JP6475191B2 - Patrol work robot and alarm system using patrol work robot - Google Patents

Description

  The present invention relates to a work robot, and more particularly to a work robot for performing work in a predetermined work area and an alarm system using the work robot.

  Conventionally, refurbishment and dismantling of plants such as steelworks and power plants have been carried out by manipulating heavy machinery at the plant site, but it has also been proposed to replace this work with a robot. For example, the applicant has conventionally developed a fusing robot capable of fusing a spherical gas tank by moving on the outer circumferential surface while adhering to the outer circumferential surface of the spherical gas tank by magnetic force. According to this fusing robot, the operator can safely dismantle the spherical gas tank by manipulating the fusing robot while visually recognizing the fusing robot from a remote position at the site of the plant dismantling work.

  There is still a need to perform various operations with a robot, not just the fusing operation of a spherical gas tank. Furthermore, although a technical field is different from that of a plant working robot, Patent Document 1 discloses an apparatus for automatically driving a vehicle in the field of automobiles. Specifically, Patent Document 1 includes a three-dimensional machine map for viewing by a machine and a vehicle-mounted camera that acquires a video around the vehicle, and a real-time video output from the vehicle-mounted camera and a vehicle-mounted three-dimensional machine map. To obtain information on the position, posture, speed, acceleration, direction, etc. of the host vehicle and objects other than the host vehicle, and based on these information, determine the traveling speed and traveling direction of the host vehicle and An automatic driving device is disclosed.

  According to the automatic driving device of Patent Document 1, it becomes possible to perform automatic driving of a vehicle based on a three-dimensional map and a real-time image.

Japanese Patent No. 5227005

  However, according to the fusing robot of the spherical gas tank, since the operator needs to control it, the worker cannot perform other operations during that time. Moreover, although it can be steered at a distant position at the time of work, it is necessary to perform it while monitoring the fusing work of the spherical gas tank at the work site.

  Therefore, when the work site is at a high temperature, where harmful substances are generated, or where the scaffold is unstable, the worker cannot access the work site and the fusing robot I couldn't work with it.

  Furthermore, according to the automatic driving apparatus provided with the three-dimensional machine map of Patent Document 1, it is possible to automatically drive the vehicle within the range of the three-dimensional machine map, but it is intended to perform further work. It is not a thing.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a working robot that can perform work in a dangerous place such as a plant more safely and efficiently.

Patrol working robot according to claim 1 for achieving the above object, a three-dimensional map of the region including the plant equipment area, and ambient data acquisition sensors capable of acquiring three-dimensional shape data of the ambient, the ambient Current position determination means for finding a coincidence point between the three-dimensional shape data obtained by the data acquisition sensor and the data of the three-dimensional map, finding a coincidence point between the two data, and determining a current position on the three-dimensional map; A control unit that controls movement in the plant facility area based on the set movement route and the determined current position, and the three-dimensional map is a collection of plots of three-dimensional position information a point group map consists, before Symbol plant for patrol work performing patrol operations of the plant equipment area while moving left and right and in the height direction before and after the equipment area A bot, the detection means for detecting various physical quantities of the surrounding atmosphere during the movement, the physical quantity of information on the three-dimensional map on when various physical quantities of the atmosphere of the surrounding is out of the predetermined reference value range Recording means for recording together with the current position determined by the current position determination means. Hereinafter, in this specification, “current location” refers to “periphery”, and “current atmosphere” or “current location atmosphere” refers to “ambient atmosphere” or “ambient atmosphere”. It shall be said.

  According to this configuration, the working robot determines its current position by comparing the three-dimensional shape data around the current location obtained by the surrounding data acquisition sensor and the data of the three-dimensional map, and sets a predetermined route. It is possible to move autonomously and work.

  Therefore, when there is a dangerous place in the work area, it is possible to work safely without a person going directly to the dangerous place.

  In addition, the work efficiency is improved because the operator does not need to perform the operation during the work.

Further, according to this configuration, since the entire field of the work area is expressed by a three-dimensional point group, for example, point group data measured by a laser scanner can be used as it is as a three-dimensional map. Further, by using the point cloud data as it is as a three-dimensional map, it becomes possible to stack and / or connect a plurality of three-dimensional maps together with their scales and reference points, which is highly convenient. Yes. Furthermore, unlike a conventional automatic driving map of a vehicle with information such as obstacles pasted on a two-dimensional map, it has sufficient point clouds in the height direction, so it is not limited to vehicles but as a map of various moving objects Can be used.

  According to this configuration, whether or not the route through which the work robot has passed is safe in the work area can be grasped by checking the three-dimensional map after the work robot has passed. Thereby, a person who performs the work after that can avoid danger by confirming the three-dimensional map after the work by the robot, and can safely perform the subsequent work.

The invention according to claim 2, in patrol work robot according to claim 1, wherein the physical quantity location atmosphere is temperature, radiation, at least one or more selected from the physical quantity of toxic substances and flammable gas It is characterized by.

  According to this configuration, it is possible for a worker who performs the work thereafter to work safely while avoiding a place where the temperature or the like deviates from the reference value.

A third aspect of the present invention is the patrol work robot according to the first or second aspect , wherein the three-dimensional map data is transmitted wirelessly, and the receiving means for receiving the information transmitted by the transmitting means. And an alarm device that issues an alarm based on the physical quantity information recorded in the three-dimensional map data received by the receiving means.

  According to this configuration, the three-dimensional map data in which the physical quantity information detected by the work robot is recorded is transmitted wirelessly, and the alarm device receives the data and issues an alarm.

  Therefore, the worker can grasp whether or not the physical quantity is out of the reference value range by the alarm device at a safe place away from the work area. When the physical quantity of the current location atmosphere of the work robot in the work area is determined to be out of the reference value range by the warning, it is possible to quickly respond to the situation.

  According to the working robot of the present invention, the current position around the current location obtained by the surrounding data acquisition sensor is compared with the data of the three-dimensional map to determine the current position of the self, and the route is set in advance. Therefore, since it is possible to work by moving autonomously, it is possible to safely work without a person going directly to a dangerous place in the work area. At the same time, the operator is not required, so work efficiency is improved. In addition, it is possible to determine the current position of the self by comparing the acquired three-dimensional shape data around the current location and the data of the 3D map, so that the place where radio waves do not reach or where a strong electric field is generated Even in an environment where GPS (Global Positioning System) cannot be used (for example, in a nuclear power plant), it is possible to move and work autonomously.

  Further, according to the alarm system using the work robot of the present invention, the three-dimensional map data recording the physical quantity information detected by the work robot is transmitted wirelessly, and the alarm device receives the data and issues an alarm. To emit.

  Therefore, the worker can grasp whether or not the physical quantity is out of the reference value range by the alarm device at a safe place away from the work area. When the physical quantity of the current location atmosphere of the work amount robot in the work area is determined to be out of the reference value range due to the alarm, it is possible to quickly respond to the situation.

1 is a block diagram showing a working robot 10 according to an embodiment of the present invention. 4 is a flowchart for explaining the operation of the working robot 10. It is a perspective view for demonstrating operation | movement of the working robot 10 in a predetermined work area | region. It is a block diagram for demonstrating the alarm system 80 using the working robot 50 which concerns on embodiment of this invention. It is a schematic structure figure showing one embodiment of an image display system of plant equipment. It is a flowchart of operation | movement of the control part in the display process of a three-dimensional map image. It is a figure which shows the example of the three-dimensional map image by the three-dimensional aviation data of the 1st storage means displayed on the display part. It is a figure which shows the example of the three-dimensional map image by the wide area ground three-dimensional data of the 2nd storage means displayed on the display part. It is a figure which shows the example of the three-dimensional map image by the narrow area ground three-dimensional data of the 1st narrow area data storage means in the 3rd storage means displayed on the display part. It is a figure which shows the example of the three-dimensional map image by the narrow area ground three-dimensional data of the 1st narrow area data storage means in the 3rd storage means displayed on the display part, and the 2nd narrow area data storage means. It is a schematic block diagram of one Embodiment of a three-dimensional image display apparatus.

<Working robot>
A working robot 10 according to an embodiment of the present invention will be described in detail with reference to FIGS. FIG. 1 is a block diagram showing a work robot 10 according to the present embodiment, FIG. 2 is a flowchart for explaining the operation of the work robot 10, and FIG. 3 shows a work robot 10 in a predetermined work area. It is a perspective view for demonstrating operation | movement.

  The working robot 10 of the present invention is a robot that performs work in a predetermined work area. The predetermined work area may be an area for the work robot 10 to perform work. Examples of the predetermined work area include various plant facilities such as an ironworks, a power plant, a petrochemical complex, a shipyard, and an automobile factory. It is not limited to.

  The plant facility is a complex facility in which a plurality of structures constituting the facility have various large-sized devices and a large number of pipes.

  The work performed by the work robot 10 may be any work as long as the work is performed within the predetermined work area. For example, plant repair / dismantling work, patrol of the predetermined work area, and cleaning of the predetermined work area. Various operations such as transportation of luggage within a predetermined work area can be given.

  In the present embodiment, the working robot 10 according to the present invention will be described by taking as an example a case where a plant patrol work is performed in a plant facility area that is assumed to include a dangerous place as a predetermined work area.

  As shown in FIG. 1, the work robot 10 includes an ambient data acquisition sensor 12 that can acquire three-dimensional shape data around the current location, a detection unit 14 that detects a physical quantity of the current location atmosphere, and a moving unit 18 for movement. And a control unit 20 that controls movement by the moving means 18.

  Examples of the ambient data acquisition sensor 12 include a laser scanner and a camera. Since the surrounding data acquisition sensor 12 acquires the three-dimensional shape data around the current location, the distance to the three-dimensional object around the current location can be grasped. In the present embodiment, the current location surroundings means a surrounding in all directions, including front, back, left, right, up and down, with the working robot 10 as the center. This is because the working robot 10 can determine the current position on the three-dimensional map 22 described later by the current position determining means 21 described later. If the working robot 10 is for underwater work, an acoustic sounding instrument can be used as the ambient data acquisition sensor 12.

  The detection means 14 is a means for detecting a physical quantity of the current location atmosphere. The physical quantity of the current location atmosphere is at least one selected from information on temperature, radiation, toxic substances, and combustible gases. In general, these pieces of information are invisible information. Because it is invisible information, it is possible that the worker may be harmed by the effects of temperature, etc. without noticing it when entering the work site. Invisible information is preferred.

  Here, the radiation refers to a particle beam and an electromagnetic wave emitted when the radioactive element decays, and examples thereof include α rays, β rays, and γ rays.

  Toxic substances include all substances that are dangerous to the human body. For example, carbon monoxide, sulfur oxide, nitrogen oxide, hydrogen chloride, acid gas, dioxin, dichloroethane, carbon tetrachloride and the like can be mentioned.

  Examples of the combustible gas include combustible gases such as ethane, methane, acetylene, propane, butane, propylene, butylene, and butadiene.

  The work robot 10 also records information on the physical quantity on the three-dimensional map 22 together with the current position determined by the current position determining means 21 when the physical quantity of the current location atmosphere exceeds a predetermined reference value range. Have The recording means 16 is a program stored in a nonvolatile memory such as a ROM or NVRAM of the control unit 20 described later.

  The predetermined reference value range can be arbitrarily determined based on an item selected as a physical quantity of the current atmosphere. For example, when the temperature is detected by the detection means 14, the predetermined reference value range can be set to a range that is harmless even if touched by a person (that is, a range that does not cause low temperature burns or burns). More specifically, the predetermined reference value range can be defined as -10 ° C or higher and lower than 150 ° C as the atmospheric temperature in the predetermined work area.

  The moving unit 18 is a unit that enables the working robot 10 to move within the work area, and includes a wheel, a crawler, a propeller, a screw, and the like to which power is transmitted by a driving mechanism such as an engine or a motor. The moving means 18 is controlled by the control unit 20. In this embodiment, the crawler is driven by a motor.

  The control unit 20 is a computer that includes a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), and the like. The control unit 20 develops the program stored in the ROM on the RAM and causes the CPU to execute a corresponding process.

  The program is not limited to being stored in the ROM, but may be stored in an NVRAM (Non-Volatile Random Access Memory).

  The control unit 20 controls the moving unit 18, determines the self-location based on programs such as the current position determining unit 21 and the recording unit 16 stored in the ROM or NVRAM, and detects the current location atmosphere detected by the detecting unit 14. The physical quantity information is recorded on a three-dimensional map.

  A three-dimensional map database 24 for storing a three-dimensional map 22 is connected to the control unit 20. In the present embodiment, a built-in hard disk as a storage medium is used as the three-dimensional map database 24. However, an external hard disk or a memory card may be used.

  The three-dimensional map 22 is a map represented by three-dimensional position information on the x, y, and z axes. As the three-dimensional map 22, for example, a map of point cloud data composed of a collection of plots of three-dimensional position information obtained by measuring a three-dimensional object, a map of polygon data represented by a polygon connecting these point clouds, CAD There may be mentioned a map of the data and a composite of these. Among these, a map of point cloud data is preferable.

  In the point cloud data map, since the entire field of the work area is represented by a three-dimensional point cloud, for example, the point cloud data measured by the laser scanner can be used as it is as a three-dimensional map. By using the data as a three-dimensional map as it is, a plurality of three-dimensional maps can be stacked and / or linked together with their scales and reference points, which is highly convenient.

  Furthermore, the point cloud data map has sufficient point clouds in the height direction, unlike a conventional vehicle automatic driving map in which information such as obstacles is pasted on a two-dimensional map. It can be used as a map for various mobile objects.

  The current position determining means 21 is a program stored in the ROM. Specifically, the current position determining unit 21 compares the three-dimensional shape data around the current location obtained by the surrounding data acquisition sensor 12 with the data of the three-dimensional map, finds a coincidence point between the two data, and This is a program for determining the current position on the map 22.

  That is, when the three-dimensional shape data around the current location obtained by the surrounding data acquisition sensor 12 matches the three-dimensional shape data of a certain part in the data of the three-dimensional map 22, the current position determining means 21 10 is determined to be in this certain part (= current position) in the three-dimensional map.

  Next, plant patrol work using the work robot 10 according to the present embodiment will be described with reference to FIG.

  First, when the work robot 10 is arranged at the start position S in the work area, the power is turned on, and the program stored in the ROM of the control unit 20 is expanded on the RAM, in step S101, ambient data acquisition is performed. The three-dimensional shape data around the current location is acquired by the sensor 12. The obtained three-dimensional shape data around the current location is transmitted to the control unit 20.

  Next, in step S102, the control unit 20 accesses the 3D map 22 stored in the 3D map database 24. Then, the current position on the three-dimensional map 22 is determined by comparing the data of the three-dimensional map 22 with the three-dimensional shape data around the current location obtained by the surrounding data acquisition sensor 12.

  In step S103, the physical quantity of the current location atmosphere is detected. The detection unit 14 detects a physical quantity of the current location atmosphere and transmits the information to the control unit 20.

  In step S104, the control unit 20 determines whether or not the physical quantity of the current location atmosphere detected by the detection unit 14 is out of a predetermined reference value range set in advance. When the physical quantity of the current location atmosphere is out of the predetermined reference value range (YES determination), the process proceeds to step S105. When it is within the predetermined reference value range (NO determination), the process proceeds to step S106.

  In step S105, the recording unit 16 records the physical quantity of the current location atmosphere on the three-dimensional map 22 together with the current position determined in step SS102, and updates the information. The updated three-dimensional map 22U is stored in the three-dimensional map database 24. In principle, the original three-dimensional map 22 is stored as it is without being overwritten.

In step S106, as shown in FIG. 3, in the work area A, the work robot 10 moves a predetermined distance from the position P _n to the position P _{n + 1} on the preset route R. The route R may be written on the three-dimensional map 22 in advance, or may be written on the three-dimensional map via the input unit when the work robot 10 includes the input unit. Thereafter, the process proceeds to step S107.

  In step S107, it is determined whether the working robot 10 has arrived at the destination D (see FIG. 3). When the working robot 10 arrives at the destination D (YES determination), the flow ends. If the work robot 10 has not arrived at the destination D (NO determination), the process proceeds to step S101, and steps S101 to S107 are repeated until the work robot 10 arrives at the destination D.

  Therefore, according to the working robot 10 according to the present embodiment, the working robot 10 compares the three-dimensional shape data around the current location obtained by the surrounding data acquisition sensor 12 with the data of the three-dimensional map 22. It is possible to determine the current position of the self and to move autonomously according to a preset route R to perform work.

  Therefore, when there is a dangerous place in the work area A, it is possible to work safely without a person going directly to the dangerous place.

  In addition, the work efficiency is improved because the operator does not need to perform the operation during the work.

  Further, in the work area A, it is possible to grasp whether or not the route R through which the work robot 10 has passed is safe by checking the three-dimensional map 22U after the work robot 10 has passed through. Thereby, a person who performs the work after that can check the three-dimensional map 22U after the work by the robot, thereby avoiding the danger and performing the subsequent work safely.

  In the above embodiment, the information on the physical quantity and the information on the position where the physical quantity exists are not recorded in the original three-dimensional map 22, but the information is recorded in the three-dimensional map 22 in advance. Also good.

  As a result, information on the physical quantity recorded in advance in the three-dimensional map 22 and information on the position where the physical quantity exists, and information on the physical quantity detected by the detecting means 14 and recorded in the three-dimensional map 22 after that exist. By comparing with the information on the position to be performed, it becomes possible to grasp the change in the physical quantity of the atmosphere of the path R through which the work robot 10 passes in the work area A.

  Further, in the above embodiment, the work robot 10 is arranged at the start position S in the work area A, but the position outside the work area A is set as the start position S and / or the position outside the work area A is the purpose. It may be the position of the ground D. According to this, for example, when it is not possible to predict in which part in the work area A the harmful substance is generated, the harmful substance by entering the work area A for placement of the work robot 10 The risk of suffering from harm can be avoided.

  The present invention also provides an alarm system using not only a working robot but also a working robot. Below, the alarm system 60 using the working robot 50 concerning this Embodiment is demonstrated.

<Alarm system using work robot>
As shown in FIG. 4, the alarm system 80 using the work robot 50 according to the present embodiment includes the work robot 50 and an alarm device 70.

  The working robot 50 has the same configuration as that of the working robot 10 according to the above-described embodiment, except that the transmission unit 52 is connected to the control unit 20.

  The transmitting unit 52 is a unit that wirelessly transmits data of the three-dimensional map 22U in which information on a physical quantity outside the predetermined reference value range detected by the detecting unit 14 is recorded. The frequency of transmission can be, for example, the timing when the information on the physical amount of the current position and the current atmosphere of the working robot 50 is updated (that is, after step S105 and before step S106 in FIG. 2).

  The alarm device 70 includes a receiving unit 72 and a display unit 74.

  The receiving unit 72 is a unit that receives the information transmitted from the transmitting unit 52.

  The display means 74 displays information on the current position of the work robot 50 in the received three-dimensional map 22 (or the updated three-dimensional map 22U if updated) and information on the physical quantity of the current location atmosphere detected by the detection means 14. Display means. The display unit 74 is, for example, a computer output display device.

  In the display means 74, the information on the physical quantity of the current location atmosphere detected by the detection means 14 is issued as an alarm when the information on the physical quantity of the current location atmosphere is blinked together with the position information. For example, when it is detected that the temperature is out of a predetermined reference value range, the display means 74 (output display device) blinks the plot of the position on the three-dimensional map where the temperature is detected, and An alarm is issued such that the temperature is displayed numerically next to the plot and flashes simultaneously with the plot. That is, the display unit 74 can be said to be an alarm unit that issues an alarm based on the information on the dangerous part received by the receiving unit 72.

  Therefore, according to the alarm system 80 using the work robot 50 according to the present embodiment, the three-dimensional map data recording the physical quantity information of the current location atmosphere detected by the work robot 50 is transmitted wirelessly, and the alarm device 70 receives the data and issues an alarm.

  Therefore, the worker can grasp whether or not the physical quantity is out of the reference value range by the alarm device 70 in a safe place away from the work area. When the physical quantity of the current location atmosphere of the work robot 50 in the work area is determined to be out of the reference value range by the warning, it is possible to quickly cope with the situation.

  In addition, this invention is not limited to the said embodiment, A various change is possible. For example, in the above embodiment, the display unit 74 is used as the alarm unit, but the present invention is not limited to this. As a warning means, a buzzer for warning by sound or a lamp for warning by blinking or rotation may be used.

  The three-dimensional map 22 used in the present invention can be a three-dimensional map image displayed by the following three-dimensional image display system.

<3D image display system>
FIG. 5 is a schematic configuration diagram illustrating an embodiment of a three-dimensional image display system 100 for plant equipment.

  A plant facility three-dimensional image display system (computer system) 100 according to the present embodiment displays at least a predetermined steelmaking plant (plant facility) 150 and a three-dimensional map image of its peripheral area, And one or more terminal devices 103 connected to the server 102 via the network 104. In this embodiment, the steel plant 150 (see FIG. 7) is adopted as an example of the plant equipment. However, the plant equipment is not limited to this, for example, a power plant such as nuclear power generation or thermal power generation, or a chemical plant. Various plant facilities such as environmental plants can be targeted.

  The server 102 includes a storage unit 110 that stores three-dimensional data, a control unit 120, and a communication unit 127. The terminal device 103 includes an input unit 131, a display unit 132, a terminal storage unit 133, a terminal control unit 134, and a communication unit 140.

  The communication unit 127 of the server 102 includes a communication interface that transmits / receives information to / from the terminal device 103 via the network 104.

  The storage unit 110 of the server 102 has a plurality of storage units 111, 112, 113, and 114 that store three-dimensional data, and stores the three-dimensional data stored in these storage units in association with each other. Storage means included in the storage unit 110 includes first storage means 111, second storage means 112, third storage means 113, and fourth storage means 114. Here, the first to fourth notations in the storage means 111, 112, 113, and 114 do not represent the order of storage, but merely represent the identification of the storage means. Moreover, the 1st-4th description in the 1st storage process described in the following description, the 2nd storage process, the 3rd storage process, and the 4th storage process does not represent the order of storage. Rather, it simply represents the identity of the storage means.

  The three-dimensional data stored in each storage means 111, 112, 113, 114 is point cloud data composed of a set of three-dimensional position information plots (three-dimensional coordinates). The three-dimensional data in the storage means 111, 112, 113, 114 are associated with each other based on the point cloud data. Specifically, the three-dimensional data in each storage means 111, 112, 113, 114, that is, point cloud data, is associated with each other by a plurality of point group data common to each storage means 111, 112, 113, 114. .

  As will be described below, the first to fourth storage means 111, 112, 113, 114 have different accuracy depending on the measurement method of solid objects such as terrain (that is, the acquisition method of three-dimensional data). Original data, that is, three-dimensional data having different degrees of density of point clouds in a certain region is stored. Here, the three-dimensional object is meant to include natural and artificial three-dimensional objects such as the shape of the terrain including the land area 161 and the water area 162 and the form of the structure 151 constituting the steelmaking plant 150 (FIG. 7). reference). Examples of the structure 151 that constitutes the iron making plant 150 include a combustion path, a coke oven, a blast furnace, a converter, a casting facility, a rolling facility, etc., and mechanical devices and piping that constitute these.

  Aviation three-dimensional data obtained by measuring a three-dimensional object by aviation laser measurement is stored in the first storage means 111 (first storage step). This aerial three-dimensional data includes at least three-dimensional object data of a predetermined plant facility and a peripheral region of the plant facility. Since plant equipment such as the steel plant 150 is usually installed near the coast so that raw materials can be carried in from the sea, the three-dimensional object data (terrain data) in the surrounding area includes the land area where the plant equipment is installed. Data on the sea area adjacent to the coast near the plant facilities are included. The first storage means 111 of the present embodiment includes an iron manufacturing plant 150, a peripheral region of the steel manufacturing plant 150 (a land region 161 where the steel manufacturing plant 150 is installed, and a periphery of the steel manufacturing plant 150 that serves as a raw material carry-in port. The three-dimensional object data of the sea area 162) are included.

  The second storage unit 112 stores, for example, wide-area ground three-dimensional data obtained by measuring a three-dimensional object with a mobile mapping system (MMS) in which a camera and a laser scanner are mounted on an automobile (second storage step). This wide-area ground three-dimensional data includes at least three-dimensional data acquired by measuring a ground region including the steel manufacturing plant 150 included in the three-dimensional aviation data stored in the first storage unit 111. In measurement by MMS, three-dimensional data with higher accuracy than aviation laser measurement can be acquired. The second storage means 112 of the present embodiment includes three-dimensional object data of the steel plant 150 (more specifically, the appearance of the steel plant 150) and the ground area (land area 161) around the steel plant 150. It is out.

  The third storage means 113 stores three-dimensional narrow-area ground data obtained by measuring a solid object by ground-type laser measurement, which is non-movable with respect to the mobile MMS (third storage step). The narrow three-dimensional data includes three-dimensional data of the internal structure of the steel plant 150. This non-moving terrestrial laser measurement is a laser measurement capable of acquiring at least three-dimensional object data of the internal structure of the steel plant 150, and can acquire three-dimensional data with higher accuracy than MMS. Is. As such a non-moving terrestrial laser measurement, for example, a non-moving terrestrial fixed laser scanner or a terrestrial handy scanner can be used. Further, the third storage means 113 is further divided into a plurality of storage means according to the difference in accuracy of the point cloud data by laser measurement (that is, the difference in the degree of density of the point cloud in a certain area). Also good.

  In the present embodiment, the third storage means 113 includes a first narrow area data storage means 116 and a second narrow area data storage means 117. The first narrow area data storage means 116 stores the first narrow area ground three-dimensional data measured by the non-moving fixed ground laser scanner, and the second narrow area data storage means 117 stores the ground type handy scanner. The second narrow-area ground three-dimensional data, which is the three-dimensional data with higher accuracy of the point cloud data than the first narrow-area ground three-dimensional data measured by the above, is stored. The second narrow area data storage means 117 stores detailed three-dimensional object data of the structure 151 that cannot be measured by the non-moving fixed ground type laser scanner.

  The fourth storage means 114 stores water area three-dimensional data by water area surveying, which measures the amount of water in the sea area 162 included in at least the aerial three-dimensional data stored in the first storage means 111 (fourth storage step). ). As water surveying, for example, an acoustic sounding instrument, a shallow seafloor observation system, or the like can be used. The three-dimensional water area data of the fourth storage means 114 has higher accuracy of the point cloud data than the three-dimensional data of the first storage means 111, and the three-dimensional data and the point cloud data of the second and third storage means 112, 113 are the same. The coordinates are different. In the present embodiment, the three-dimensional water area data of the fourth storage means 114 includes at least the landform data of the sea area 162 around the steel manufacturing plant 150.

  In the plurality of storage means 111, 112, 113, 114 described above, the three-dimensional data of the structure 151 constituting the iron making plant 150 is classified according to the function of the structure 151. Examples of the function classification include classification of pipes depending on differences in steam, water, gas, oil, etc. flowing inside, classification of equipment by gas system, electrical system, heat system, etc., classification by moving route of raw materials, structure 151 The classification according to the function of the equipment constituting the system, the classification according to the level of danger, etc. can be performed alone or in combination. It should be noted that such functional classification of the structure 151 is preferably performed in at least two storage units, and in particular, such functional classification is performed in the second storage unit 112 and the third storage unit 113. It is preferable. Further, it is more preferable that the first storage unit 111 is also classified into functions in the same manner as the second storage unit 112 and the third storage unit 113. The storage unit 110 stores the three-dimensional data of the structures 151 of the same classification in the respective storage units 111, 112, 113, and 114 in association with each other.

  The control unit 120 of the server 102 includes a map display unit 121 and a data update unit 122, and the map display unit 121 includes a storage unit selection unit 125 and a hierarchical map image display unit 126.

  When the map display unit 121 receives a signal for instructing map display from the terminal device 103, the map display unit 121 generates a 3D map image from the 3D data stored in the storage unit 110, and the 3D map image is displayed on the terminal. The information is transmitted to the terminal device 103 so as to be displayed on the display unit 132 of the device 103.

  When the storage unit selection unit 125 receives a map display signal from the terminal device 103, the storage unit selection unit 125 receives the three-dimensional data (that is, the three-dimensional object data) stored in the storage unit 110, which is input from the input unit 131 of the terminal device 103. ) Is extracted from the plurality of storage means 111, 112, 113, 114 based on the position designation and scale designation relating to (). The storage unit selection unit 125 according to the present embodiment further selects one storage unit that is most suitable for the scale specified by the terminal device 103 from among the extracted storage units.

  The storage unit selection unit 125 is a predetermined storage unit that is set in advance when the designation relating to the three-dimensional object data stored in the storage unit 130 that is input from the input unit 131 of the terminal device 103 is only the position designation. Select. In the present embodiment, the storage unit selection unit 125 selects the first storage unit 111 when the designation from the terminal device 103 is only the position designation.

  The storage unit selection unit 125 selects a predetermined storage unit that is set in advance when there is no position designation and scale designation from the terminal device 103, that is, when there is only a map display instruction. In the present embodiment, the first storage unit 111 is selected when there is no position designation or scale designation.

  The hierarchical map image display unit 126 is a region including a designated position from the three-dimensional data of the storage unit extracted by the storage unit selection unit 125, and is a three-dimensional map suitable for the scale designated by the terminal device 103. An image is generated and transmitted to the terminal device 103 so that the three-dimensional map image is displayed on the display unit 132 of the terminal device 103. When two or more storage units are selected by the storage unit selection unit 125, a three-dimensional map image suitable for the designated scale is generated based on the three-dimensional data of the selected plurality of storage units.

  As described above, in this embodiment, the storage unit selection unit 125 selects one storage unit from the plurality of storage units, and the hierarchical map image display unit 126 displays the three-dimensional data of the selected storage unit. Then, a three-dimensional map image is generated and transmitted to the terminal device 103 so that the three-dimensional map image is displayed on the display unit 132. In the present embodiment, by selecting one storage unit by the storage unit selection unit 125, a scale is selected (that is, a scale suitable for a scale specified by the terminal device), and a hierarchical map image display is performed. In the means 126, a three-dimensional map image of a preset scale is generated in each of the storage means 111, 112, 113, 114. Note that the selection of the scale by the hierarchical map image display unit 126 is not limited to this, and in one storage unit selected by the storage unit selection unit 125, the scale is not a preset scale but a scale specified by the input unit 131. The configuration may be such that a suitable detailed scale can be selected.

  Further, the hierarchical map image display means 126, when there is no position designation and scale designation from the terminal device 103, from the storage means (first storage means 111 in the present embodiment) selected by the storage unit selection means 125, A three-dimensional map image of a preset region is generated and transmitted to the terminal device 103 so as to be displayed on the display unit 132 of the terminal device 103.

  The data updating unit 122 stores the three-dimensional data related to the three-dimensional object transmitted from the terminal device 103 in one storage unit in the storage unit 110 to update the three-dimensional data in the storage unit and the updated tertiary The original data is associated with the three-dimensional data of other storage means. The selection of one storage means for storing the three-dimensional data transmitted from the terminal device 103 is determined by the three-dimensional data acquisition method. That is, the first storage unit 111 when acquired by aviation laser measurement, the second storage unit 112 when acquired by MMS, and the second storage unit 112 when acquired by non-movable ground-type laser measurement. In the third storage unit 113, when it is acquired by water area surveying, it is stored in the fourth storage unit 114. Furthermore, in the present embodiment, in the non-moving terrestrial laser measurement, the three-dimensional data acquired by the non-moving terrestrial fixed laser scanner is stored in the first narrow area data storage means 116, and the terrestrial handy The three-dimensional data acquired by the scanner is stored in the second narrow area data storage unit 117.

  The terminal device 103 is a device that can communicate with the server 102 via the network 104 such as the Internet, for example. As described above, the input unit 131, the display unit 132, the terminal storage unit 133, and the terminal control unit 134. And a communication unit 140. The communication unit 140 includes a communication interface that transmits and receives information to and from the server 102 via the network 104. The input unit 131 receives an operation input from a user (user) of the terminal device 103, and the display unit 132 displays an image. As such a terminal device 103, for example, a personal computer including an input device (input unit 131) such as a keyboard and a mouse, a display device (display unit 132) such as a liquid crystal display device, etc., a touch panel (input unit 131, display) A portable terminal equipped with the unit 132) can be used.

  The terminal storage unit 133 is a part that stores data created by the terminal device 103 and data input from an external device such as the server 102, another terminal device 103, or a universal serial bus (USB).

  The terminal control unit 134 includes a dimension calculation unit 135, a display selection unit 136, a composite image generation unit 137, a function classification creation unit 138, and a function-specific display unit 139.

  The dimension calculation means 135 calculates the dimensions of the structure 151 and / or the topography of the steel plant 150 based on the three-dimensional data stored in the storage unit 110, that is, point cloud data. Specifically, when the input unit 131 of the terminal device 103 selects (inputs) a range in which a dimension is to be calculated from the structure 151 or the terrain in the three-dimensional map image displayed on the display unit 132. The size is calculated based on the point cloud data, and the calculation result is displayed on the display unit 132. Note that the calculation of the dimensions is not limited to the one displayed on the display unit as a three-dimensional map image, and the dimensions related to the three-dimensional object (terrain or structure) having the three-dimensional data stored in the storage unit 10 are calculated. Can do.

  The display selection unit 136 enables a part or all of the structure 131 in the three-dimensional map image displayed on the display unit 132 to be selected so as to be in a display state or a non-display state. Specifically, a part or all of the structure 151 in the three-dimensional map image is selected by the input unit 131 of the terminal apparatus 103, and the input unit 131 instructs to input non-display, thereby selecting the selected structure 151. Can be hidden in the display portion 132. In addition, when the input unit 131 instructs the display of the structure 151 in the non-display state, the structure 151 in the non-display state can be displayed again. Note that not only the structure 151 but also part or all of the terrain can be selected to be in a display state or a non-display state.

  The composite image generation unit 137 causes the display unit 132 to display a display image using CAD data or polygon data included in the terminal device 103 on the three-dimensional map image displayed by the hierarchical map image display unit 126. As such CAD data and polygon data, three-dimensional CAD data stored in the terminal storage unit 133 can be used. The composite image generation unit 137 can be used in combination with the display selection unit 136. Specifically, a part of the structure 151 of the three-dimensional map image on the display unit 132 is set in a non-display state by the display selection unit 136, and the portion that is set in the non-display state by the composite image generation unit 137 is converted into CAD data. Display images can be displayed in a superimposed manner.

  The function classification creating unit 138 classifies the structure 151 included in the three-dimensional data in the storage unit 110 by the input unit 131 for each function, and stores the classified information in the storage unit 110 of the server 102. As the function classification, for example, a classification arbitrarily set by the user using the input unit 131 such as a classification of piping or a function of equipment, or a classification registered in advance in the storage unit 110 of the server 102 can be performed.

  The function-specific display means 139 displays the structure 151 constituting the steel plant 150 on the display unit 132 so that the structure 151 can be visually identified for each function. Specifically, regarding the function classification set in the storage unit 110 of the server 102, when a function division instruction is given from the input unit 131 of the terminal device 103, the structure 151 having the instructed function is represented by color. It is displayed on the display unit 132 so as to be distinguishable from other structures 151. For example, in the three-dimensional map image of the structure 151 displayed on the display unit 132, when the input unit 131 instructs the piping through which water (liquid) circulates and the piping through which steam circulates, The pipes with different functions can be visually identified by displaying the pipes in red and the steam pipes in yellow.

  The function-specific display unit 139 can display the structure 151 having the same function in the same color in the three-dimensional map images having different scales. For example, the map display unit 121 displays two three-dimensional map images with different scales on the display unit 132, and in each three-dimensional map image, the structures 151 having the same function are displayed in the same color, thereby the same. Macro management and micro management of the structure 151 having a function can be performed in parallel.

  The visual identification display on the function-specific display means 139 is not limited to color identification display. For example, any method that can visually distinguish the structure 151 having another function, such as blinking the structure 151 having the instructed function, may be used.

  In the three-dimensional image display system described above, display / non-display of the structure 151 or the like is selected by the display selection unit 136, and the display image of CAD data or polygon data is superimposed on the three-dimensional map image by the composite image generation unit 137. By combining them, it is possible to simulate the design and repair work of the steel plant 150. In addition, since the size calculation means 135 can easily calculate the size of the topography and the structure 151, the efficiency of the design work can be improved. Further, by generating a three-dimensional map image using the point cloud data, CAD data can be superimposed on a wide area map information including the land area 161 and the sea area 162, so that the entire steel manufacturing plant 150 including the sea area 162 can be overlapped. It is also suitable for topographic management.

  Further, since the function-specific display means 139 can display an image so that the facilities of the steelmaking plant 150 can be identified for each function, when renovation work is performed, there is a possibility that the effect of refurbishment may occur. Can be visually recognized before renovation work. Thereby, generation | occurrence | production of the malfunction in repair work can be avoided and the efficiency of repair work can be aimed at. When the structure 151 is classified according to the level of danger, the function-specific display means 139 displays the structure 151 with a high degree of risk, which is used to prevent accidents in renovation work. be able to. Further, by displaying the structure 151 with a low degree of danger, it can be used for securing an evacuation site.

  Note that the control unit 120 of the server 102 can be configured to transmit user interface elements that cause each unit of the terminal control unit 134 to be executed to the terminal device 103 so as to be displayed on the display unit 132 of the terminal device 103. For example, when the terminal device 103 accesses the server 102 via the network 104, the control unit 120 of the server 102 causes the display unit 132 of the terminal device 103 to display a user interface element that causes the dimension measuring unit 135 to function. Thus, the terminal device 103 can be made to execute the dimension measuring means 135. The display selection unit 136, the composite image generation unit 137, the function classification generation unit 138, and the function-specific display unit 139 can have the same configuration.

  Next, the display process of the three-dimensional map image in the three-dimensional image display system 100 of the steel plant 150 described above will be described. FIG. 6 is a flowchart of the operation of the control unit 120 in the display process of the three-dimensional map image.

  First, a map display instruction of a three-dimensional map image from a user is received by the input unit 131 of the terminal device 103, and when this map display instruction is received by the server 102 via the network 104 (step S200), the server 102 The map display unit 121 determines whether or not the map display instruction includes a position designation regarding map display (step S201).

  When the location designation is not included in the map display instruction (step S201: No), the storage unit selection unit 125 selects the first storage unit 111 which is a preset storage unit. The hierarchical map image display means 126 generates a three-dimensional map image of a predetermined area set in advance from the three-dimensional data in the first storage means 111 and displays the three-dimensional map image on the display unit 132 of the terminal device 103. To the terminal device 103 (step S202), and the display process is terminated.

  When the position designation is included in the map display instruction (step S201: Yes), the storage unit selection unit 125 of the control unit 120 determines whether the map display instruction from the terminal device 103 includes the scale designation (step step). S203).

  When the map display instruction does not include the scale designation (step S103: No), the storage unit selection unit 125 selects the first storage unit 111 which is a preset storage unit. The hierarchical map image display means 126 generates a three-dimensional map image of a predetermined range area including the position specified by the terminal device 103 from the three-dimensional data in the first storage means 111, and uses the three-dimensional map image as the terminal device 103. Is transmitted to the terminal device 103 so as to be displayed on the display unit 132 (step S204), and the display process is terminated.

  When the map display instruction includes the scale designation (step S203: Yes), the storage unit selection unit 125 extracts the storage unit including the three-dimensional data at the specified position, and is designated from the extracted storage unit. One storage means suitable for the scale is selected (step S205) (storage unit selection step). When the selected storage means is the third storage means 13, the storage unit selection means 25 is further designated from among the first narrow area data storage means 116 and the second narrow area data storage means 117. It can be set as the structure which makes one storing means suitable for a reduced scale.

  Next, the hierarchical map image display means 126 generates a three-dimensional map image of a predetermined range area including the position specified by the terminal device 103 from the three-dimensional data of one storage means selected in step S205, and The three-dimensional map image is transmitted to the terminal device 103 so as to be displayed on the display unit 132 of the terminal device 103 (step S206) (hierarchical map image display step), and the display process is terminated.

  7 to 10 are diagrams showing examples of three-dimensional map images displayed on the display unit 132 of the terminal device 103 by the hierarchical map image display unit 126. FIG. FIG. 7 shows an example of a three-dimensional map image based on the three-dimensional aviation data of the first storage unit 111, and FIG. 8 shows an example of a three-dimensional map image based on the wide-area three-dimensional data of the second storage unit 112. FIG. 9 shows an example of a three-dimensional map image based on the narrow-area ground three-dimensional data of the first narrow area data storage means 116 in the third storage means 113, and FIG. 10 shows the first narrow area data storage in the third storage means. The example of the three-dimensional map image by the narrow area | region ground three-dimensional data of the means 16 and the 2nd narrow area data storage means 117 is shown.

  In the range of scales that can be specified by the terminal device 103, when the specified scale is small (in the case of land / sea wide area specification) or when there is no scale specification from the terminal device 103, as shown in FIG. A three-dimensional map image that allows the plant 150 to be viewed over a wide area is displayed. In the range of scales that can be designated, when the designated scale is medium (in the case of land and sea narrow area designation), as shown in FIG. 8, the appearance of some equipment (structure 151) of the steel plant 150 And a three-dimensional map image of a narrower area than that of FIG. 7, including the scenery around the facility including the road 152 in the site of the steel plant 150. When the designated scale is large in the range of scales that can be designated (in the case of designating a wide area of the structure), as shown in FIG. 9, the external structure of the facility of the steel plant 150 is more detailed as a three-dimensional map image. Can be displayed. When the designated scale is very large in the range of the scale that can be designated (in the case of designating a narrow structure), not only the appearance of the facility of the steel plant 150 but also the steel plant 150 as shown in FIG. The internal structure (the internal pipe 154, the internal passage 155, etc.) of the structure 151 that constitutes can be displayed as a three-dimensional map image. Furthermore, the three-dimensional map image based on the three-dimensional water area data stored in the fourth storage unit 114 can display the three-dimensional image of the underwater terrain and the underwater structure.

  As described above, the three-dimensional image display system 100 according to the present embodiment includes a terrain wide area map, a terrain narrow area map, a structure 151 wide area map, and a structure 151 narrow area map (an internal structure map of the structure 151). And underwater maps can be integrated and managed. Therefore, it has a vast site area, is installed near the coast, and is suitable for management of plant facilities that require detailed design drawings of the structure 151. In particular, by providing a water area map, it can be used for revetment work and is suitable for the management of plant facilities installed near the coast. Moreover, since a highly accurate three-dimensional map image of point cloud data can be used only in a necessary region, integrated management of plant facilities can be performed while suppressing the amount of data.

  Next, update processing of three-dimensional data in the three-dimensional image display system 100 of the steel plant 150 described above will be described.

  The three-dimensional data (three-dimensional data of the terrain and three-dimensional data of the structure) to be updated is transmitted from the terminal device 103 to the server 102 via the network 104. When the server 102 receives the three-dimensional data of the three-dimensional object, the data update unit 122 selects one storage unit from the first to fourth storage units 111, 112, 113, and 114 according to the three-dimensional data acquisition method.

  For example, when the user of the terminal device 103 transmits the three-dimensional data to the server 102, the storage unit is selected based on the specification of the acquisition method. The data updating unit 122 can select a storage unit. Further, the storage means is selected by designating the acquisition method of the three-dimensional data from the terminal device 103, and the data updating means 122 is transmitted from the terminal device 103 with the accuracy of the point cloud data of the selected storage means. When the accuracy of the point cloud data is compared and the accuracy is comparable, the data is stored in the selected storage means and the three-dimensional data is updated. 132 can be displayed. Further, the data updating unit 122 may select a storage unit having the same degree of accuracy of the point cloud data depending on the difference in accuracy of the three-dimensional data transmitted from the terminal device 103 (accuracy of the point cloud data). .

  When the storage unit is selected, the data update unit 122 updates part or all of the three-dimensional data of the selected storage unit with the three-dimensional data received from the terminal device 103. Thereafter, the updated three-dimensional data is associated with the three-dimensional data of other storage means and stored in the storage unit 110.

  Since the data update unit 122 can update the data for each of the storage units 111, 112, 113, and 114, it is possible to easily update the three-dimensional data with different acquisition methods. Therefore, when three-dimensional data related to the steel plant 150 is changed due to renovation work, etc., it can be reflected in the three-dimensional data of other storage means by updating the three-dimensional data of one storage means. Further, it is possible to save the trouble of individually updating the terrain wide area map, the terrain narrow area map, the structure 151 wide area map, the structure 151 narrow area map, and the underwater map. As a result, the management cost of the steel plant 150 can be reduced and the efficiency of management work can be improved. Further, when the data updating unit 122 automatically selects the storage unit, the operation of the user of the terminal device 103 becomes easier. In addition, when a plurality of users use the 3D image display system 100, for example, when a plurality of terminal devices 103 are connected to the server 102, the users of the respective terminal devices 103 can perform tertiary using the latest 3D data. The original map image can be used.

  The above-described 3D image display system 100 can be suitably used as a cloud system in which a plurality of users can access the server 102 via the terminal device 103 and the Internet (network 104).

  Next, the three-dimensional image display device 105 will be described. FIG. 11 is a schematic configuration diagram illustrating an embodiment of the three-dimensional image display apparatus 105. In the embodiment shown in FIG. 11, components having the same functions as those in the three-dimensional image display system 100 shown in FIG. 5 are denoted by the same reference numerals, and detailed description of the same functions is omitted.

  The three-dimensional image display apparatus (computer system) 105 of this embodiment includes an input unit 131, a display unit 132, a storage unit 110 that stores three-dimensional data, a control unit 120, and a communication unit. The communication unit includes a communication interface that transmits and receives information to and from an external device via a network.

  The input unit 131 receives an operation input from the user, and the display unit 132 displays an image.

  The storage unit 110 includes a plurality of storage units 111, 112, 113, and 114 that store three-dimensional data, and stores the three-dimensional data stored in these storage units in association with each other. Storage means included in the storage unit 110 includes first storage means 111, second storage means 112, third storage means 113, and fourth storage means 114. The third storage means 113 includes a first narrow area data storage means 116 and a second narrow area data storage means 117.

  The storage unit 110 and the first to fourth storage units 111, 112, 113, and 114 of the three-dimensional image display apparatus 105 in the present embodiment are respectively the storage unit 110 and the first to fourth storage units of the server 102 illustrated in FIG. It has the same configuration as each of the means 111, 112, 113, and 114, and provides the same function.

  The control unit 120 includes a map display unit 121, a data update unit 122, a dimension calculation unit 135, a display unit selection unit 136, a composite image generation unit 137, a function classification generation unit 138, and a function-specific display unit 139. including. The map display unit 121 includes a storage unit selection unit 125 and a hierarchical map image display unit 126.

  The map display unit 121 generates a 3D map image from the 3D data stored in the storage unit 110 in response to a map display instruction from the input unit 131 of the 3D image display device 105, and displays the 3D image device 105. Displayed on the unit 132.

  When receiving a map display instruction from the input unit, the storage unit selection unit 125 performs position designation and scale designation from the input unit 131 regarding the three-dimensional data (that is, the three-dimensional object data) stored in the storage unit 110. Based on this, the storage means having the three-dimensional data relating to the designated position is extracted from the plurality of storage means 111, 112, 113, 114. The storage unit selection unit 125 further selects one storage unit that is most suitable for the scale designated by the input unit 131 among the extracted storage units.

  The hierarchical map image display unit 126 is a region including a designated position from the three-dimensional data of the storage unit extracted by the storage unit selection unit 125, and is a three-dimensional map suitable for the scale designated by the input unit 131. An image is generated, and the three-dimensional map image is displayed on the display unit 132.

  The data updating unit 122 stores the three-dimensional data input from the external device in one storage unit in the storage unit 110, updates the three-dimensional data in the storage unit, and updates the updated three-dimensional data. Are associated with the three-dimensional data of the storage means.

  The dimension calculation means 135 calculates the dimensions of the plant facility structure and / or topography based on the three-dimensional data stored in the storage unit 110, that is, point cloud data.

  The display unit selection unit 136 enables a part or all of the structures in the three-dimensional map image displayed on the display unit 132 to be selected so as to be in a display state or a non-display state.

  The composite image generation unit 137 superimposes the display image based on the CAD data and polygon data included in the storage unit 110 of the three-dimensional image display device 105 on the three-dimensional map image displayed by the hierarchical map image display unit 126, and displays the display unit 132. Is displayed. The composite image generation unit 137 can also display a display image based on CAD data or polygon data input from an external device so as to be superimposed on the three-dimensional map image.

  The function classification creating unit 138 classifies the structures included in the three-dimensional data of the storage unit 110 by the input unit 131 for each function, and stores the classified information in the storage unit 110.

  The function-specific display means 139 displays the structure constituting the plant facility on the display unit 132 so that the structure can be visually identified for each function.

  The above-described three-dimensional map image device 105 can achieve the same effects as the three-dimensional image display system 100 shown in FIG. 5, and can easily perform macro and micro management of plant equipment.

  In the three-dimensional image display system 1 shown in FIG. 5 and the three-dimensional image display apparatus 105 shown in FIG. 11, each means in the control unit 120 and the terminal control unit 124 is a processor in the control unit 120 and the terminal control unit 124. It can be realized by executing each software module of the application program stored in the storage unit 110 and the terminal storage unit 133 by (calculation means). The application program can be stored and distributed in a computer-readable storage medium such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory. The application program can be supplied to a computer via a transmission medium (such as a communication network or a broadcast wave) that can transmit the application program.

  Note that the 3D image display system 1 and the 3D image display device 105 described above are not limited to plant equipment, and are preferably used for facility management of educational facilities, public facilities, and city facilities in a wider area. Can do. If necessary, the three-dimensional water area data in the fourth storage means 114 may include not only the sea but also water three-dimensional data obtained by surveying river water. Moreover, it is good also as a structure which stores the water area three-dimensional data which measured river water in another storage means (5th storage means).

DESCRIPTION OF SYMBOLS 10,50 Working robot 12 Ambient data acquisition sensor 14 Detection means 16 Recording means 18 Movement means 20 Control part 21 Current position determination means 22 Three-dimensional map 52 Transmission means 70 Alarm device 72 Reception means 74 Display means (alarm means)
80 Alarm system

Claims (3)

A three-dimensional map of the area including the plant equipment area;
And ambient data acquisition sensors capable of acquiring three-dimensional shape data of the ambient,
A current position determining means for comparing the three-dimensional shape data obtained by the surrounding data acquisition sensor and the data of the three-dimensional map to find a coincidence point of both data and determining a current position on the three-dimensional map; ,
A control unit for controlling movement in the plant facility area based on the preset movement route and the determined current position,
The three-dimensional map is a point cloud map consisting of a collection of three-dimensional position information plots;
A patrol work robot for performing patrol operations of the plant equipment area while moving left and right and in the height direction back and forth in front Symbol plant facility area,
Detecting means for detecting various physical quantities of the surrounding atmosphere during the movement;
Recording means for recording information on the physical quantity together with the current position determined by the current position determining means on the three-dimensional map when various physical quantities of the surrounding atmosphere are out of a predetermined reference value range. A characteristic patrol robot. The patrol work robot according to claim 1 , wherein the physical quantity of the surrounding atmosphere is at least one selected from physical quantities of temperature, radiation, toxic substances, and combustible gas. The patrol work robot according to claim 1 or 2, further comprising a transmitting means for wirelessly transmitting the three-dimensional map data.
An alarm device comprising: receiving means for receiving information transmitted by the transmitting means; and alarm means for issuing an alarm based on information on the physical quantity recorded in the three-dimensional map data received by the receiving means;
An alarm system using a patrol robot.

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