle from a vehicle that is equipped with an autonomously movable device and performs automatic patrol; and a command unit that commands the vehicle to start the device.

According to the present disclosure, it is possible to perform situation detection over a wide range while suppressing battery consumption of a device.

FIG. 1 is a schematic diagram showing an example of an inspection system according to a first embodiment. It is a side view showing an outline of an inspection unit concerning a 1st embodiment. FIG. 2 is a plan view schematically showing an inspection unit according to the first embodiment. FIG. 1 is a functional block diagram showing an example of an inspection system according to a first embodiment. FIG. 2 is a functional block diagram showing an example of an inspection unit according to the first embodiment. FIG. 2 is a first flow diagram showing an example of the operation of the inspection system according to the first embodiment. FIG. 2 is a second flow diagram showing an example of the operation of the inspection system according to the first embodiment. FIG. 3 is a third flow diagram showing an example of the operation of the inspection system according to the first embodiment. FIG. 4 is a fourth flowchart showing an example of the operation of the inspection system according to the first embodiment. FIG. 2 is a functional block diagram showing an example of an inspection system according to a second embodiment. It is a functional block diagram showing an example of an inspection unit concerning a 2nd embodiment.

<First embodiment>
(System configuration)
An inspection system according to a first embodiment of the present disclosure will be described below with reference to FIGS. 1 to 9. FIG. 1 is a schematic diagram showing an example of an inspection system according to the first embodiment. The inspection system 1 includes an inspection unit 10, wireless communication devices 5a to 5c, a network (NW), a server 20, and a terminal device 30. The inspection system 1 may further include an external storage device 40. The inspection unit 10 is connected to a network (NW) via a wireless communication device 5a. The server 20 and external storage device 40 are connected to a network (NW) via a wireless communication device 5b. The terminal device 30 is connected to a network (NW) via a wireless communication device 5c. Thereby, the inspection unit 10, the server 20, the terminal device 30, and the external storage device 40 are communicably connected via the network (NW). The wireless communication devices 5a to 5c include, for example, an access point (AP) and a router, and may be installed at various locations within the facility G other than those shown. In the inspection system 1, the inspection unit 10 automatically patrols the patrol route R of the facility G, such as a plant or factory, to detect surrounding conditions at various locations in the facility G. Instead of/in addition to patrolling the patrol route R, the inspection unit 10 detects the surrounding situation by going back and forth between two predetermined points in the facility G or going back and forth between a plurality of inspection target locations. It's okay. Furthermore, the inspection unit 10 may be operated by remote control by an operator. The server 20 collects information detected by the inspection unit 10 (referred to as detection information) and monitors the occurrence of an abnormality. The server 20 notifies the terminal device 30 and the like of an alert when an abnormality occurs. The external storage device 40 can be used to store detection information detected by the inspection unit 10.

As shown in FIG. 2, the inspection unit 10 includes a vehicle 11 and frames 12a to 12c. The vehicle 11 and the pedestal 12a are connected by a coupler 14a, the pedestal 12a and the pedestal 12b are connected by a coupler 14b, the pedestal 12b and the pedestal 12c are connected by a coupler 14c, and the pedestals 12a to 12c are connected to the vehicle 11 in front or It travels following the frames 12a to 12b. Power lines and communication lines (or power line carrier communication lines) are laid in the couplers 14a to 14c, and the vehicle 11 and the frames 12a to 12c are not only physically connected but also electrically connected. There is. The vehicle 11 has a function of automatically patrolling a predetermined patrol route R within the facility G and a function of towing the frames 12a to 12c. The vehicle 11 is charged at a hangar 60 or a station 50 disposed along the patrol route R, and automatically patrols the route R. For example, an automated guided vehicle such as an AGV (Automated Guided Vehicle) or an AGF (Automated Guided Forklift) can be used as the vehicle 11.

As the frames 12a to 12c towed by the vehicle 11, general frames utilized in the field of logistics can be used. An inspection device 13 is mounted on the frames 12a to 12c. The inspection device 13 is a robot equipped with a sensor, a manipulator, a moving means, a battery, and the like. The inspection device 13 is stored in the hangar 60 in FIG. 1, and is mounted on the frames 12a to 12c when the inspection unit 10 makes rounds. The means of movement of the inspection device 13 includes a caterpillar system, a tire system (such as one equipped with large diameter tires that can climb over some steps, and one equipped with small tires that allow fine movement), two-legged or four-legged. There are walking methods, flying methods, etc. In the example of FIG. 2, an inspection device 13a having a working arm and a tire-type moving means is mounted on the pedestal 12a, an inspection device 13b having a quadrupedal movement means is mounted on the pedestal 12b, and a pedestal 12c is mounted on the pedestal 12a. It is empty. Referring to the pedestal 12c, the pedestal 12c has a port 121c, a rail 122c for the port 121c, and a lifting platform 123c. The pedestal 12a also has a port 121a, a rail 122a, and a lifting platform 123a. The same applies to the pedestal 12b. Hereinafter, when there is no need to distinguish between the mounts 12a to 12c, they may be simply referred to as mounts 12. The port 121c, the rail 122c, and the elevator platform 123c may also be simply referred to as the port 121, the rail 122, and the elevator platform 123. The inspection devices 13a to 13b may also be referred to as inspection devices 13 in some cases. The same applies to the functional parts (device connection part 120a, lifting part 124a, detection part 131a, storage part 132a, communication part 133a, departure and arrival part 134a, and power supply part 135a, which will be described later) of the gantry 12 and the inspection device 13. Although FIG. 2 illustrates a configuration in which three frames 12 are connected, the number of frames 12 and the number of inspection devices 13 may be arbitrary. Hereinafter, the function and configuration of the pedestal 12 will be explained using the empty pedestal 12c as an example.

The port 121c physically and electrically connects the inspection device 13 mounted on the pedestal 12c and the pedestal 12c. For example, the port 121c is provided with a charging connection port and a data transfer connection port. Alternatively, a connection port for power line communication such as PLC (Power Line Communications) that is capable of both charging and data transfer may be provided. These connection ports are connected to power lines and communication lines installed in the coupler 14b, etc., and by connecting the inspection device 13 to the port 121c, data can be transferred between the inspection device 13 and the vehicle 11. become. Regarding electric power, by connecting the vehicle 11 to the station 50 with the inspection device 13 connected to the port 121c, the electric power supplied from the station 50 can be supplied to the inspection device 13. The charging connection port is, for example, a two-pole or three-pole contact type (preferably a three-pole contact type). The charging connection port may be of a contactless type. The port 121c is equipped with a magnet, which utilizes magnetic force to position and fix the contacts. is provided with connection ports for charging and data transfer), and connects the port 121c and the connection port of the inspection device 13. The magnet provided in the port 121c may be a neodymium magnet or may be an electromagnetic type that generates magnetic force only when necessary (preferably an electromagnetic type). The port 121c is supported by a rail 122c so as to be movable in the horizontal direction in the plane of the paper, which is indicated by the arrow 2Y in FIG. Thereby, the position of the port 121c can be flexibly adjusted depending on the loading position of the testing device 13 and the position of the connection port on the testing device 13 side. Further, it is possible to cope with the case where the position of the inspection device 13 is shifted due to shocks such as shaking while the vehicle 11 is patrolling. The port 121c and the rail 122c are provided to match the height of the connection port of the inspection device 13, but the positions of the port 121c and the rail 122c in the height direction may be adjustable.

The inspection device 13 that moves on the ground moves from the front side to the depth side of the page in FIG. 2 using the lifting platform 123c, enters the pedestal 12c, and is held on the pedestal 12c by connecting to the port 121c. be done. The inspection device 13 is programmed to detect the port 121c and approach the connection port of itself toward the port 121c, and connects to the port 121c by autonomously moving according to this program. When the test device 13 starts from this state, the test device 13 advances toward the front in the paper of FIG. 2, descends to the ground using the lifting platform 123c, and moves to the destination. Refer now to FIG. The arrow 3Y in FIG. 3 indicates the direction of movement of the inspection device 13 when it takes off and arrives. It is desirable that the port 121c be provided on the wall surface 125c of the pedestal 12c on the opposite side of the elevator opening 124c so that the inspection device 13 can be taken in and out by simply moving in the direction indicated by the arrow 3Y. In order to accommodate the takeoff and landing (takeoff and landing) of a flying inspection device 13 such as a so-called drone, a structure similar to the port 121c and the rail 122c may be provided on the floor surface of the pedestal 12c (not shown).

The lifting platform 123c assists in loading and unloading the inspection device 13 onto the loading platform. For example, the lifting platform 123c is stored under the floor of the gantry 12c in situations other than when the inspection device 13 takes off and arrives, or it forms a wall on the side of the entrance 124c, and when going up and down, it slides from under the floor to the outside of the gantry 12c. (in the case of under-floor storage), or rotate the pedestal 12c outward using the bottom of the wall as a fulcrum until the surface forming the inside of the wall is parallel to the ground (in the case of forming a wall), and place the inspection device 13 on the pedestal. It may be a lifting device that raises and lowers a pedestal on which the inspection device 13 is placed from the floor level of the pedestal 12c to the ground level. Alternatively, the elevating table 123c is stored under the floor of the pedestal 12c or forms a wall on the side of the elevating port 124c in situations other than when the inspection device 13 takes off and arrives, and slides from under the floor to the outside of the side surface of the pedestal 12c when ascending and descending. The floor surface of the pedestal 12c and the ground can be set by rotating the pedestal 12c outward using the bottom of the wall as a fulcrum and setting the top of the wall on the ground (in the case of underfloor storage). It may also be a slope that bridges the The inspection device 13 moves in and out of the pedestal 12c by moving up and down using the lifting platform 123c.

FIG. 3 shows a state in which the inspection unit 10 has arrived at the station 50 and is connected to the connection section 51 of the station 50. The vehicle 11 is programmed to connect its own connection port (not shown) to the connection part 51 and stop under automatic control, and autonomously positions itself and stops at the station 50 according to this program. The connection port of the vehicle 11 is arranged on the side of the vehicle and is connected to the connection part 51 of the station 50. The station 50 has a power supply section 52 and a communication section 53 (FIG. 4), and power is supplied to the vehicle 11 from the power supply section 52. The battery of the vehicle 11 is charged by this power supply. Further, the ports 121a to 121c are connected to the vehicle 11 through a power line and a communication line (or a power line carrier communication line), and the power supplied from the station 50 is transmitted to the inspection device 12 through the power line connecting the vehicle 11 and the port 121. supplied to Thereby, the battery included in the inspection device 13 is charged. Further, a charging port for the testing device 13 is provided in the station 50, and the battery included in the testing device 13 is charged by connecting the testing device 13 to this charging port and supplying power from the power supply unit 52 to the testing device 13. It may be configured such that it is possible to do so.

Next, the functions of the inspection system 1 will be explained in more detail with reference to FIGS. 4 and 5.
FIG. 4 is a functional block diagram showing an example of the inspection system according to the first embodiment. In FIG. 4, description of the wireless communication devices 5a to 5c is omitted. The inspection unit 10 includes a vehicle 11, a pedestal 12, and an inspection device 13. Here, with reference to FIG. 5, an example of the functions and configurations of the vehicle 11, the pedestal 12, and the inspection device 13 will be described.

FIG. 5 is a block diagram showing an example of the inspection unit according to the first embodiment. The vehicle 11 includes a detection unit 111, a storage unit 112,
It has a communication section 113 and a station connection section 114.

The detection unit 111 includes a position information acquisition unit 1111, a temperature information acquisition unit 1112, an acoustic information acquisition unit 1113, and a three-dimensional information acquisition unit 1114. The detection unit 111 detects the situation around the inspection unit 10 using a position information acquisition unit 1111, a temperature information acquisition unit 1112, an acoustic information acquisition unit 1113, and a three-dimensional information acquisition unit 1114.

The position information acquisition unit 1111 includes, for example, a GNSS (Global Navigation Satellite System) receiver and the like, and acquires the position information of the vehicle 11. The position information acquisition unit 1111 may acquire the position information of the vehicle 11 by receiving information from RFID (Radio Frequency Identifier) tags provided at various locations in the facility G. Further, when the vehicle 11 moves by tracing a line laid along the patrol route R, a mark unique to the location is attached to the line, and the position information acquisition unit 1111 reads the mark. , the position information of the vehicle 11 may be acquired. When the vehicle 11 autonomously travels using the SLAM (Simultaneous Localization and Mapping) function, a trigger point is set in the map information created by SLAM, and when the trigger point is reached, the position information acquisition unit 1111 Trigger point position information may also be acquired. The position information acquisition unit 1111 records the acquired position information in the storage unit 112 and outputs it to the communication unit 113.

The temperature information acquisition unit 1112 includes, for example, a temperature sensor, an infrared camera, and the like, and acquires the temperature measured by these sensors. The temperature information acquisition unit 1112 may acquire the ambient temperature from moment to moment, or the position information acquisition unit 1111 may mark a predetermined position, such as a position where an RFID is installed or a line for line tracing. The ambient temperature at a predetermined position may be acquired when a trigger point such as a position is reached. The temperature information acquisition unit 1112 records the acquired temperature information in the storage unit 112 and outputs it to the communication unit 113.

The acoustic information acquisition unit 1113 includes, for example, a microphone. The acoustic information acquisition unit 1113 may collect surrounding sounds moment by moment, or may collect surrounding sounds when the position information acquisition unit 1111 detects that a predetermined position has been reached. You may. The acoustic information acquisition unit 1113 records the acquired acoustic information in the storage unit 112 and outputs it to the communication unit 113.

The three-dimensional information acquisition unit 1114 includes a laser measuring device and a camera, and may acquire surrounding three-dimensional information using LiDAR (Light Detection and Ranging) or photogrammetry. The three-dimensional information acquisition unit 1114 acquires surrounding three-dimensional information when the position information acquisition unit 1111 detects that a predetermined position has been reached. The three-dimensional information acquisition unit 1114 records the measured three-dimensional information in the storage unit 112 and outputs it to the communication unit 113. Acquisition of three-dimensional information requires calculation load, but by determining the acquisition position of three-dimensional information, processing can be carried out within a realistic calculation load range.

The storage unit 112 is configured with a nonvolatile memory, and stores detection information detected by the detection unit 111.
The communication unit 113 includes a Wifi (registered trademark) or Bluetooth (registered trademark) communication module, and transmits information detected by the detection unit 111 to the server 20 . The communication unit 113 also receives command information from the server 20 that instructs which test device 13 is to be launched. The communication unit 113 transfers data to and from the inspection device 13 connected to the pedestal 12 via a PLC or a communication line. For example, when the inspection device 13 is connected to the pedestal 12, the communication unit 113 can receive detection information detected by the inspection device 13. The communication unit 113 may record the information received from the testing device 13 in the storage unit 112 or transmit it to the server 20. The communication unit 113 transfers data to and from the station 50 via the PLC or communication line when the vehicle 11 stops at the station 50. For example, the communication unit 113 transmits information recorded in the storage unit 112 to the station 50.

Station connection section 114 includes a connection port (not shown) that connects to connection section 51 of station 50 . The connection port is provided with a power line connection port for supplying power to the battery of the vehicle 11 and the device 13, and a communication line connection port for data transfer with the vehicle 11 and the inspection device 13. The power line connects the connection port to the battery of the vehicle 11, and connects the connection port to the port 121 of the pedestal 12. The station connection unit 114 receives power from the station 50 through the power line, and supplies power to the inspection device 13 through the port 121. The communication line connects the connection port and the communication unit 113 of the vehicle 11, and connects the connection port and the port 121 of the gantry 12. The station connection unit 114 transfers the detection information transmitted by the communication unit 113 to the station 50 via the communication line. Furthermore, the station connection unit 114 transfers detection information transmitted by the communication unit 133 of the inspection device 13 to the station 50 via the communication line.

The pedestal 12a has a device connection section 120a and an elevating section 124a.
The device connection section 120a includes a port 121a and a rail 122a, and connects the inspection device 13a and the pedestal 12a. Furthermore, when connecting the inspection device 13 to the port 121a, the device connection section 120a adjusts the horizontal position of the port 121a on the rail 122a according to the position of the inspection device 13.
The elevating section 124a includes an elevating table 123a, and controls the elevating and lowering of the elevating table 123a according to the arrival and departure of the inspection device 13a. For example, the elevating section 124a is connected to the communication section 113 of the vehicle 11, and when the communication section 113 receives command information instructing to start the inspection device 13a from the server 20, the elevating section 124a transmits the command information to the elevating section 124a. Output to. The elevating section 124a controls the elevating table 123a based on command information from the communication section 113 so that the inspection device 13a can start.

The functions and configurations of the frames 12b and 12c are also the same as those of the frame 12a. Further, although not shown, the function of the detection unit 111 of the vehicle 11 may be provided on any of the frames 12a to 12c.

The inspection device 13a includes a detection section 131a, a storage section 132a, a communication section 133a, a departure/arrival section 134a, and a power supply section 135a.
The detection unit 131a includes various sensors mounted according to the purpose of the inspection device 13a, and detects the surrounding situation of the inspection device 13a. The detection unit 131a may have the same functions as the position information acquisition unit 1111, temperature information acquisition unit 1112, acoustic information acquisition unit 1113, and three-dimensional information acquisition unit 1114 of the detection unit 111 of the vehicle 11, or may have other functions. It may have a function to detect pressure, flow rate, vibration, presence of fire or smoke, etc. The detection unit 131a records the detected information in the storage unit 132a and outputs it to the communication unit 133a.
The storage unit 132a is configured with a nonvolatile memory, and stores detection information detected by the detection unit 131a.
The communication unit 133a includes a Wifi (registered trademark) or Bluetooth (registered trademark) communication module, and transmits the detection information detected by the detection unit 131a to the server 20. The communication unit 133a transfers data to and from the communication unit 113 of the vehicle 11 via a PLC or a communication line. For example, the communication unit 133a transfers information detected by the detection unit 131a to the communication unit 113 of the vehicle 11. When the inspection device 13 is connected to the mount 12, detection information detected by the detection unit 131a can be transmitted from the vehicle 11 to the server 20 via the communication unit 133a and the communication unit 113. Further, even when the inspection device 13 is connected to the pedestal 12, the communication section 133a may transmit the detection information detected by the detection section 131a to the server 20. For example, when the communication status between the communication unit 113 and the server 20 is unstable, the communication unit 133a transmits detection information to the server 20, and when there is no problem in communication between the communication unit 113 and the server 20, In order to suppress consumption of the battery of the inspection device 13, the communication unit 113 may be configured to transmit detection information to the server 20, so that the communication means can be selected as appropriate depending on the status of communication radio waves.
The departure/arrival section 134a includes a moving means for the testing device 13a, and by controlling the moving means, starts the testing device 13a from the pedestal 12a, returns it to the pedestal 12a, and connects the connection port of the testing device 13 to the port 121a. I do things.
The power supply section 135a includes a battery and a charging device, and serves as a power source for the inspection device 13a. When the vehicle 11 is connected to the connection part 51 at the station 50, the charging device charges the battery. Further, the power supply unit 135a transmits the charging status of the battery to the server 20 through the communication unit 133a.
The functions and configurations of the inspection devices 13b and 13c are also similar to those of the inspection device 13a.

The configuration illustrated in FIG. 4 is an example. For example, the inspection unit 10 transmits detection information such as position information, temperature information, acoustic information, three-dimensional information, etc. to the server 20, but this detection information may be detected by the detection unit 111 of the vehicle 11. , may be detected by the detection unit 131 of the inspection device 13. When detected by the detection unit 131, the vehicle 11 can be configured without the detection unit 111. In the case of this configuration, the manufacturing cost of the vehicle 11 can be reduced and the configuration can be simplified. In the case of a configuration in which the vehicle 11 acquires detection information by the detection unit 111 and does not use the detection unit 131 of the inspection device 13, consumption of the battery of the inspection device 13 can be suppressed. Further, the pedestal 12 can also be provided with a function similar to that of the detection section 111. Also in this case, the vehicle 11 can be configured without the detection section 111. Further, the vehicle 11 can be configured to acquire position information and temperature information by the detection unit 111 of the detection unit 111, and to acquire other detection information by a detection unit provided on the inspection device 13 or the mount 12. In addition, all of position information, temperature information, acoustic information, and three-dimensional information are not essential as detection information; for example, an embodiment with only position information and temperature information, and an embodiment with only position information, temperature information, and acoustic information are possible. There may be.

The transmission of the detection information acquired by the inspection unit 10 to the server 20 can also be configured in various ways. For example, the detection unit 111 of the vehicle 11 may acquire detection information and the communication unit 113 may transmit it, or the detection unit 131 of the inspection device 13 may acquire detection information and the communication unit 133 may transmit it. In the former case, battery consumption of the testing device 13 can be suppressed. In the latter case, the vehicle 11 can be configured to include only the station connection section 114, and the configuration can be simplified. Alternatively, the detection unit 131 may acquire the detection information and the communication unit 113 of the vehicle 11 may transmit it, or the detection unit 111 and the communication unit 113 may be provided on the mount 12 and the detection information may be transmitted from the mount 12. can do. Also in the case of these configurations, battery consumption of the inspection device 13 can be suppressed. Similarly, data regarding the charging status of the battery of the inspection device 13 may be transferred to the vehicle 11 through the port 121 and transmitted from the communication unit 113 of the vehicle 11.

The detection information is transmitted from the inspection unit 10 to the server 20 not only during the patrol but also while the vehicle is stopped at the station 50. The inspection unit 10 records the detection information in the storage unit 112 or the storage unit 132, and when it arrives at the station 50 and connects the connection port to the connection unit 51, the inspection unit 10 records the detected information in the storage unit 112 or the storage unit 132. The detection information is transmitted to the server 20 via the station 50. As a result, detection information that could not be transmitted due to a drop in communication status or the like during a patrol can be transmitted without omission. In addition, the detection information transmitted during the patrol should be limited to the minimum information (for example, position information, temperature information, acoustic information, three-dimensional information), and when transmitted via the station 50, it may be detected by other sensors. You may also send additional information or more detailed information.

The server 20 includes a receiving section 21 , an analysis/determination section 22 , a command section 23 , a notification section 24 , an output section 25 , a storage section 26 , and a communication section 27 . In addition, in FIG. 4, one server 20 is provided with these functional units, but a part or all of each functional unit may be distributed and implemented in a plurality of servers. For example, the analysis/judgment unit 22 may be implemented in another server 20' (not shown).
The receiving unit 21 receives the detection information transmitted by the inspection unit 10 via the communication unit 27, associates the detection information with the reception time, and records the detection information in the storage unit 26. The detection information includes position information, temperature information, acoustic information, three-dimensional information, and identification information of the detection means (for example, detection information acquired by the detection unit 111 of the vehicle 11 or detection information acquired by the detection unit 131 of the inspection device 13). (identification information) to distinguish whether the detected information is

The analysis/determination section 22 determines whether or not an abnormality has occurred around the inspection unit 10 based on the detection information received by the reception section 21 . For example, when the receiving unit 21 receives temperature information, the analysis/judgment unit 22 compares it with temperature information acquired at the same location in the past, and determines that the temperature is abnormal if there is a difference of more than a predetermined threshold value between the two. It is determined that this has occurred. For example, when the receiving unit 21 receives acoustic information, the analysis/judgment unit 22 compares it with acoustic information acquired at the same position in the past, and if there is a difference of more than a predetermined threshold value between the two, an abnormal sound is generated. It is determined that the For example, the analysis/determination unit 22 determines that an abnormal sound has occurred when the intensity of a specific frequency in the acoustic information is stronger than a threshold value. Furthermore, when the analysis/determination unit 22 determines that an abnormal sound has occurred based on the acoustic information, it may estimate the position where the abnormal sound is generated. For example, if the sound pressure of a specific frequency is increasing based on the frequency waveform of past acoustic information, three points are acquired from which acoustic information can be determined to be abnormal based on the specified frequency, and three points are acquired. Estimating the location of the abnormal sound using positioning methods. Here, the three-point positioning method is a well-known algorithm that estimates the position of a terminal, etc. that transmits radio waves based on the radio field intensity measured by three wireless LAN access points. By replacing the radio wave intensity in this algorithm with sound pressure, it is possible to estimate the location of the abnormal sound. Further, for example, when the receiving unit 21 receives three-dimensional information, the analysis/judgment unit 22 detects a foreign object by comparing it with three-dimensional information acquired at the same position in the past, and detects whether the foreign object or the like is detected. If so, it is determined that an abnormality has occurred. The analysis/determination unit 22 may determine the occurrence of an abnormality using a determination model constructed by learning detection information from past normal times. Further, the analysis/determination unit 22 may perform abnormality determination based on detection information other than temperature information, acoustic information, and three-dimensional information detected by the detection unit 131 of the inspection device 13. When determining an abnormality, the analysis/judgment unit 22 transmits, for example, the type of abnormality (for example, the type of detection information determined to be abnormal (temperature information, etc.)) and the location information where the abnormality was detected to the command unit 23 and the notification unit 24. , is output to the output section 25. Furthermore, the analysis/determination section 22 determines whether the inspection unit 10 has reached the position where the inspection etc. should be performed using the inspection device 13 based on the position information received by the reception section 21 .

When an abnormality is determined by the analysis/judgment unit 22, the command unit 23 selects an appropriate test device 13 from among the test devices 13 mounted on the pedestal 12 based on the type of the abnormality and the position information where the abnormality is detected. Select. The command unit 23 transmits command information to the test unit 10 via the communication unit 27 to instruct the selected test device 13 to start. For example, when an abnormality is determined based on temperature information, the type of abnormality occurring may differ depending on the detected temperature, and the inspection device 13 for dealing with each abnormality may be different. Further, if the location information where the abnormality is detected is different, the type of abnormality occurring may be different, or even the same abnormality may be handled differently. Based on the temperature information and position information, the command unit 23 selects the inspection device 13 that has the function of dealing with an abnormality assumed from the temperature information and position information, and the function of conducting a detailed investigation regarding the abnormality. do. The command unit 23 transmits command information including identification information of the selected inspection device 13 and a start instruction to the vehicle 11. A plurality of inspection devices 13 may be selected by the instruction unit 23.

When an abnormality is determined by the analysis/determination section 22, the notification section 24 notifies the terminal device 30 of the occurrence of the abnormality via the communication section 27. The notification unit 24 may search for past cases based on the type and location information of the abnormality determined by the analysis/judgment unit 22, and notify the terminal device 30 of details of the abnormality, countermeasures, etc. in the past cases. The worker can refer to the information notified to the terminal device 30 and deal with the abnormality.

The output unit 25 outputs momentary position information of the inspection unit 10 to the display device based on the position information received by the reception unit 21. The output unit 25 outputs the type of the testing device 13 mounted on the testing unit 10, the charging status of the battery, etc. to the display device. Further, when an abnormality is determined by the analysis/determination unit 22, the output unit 25 may output the occurrence of the abnormality and the location of the abnormality to the display device together with the map information of the facility G illustrated in FIG.

The storage unit 26 stores detection information received by the reception unit 21, case information of abnormalities that occurred in the past (for example, details of the abnormality and countermeasures), detection information in past normal times (temperature information for each location, acoustic information, dimensional information) etc.
The communication unit 27 includes a communication module and communicates with other devices.

The terminal device 30 is a mobile terminal carried by a worker, such as a smartphone or a tablet terminal. The terminal device 30 may be a PC (Personal Computer) used by a worker.

The external storage device 40 is a storage device provided outside the server 20. The external storage device 40 may be provided in a so-called cloud computing system. The server 20 and the external storage device 40 can communicate via a network (NW), and the server 20 can record data on the external storage device 40 and read data from the external storage device 40. In the inspection system 1, the external storage device 40 can be used instead of the storage section 26. For example, the receiving unit 21 of the server 20 may record various received data in the external storage device 40. In the following description, as an example, the storage unit 26 is used as a recording destination for various data, but the external storage device 40 can be used instead of the storage unit 26.

The station 50 includes a connection section 51, a power supply section 52, and a communication section 53.
The connecting portion 51 is connected to the vehicle 11 and supplies the electric power supplied by the power source portion 52 to the vehicle 11 . The connection unit 51 receives detection information, charging status, and the like transferred from the vehicle 11 and the inspection device 13, and transmits the detection information and the like to the server 20 via the communication unit 133.
The power supply unit 52 is connected to, for example, a commercial AC power source, converts AC power into DC power, and supplies the DC power to the vehicle 11.
The communication unit 53 includes a communication module such as a wired or wireless LAN, and transmits data transferred from the inspection unit 10 to the server 20. The communication unit 53 may also receive data from the server 20 and transfer the received data to the inspection unit 10.

(motion)
Next, the operation of the inspection system 1 will be explained with reference to FIGS. 6 to 10.
FIG. 6 shows the flow of processing by the inspection unit 10 while it is patrolling.
The inspection unit 10 acquires detection information (step S1). The detection information is, for example, position information, temperature information, acoustic information, or three-dimensional information. The detection information may be acquired by the detection unit 111 or the detection unit 131. Alternatively, the mount 12 may be provided with a detection section, and the detection information may be acquired by the detection section of the mount 12. Next, the inspection unit 10 transmits the detection information to the server 20 (step S2). The detection information may be transmitted by the communication unit 113 or by the communication unit 133. Alternatively, the pedestal 12 may be provided with a communication section, and the detection information may be transmitted by the communication section of the pedestal 12. Next, the inspection unit 10 stores the detection information (step S3). The inspection unit 10 stores detection information so that the detection information can be transferred to the station 50 when the vehicle stops at the station 50. For example, the detection unit 111 records temperature information, acoustic information, and three-dimensional information in the storage unit 112 in association with position information and time information of the position where the detection information was acquired. The detection information may be stored by the storage unit 112 or the storage unit 132. Alternatively, the mount 12 may be provided with a storage section, and the detection information may be stored in the storage section of the mount 12.

FIG. 7 shows the flow of processing when the inspection unit 10 is stopped at the station 50.
It is assumed that the station connection section 114 of the vehicle 11 is connected to the connection section 51 of the station 50. The inspection unit 10 receives power from the station 50 and charges the battery of the vehicle 11 and the battery of the inspection device 13 (step S11). The inspection unit 10 transfers the detection information acquired during the patrol to the station 50 (step S12). For example, the communication unit 113 of the vehicle 11 reads out time-series detection information from the storage unit 112 and transmits it to the station 50 via the station connection unit 114. In the station 50, the communication section 53 receives the transferred detection information etc. through the connection section 51. Next, the station 50 transmits the detection information transferred from the inspection unit 10 to the server 20 (step S13). The communication unit 53 transmits detection information received from the inspection unit 10 to the server 20.

Next, the operation of the server 20 will be described with reference to FIGS. 8 and 9.
FIG. 8 shows a flow of processing when the testing device 13 is started based on the position information of the testing unit 10.
The receiving unit 21 receives, via the communication unit 27, the position information transmitted from the inspection unit 10 that is patrolling (step S21). The receiving section 21 records the position information in the storage section 26 or the external storage device 40 and outputs it to the analysis/determination section 22 . The analysis/determination unit 22 determines whether the position indicated by the position information received in step S21 is a predetermined position (step S22). The predetermined position is, for example, a position where inspection using the inspection device 13 is required periodically. If it is not at the predetermined position (step S22; No), the process of FIG. 8 is ended. In the case of the predetermined position (step S22; Yes), the analysis/judgment unit 22 instructs the command unit 23 to start the testing device. The command unit 23 specifies the testing device according to the position (step S23). For example, the storage unit 26 records setting information that associates a position with the testing device 13, and the command unit 23 specifies the testing device 13 based on this setting information. Next, the command section 23 transmits command information instructing the specified test device 13 to start to the test unit 10 via the communication section 27 (step S24). In the inspection unit 10, for example, the communication section 113 receives command information. Upon receiving the command information, the vehicle 11 stops until the inspection device 13 starts from the mount 12 . Furthermore, the communication unit 113 notifies the specified testing device 13 of command information through the port 121c. In the test device 13, the launch/arrival unit 134 drives the moving means of the test device 13 to start the test device 13. Further, the communication unit 113 notifies the elevating unit 124 of the gantry 12 on which the identified inspection device 13 is mounted with command information. The lifting unit 124 controls the lifting table 123 to lower the inspection device 13 to the ground. The inspection device 13 performs necessary inspections and returns to the mount 12. When the inspection device 13 is connected to the port 121, the vehicle 11 resumes patrolling.

In the determination in step S22, in addition to the position information, it may be determined that the testing device should be started on the condition that a predetermined time or more has passed since the testing device 13 last tested. Alternatively, the count may be counted each time the inspection unit 10 reaches a predetermined position, and it may be determined that the inspection device should be started, for example, once every three times. Furthermore, even if the testing device 13 is launched every time the testing unit 10 reaches a predetermined position, for example, three types of testing devices 13 may be launched in turn, once every third time. good.

FIG. 9 shows the flow of processing when the testing device 13 is started based on the abnormality determination result of the detection information.
The receiving unit 21 receives, via the communication unit 27, the detection information transmitted from the inspection unit 10 on patrol or the station 50 at which the inspection unit 10 is stopped (step S31). The receiving section 21 records the detection information in the storage section 26 or the external storage device 40 and outputs it to the analysis/determination section 22 . The analysis/determination unit 22 determines whether an abnormality has occurred based on the detection information received in step S31 (step S32). For example, when the detection information is temperature information, the temperature information received in step S31 is compared with the normal temperature acquired in the past, and if the difference between the two is equal to or greater than the threshold, the analysis/determination unit 22 detects the temperature. It is determined that an abnormality has occurred around the position where the information was acquired, and if the difference between the two is less than a threshold value, it is determined that no abnormality has occurred at the position. If it is determined that no abnormality has occurred (step S32; No), the process of FIG. 9 is ended. If it is determined that an abnormality has occurred (step S32; Yes), the analysis/determination unit 22 instructs the command unit 23 to start the testing device. The command unit 23 specifies the inspection device 13 according to the position (step S33). For example, the storage unit 26 records setting information that associates the type of abnormality (temperature in this example) with the testing device 13, and the command unit 23 controls the testing device 13 based on this setting information. Identify. Next, the command unit 23 transmits command information instructing the specified test device 13 to start to the test unit 10 via the communication unit 27 (step S34). In the inspection unit 10, for example, the communication section 113 receives the command information, and the inspection device 13 starts by performing the same process as that described with reference to FIG. Next, the notification unit 24 notifies the terminal device 30 of the occurrence of the abnormality, how to deal with it, etc. via the communication unit 27 (step S35).

In the process of step S33, the inspection device 13 may be identified by considering position information in addition to the detection information. For example, the storage unit 26 may record setting information that associates the type and position of the abnormality with the testing device 13, and the command unit 23 may specify the testing device 13 based on this setting information. .

As explained above, according to the inspection system 1 of the present embodiment, by having the vehicle 11 towing the pedestal on which the inspection device 13 is mounted automatically patrol the inside of the facility G, it is possible to suppress the battery consumption of the device and to cover a wide area. It is possible to perform anomaly detection targeting. Further, detailed inspection using the inspection device 13 and handling of abnormalities can be performed as necessary.

<Second embodiment>
An inspection system 1A according to a second embodiment of the present invention will be described below with reference to FIGS. 10 and 11. Among the configurations according to the second embodiment, those having the same functions as the functional units constituting the inspection system 1 according to the first embodiment are given the same reference numerals, and the description thereof will be omitted.

FIG. 10 is a functional block diagram showing an example of an inspection system according to the second embodiment.
As shown in FIG. 10, in the inspection system 1A, the inspection unit 10A has functions equivalent to the analysis/judgment section 22, instruction section 23, and notification section 24 that the server 20 has in the first embodiment. , an analysis/judgment section 22A, an instruction section 23A, and a notification section 24A. FIG. 11 shows a configuration example of an inspection unit 10A according to the second embodiment. As shown in FIG. 11, the vehicle 11A includes a detection section 111, a storage section 112, a communication section 113, an analysis/determination section 22A, an instruction section 23A, and a notification section 24A. The analysis/determination unit 22A determines whether an abnormality has occurred based on the detection information acquired by the detection unit 111 or the detection unit 131. Alternatively, the analysis/determination section 22A determines whether the inspection unit 10 has reached a predetermined position based on the position information acquired by the detection section 111 or the detection section 131. When the analysis/judgment unit 22A determines that an abnormality has occurred or that a predetermined position has been reached, the command unit 23A identifies the inspection device 13 according to the situation, and through the port 121, Command information instructing the specified testing device 13 to start is sent. Further, the command section 23A sends command information to the elevating section 124 of the pedestal 12 on which the specified inspection device 13 is mounted. When an abnormality is determined by the analysis/determination section 22A, the notification section 24A notifies the terminal device 30 of the occurrence of the abnormality, how to deal with it, etc. via the communication section 113.

According to the second embodiment, effects similar to those of the first embodiment can be obtained. Further, according to the second embodiment, it is possible to detect an abnormality around the inspection unit 10A and to start the inspection device 13 without transmitting detection information to the server 20. Since the detection information acquired during the patrol is valuable data, in the second embodiment as well, when the inspection unit 10A stops at the station 50, the detection data recorded during the patrol is sent via the station 50. The detected information can be transmitted to the server 20 or the external storage device 40 and stored therein. The accumulated detection information can be used as learning data for a determination model used by the analysis/determination unit 22A for abnormality determination.

Each process in the vehicle 11, 11A, the mount 12, the inspection device 13, 13A, and the server 20 can be realized by a processor such as a CPU (Central Processing Unit) included in each device executing a program. The programs executed by the vehicles 11 and 11A, the mount 12, the inspection devices 13 and 13A, and the server 20 are recorded on a computer-readable recording medium, and are realized by reading and executing the programs recorded on this recording medium. You may. It is assumed that the vehicles 11 and 11A, the mount 12, the inspection devices 13 and 13A, and the server 20 include hardware such as an OS (Operating System) and peripheral devices. Further, computer-readable recording media include, for example, portable media such as flexible disks, magneto-optical disks, ROM (Read Only Memory), and CD-ROM (Compact Disk Read Only Memory), vehicles 11 and 11A, and frame 12. , the inspection devices 13 and 13A, and a storage device such as a hard disk built into the server 20. In addition, computer-readable recording media may dynamically retain programs for short periods of time, such as communication lines used to transmit programs over networks such as the Internet or communication lines such as telephone lines. It may also include a device that retains a program for a certain period of time, such as a volatile memory inside a computer system that is a server or client in that case. Further, the above-mentioned program may be one for realizing a part of the above-mentioned functions, or may be one that can realize the above-mentioned functions in combination with a program already recorded in the computer system.

<Additional notes>
The inspection system, inspection unit, and server described in each embodiment are understood as follows, for example.

(Additional note 1)
The inspection system (1) includes an inspection unit (10) and a server (20), and the inspection unit (10) includes a vehicle (11), an autonomously movable device (inspection device 13), and the inspection unit (10). A gantry (12) loaded with a device and towed by the vehicle (11), a detection unit (111, 131) that detects the surrounding situation, and a communication unit (113, 133) that communicates with the server (20). ), and a departure/arrival section (134) for launching and landing the device (13), and the server (20) is configured to send and receive the inspection unit (10) based on information detected by the detection section (111, 131). ) for instructing the device (13) to start.
This makes it possible to patrol a wide area and perform abnormality detection and inspection while suppressing device battery consumption.

(Additional note 2)
The inspection system (1) is the inspection system (1) described in Supplementary Note 1, in which the server (20) includes a determination unit (analysis/analysis unit) that determines abnormality based on information received from the inspection unit (10). The instruction unit (23) instructs the device (13) to start according to the determination result of the determination unit (22).
This allows the device to start depending on the surrounding situation.

(Additional note 3)
The inspection system (1) is the inspection system (1) described in Supplementary Notes 1 to 2, and the detection unit (111, 131) is configured to collect at least one of position information, temperature information, acoustic information, and three-dimensional information. It has a function to detect one.
This makes it possible to detect abnormalities in the surroundings from position, temperature, sound, and three-dimensional information.

(Additional note 4)
The inspection system (1) is the inspection system (1) described in Supplementary Notes 1 to 3, in which the vehicle (11) and the pedestal (12) are physically connected by a coupler (14) and electrically connected. The frame (12) is connected to the device (13) and has a connection portion (device connection portion 120) that holds the device (13), and is provided at a position opposite to the connection portion (120). an elevator door;
The elevator opening is provided with an elevator part (124) that raises and lowers the device (13) between the height of the pedestal and the ground.
Thereby, the test device 13 can be electrically connected to the test device 13 (power can be supplied and data can be transferred) while the test device 13 is stored in the mount 12 . Moreover, by having the elevating part 124 at a position facing the connecting part 120, the testing device 13 can be smoothly started or stored in the pedestal 12.

(Appendix 5)
The inspection system (1) is the inspection system (1) described in Appendix 4, in which the connection section (120) has a power supply function and a data transfer function, and the vehicle (11) is connected to a power supply (52). By connecting, power is supplied to the device (13) via the connection section (120), and data is transferred from the device to the vehicle.
This allows you to charge and transfer data while the device is stored.

(Appendix 6)
The inspection system (1) is the inspection system (1) described in Appendices 2 to 5, in which the server (20) notifies other devices (30) of the occurrence of an abnormality when it is determined that the abnormal situation is present. It further includes a notification section (24) for notifying.
Thereby, when an abnormality is detected, it is possible to notify other devices.

(Appendix 7)
The inspection system (1) is the inspection system (1) described in Supplementary Notes 1 to 6, in which the detection section is provided on the vehicle (11) or the mount (12).
Thereby, the situation around the inspection unit 10 can be detected without depleting the battery of the device.

(Appendix 8)
The inspection system (1) is the inspection system (1) described in Appendices 1 to 7, in which the detection section is provided in the device (13).
Thereby, the situation around the inspection unit 10 can be detected without providing a sensor or the like in the vehicle.

(Appendix 9)
The inspection system (1) is the inspection system (1) described in Appendices 1 to 8, wherein the server (20) detects the device when the position information detected by the detection unit indicates a predetermined position. Give the order to take off.
Thereby, when a predetermined position (trigger point) is reached, the device can be started and a detailed inspection etc. can be performed.

(Appendix 10)
The inspection unit (10A) detects a vehicle (11A) that performs automatic patrolling, a device (13) that can move autonomously, a pedestal (12) loaded with the device and towed by the vehicle, and the surrounding situation. A command unit 23A that commands the device (13) to depart based on information detected by the detector, and a departure and arrival unit 134 that causes the device to depart and arrive.
Thereby, it is possible to patrol a wide area and perform abnormality detection and inspection while suppressing battery consumption of the inspection device 13. Furthermore, since it is not necessary to transmit the detection information to the server, consumption of the battery of the vehicle 11 or the inspection device 13 required for communication can be suppressed.

(Appendix 11)
The server includes an acquisition unit that acquires detection information indicating the surrounding situation of the vehicle from a vehicle that is equipped with an autonomously movable device and performs automatic patrol, and a server that acquires detection information indicating the surrounding situation of the vehicle, and a server that acquires detection information indicating the surrounding situation of the vehicle, and a server that causes the device to start moving toward the vehicle based on the detection information. and an instruction section for instructing.
This makes it possible to judge the situation around the automatically patrolling vehicle and control the start of the device mounted on the vehicle based on the judgment.

In addition, it is possible to appropriately replace the components in the above-described embodiments with well-known components without departing from the spirit of the present invention. Further, the technical scope of the present invention is not limited to the above-described embodiments, and various changes can be made without departing from the spirit of the present invention.

DESCRIPTION OF SYMBOLS 1... Inspection system 10... Inspection unit 5a-5c... Wireless communication device 11... Vehicle 111... Detection part 1111... Position information acquisition part 1112... Temperature information acquisition part 1113. ...Acoustic information acquisition section 1114...Three-dimensional information acquisition section 112...Storage section 113...Communication section 114...Station connection section 12a to 12c...Structure 120...Device connection section 121. ...Port 122...Rail 123...Elevating platform 124...Elevating section 13a-13b...Inspection device 131...Detection section 132...Storage section 133...Communication section 134... Departure/arrival section 135...Power supply section 14a-14c...Coupler 20...Server 21...Receiving section 22...Analysis/judgment section 23...Command section 24...Notification section 25... - Output section 26...Storage section 27...Communication section 30...Terminal device 40...External storage device 50...Station 51...Connection section 52...Power supply section 53...Communication Department
NW...Network

Claims (10)

It has an inspection unit and a server,
The inspection unit includes:
A vehicle that performs automatic patrol,
An autonomously mobile device,
a pedestal on which the device is mounted and towed by the vehicle;
A detection unit that detects the surrounding situation,
a communication unit that communicates with the server;
comprising a departure and arrival section for launching and landing the device,
The server includes a command unit that commands the inspection unit to start the device based on information detected by the detection unit.
Inspection system. The server includes a determination unit that determines an abnormality based on information received from the inspection unit,
The command unit commands the device to start according to the determination result of the determination unit.
The inspection system according to claim 1. The detection unit has a function of detecting at least one of position information, temperature information, acoustic information, and three-dimensional information.
The inspection system according to claim 1 or claim 2. The vehicle and the pedestal are physically connected and electrically connected by a coupler,
The pedestal has a connection part that connects to the device and holds the device, and an entrance provided at a position opposite to the connection part, and the entrance has a connection part for connecting the device to the mount. A lifting section is provided to raise and lower between the height and the ground.
The inspection system according to claim 1 or claim 2. The connection part has a power supply function and a data transfer function,
When the vehicle is connected to a power source, power is supplied to the device via the connection portion, and data is transferred from the device to the vehicle.
The inspection system according to claim 4. The server includes a notification unit that notifies other devices of the occurrence of the abnormality when it is determined that the abnormality occurs;
The inspection system according to claim 2, further comprising: The detection unit is provided on the vehicle or the mount,
The inspection system according to claim 1 or claim 2. The detection unit is provided in the device,
The inspection system according to claim 1 or claim 2. A vehicle that performs automatic patrol,
An autonomously mobile device,
a pedestal on which the device is mounted and towed by the vehicle;
A detection unit that detects the surrounding situation,
an instruction section that instructs the device to start based on information detected by the detection section;
a departure and arrival section for launching and landing the device;
Inspection unit with. an acquisition unit that acquires detection information indicating the surrounding situation of the vehicle from a vehicle that is equipped with an autonomously movable device and performs automatic patrol;
a command unit that commands the vehicle to start the device based on the detection information;
A server with

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