JP7170234B2 - Inspection device and inspection method - Google Patents

Description

TECHNICAL FIELD The present disclosure relates to an inspection device and an inspection method for a building.

In recent years, automation of quality inspection has been considered. For example, Patent Literature 1 discloses a product shape inspection system for detecting shape defects occurring in an inspection object. This inspection system acquires distance image data that displays distance information to an inspection object as an image, and extracts a height profile on the surface of the inspection object based on the distance image data. Furthermore, the inspection system determines whether or not there is a defect in the shape of the inspection object based on the difference data between the extracted height profile and the reference profile.

JP 2010-197313 A

The inspection system of Patent Literature 1 is suitable for inspection of inspection objects having predetermined contours and having the same distance from the camera. Such an inspection system is not suitable for inspecting construction objects of various types, shapes and positions.

The present disclosure provides an inspection apparatus and inspection method for automating the inspection of a building.

An inspection apparatus according to an aspect of the present disclosure is an inspection apparatus that inspects a building, and includes an information holding unit that holds information on the building, and a measurement unit that captures an image of an inspection target portion of the building. a position recognizing unit that acquires position information and calculates the position of the measuring unit with respect to the building based on the information of the building held in the information holding unit and the position information of the measuring unit; a site determination unit that acquires an image captured by a device and specifies the inspection target site shown in the image based on the image and the position of the measurement unit; and holds inspection standards for each site of the building. and a decision to determine and output an inspection result of the inspection target part by comparing the inspection target part specified by the part determination part with the inspection standard held in the reference holding part. and a part.

An inspection method according to an aspect of the present disclosure is an inspection method for inspecting a building, in which an image of a site to be inspected in the building and information on an imaging position of the image are acquired, and information on the building is acquired. is obtained, the imaging position of the building is calculated based on the information of the building and the information of the imaging position, and the A site to be inspected is specified, an inspection standard for each site of the building is obtained, and an inspection result of the site to be inspected is determined by comparing the specified site to be inspected and the inspection standard.

The general or specific aspects described above may be realized by a system, apparatus, method, integrated circuit, computer program, or recording medium such as a computer-readable recording disk. , may be implemented in any combination of a computer program and a recording medium. Computer-readable recording media include non-volatile recording media such as CD-ROMs (Compact Disc-Read Only Memory).

According to the inspection device and the like according to the present disclosure, it becomes possible to automate the inspection of the building.

FIG. 1 is a schematic perspective view showing an example of a situation in which an inspection apparatus according to Embodiment 1 performs inspection. 2 is a block diagram showing an example of a functional configuration of the inspection apparatus according to Embodiment 1. FIG. 3 is a diagram showing an example of a floor plan of a building stored in a building information holding unit according to Embodiment 1. FIG. FIG. 4 is a diagram showing an example of information included in the floor plan of FIG. 5 is a diagram showing an example of an abnormality determination criterion stored in an abnormality criterion holding unit according to Embodiment 1. FIG. FIG. 6 is a schematic diagram showing an example of the type of abnormality in the examination target site. 7 is a diagram showing an example of abnormality type determination criteria stored in a type criteria storage unit according to Embodiment 1. FIG. 8A is a diagram showing an example of an inspection result image output by the inspection apparatus according to Embodiment 1. FIG. 8B is a diagram showing an example of an inspection result image output by the inspection apparatus according to Embodiment 1. FIG. 9 is a flowchart showing an example of the flow of operations of the inspection apparatus according to Embodiment 1. FIG. 10 is a block diagram showing an example of a functional configuration of an inspection apparatus according to a modification of Embodiment 1. FIG. 11 is a block diagram showing an example of a functional configuration of an inspection apparatus according to Embodiment 2. FIG. 12 is a block diagram showing an example of a functional configuration of an inspection apparatus according to Embodiment 3. FIG. 13 is a block diagram showing an example of a functional configuration of an inspection apparatus according to Embodiment 4. FIG. 14 is a diagram illustrating an example of a positional relationship between a building component and a measuring unit stored in a positional relationship holding unit according to the fourth embodiment; FIG. 15 is a block diagram showing an example of a functional configuration of an inspection apparatus according to Embodiment 5. FIG.

Below, the inspection device and the like according to the embodiments of the present disclosure will be described in detail with reference to the drawings. It should be noted that each of the embodiments described below is a preferred specific example of the technology of the present disclosure. Therefore, the numerical values, shapes, materials, components, arrangement and connection of components, steps (processes), order of steps, and the like shown in the following embodiments are examples and limit the technology of the present disclosure. not intended to do so. Therefore, among the constituent elements in the following embodiments, the constituent elements that are not described in the independent claims representing the highest concept of the technology of the present disclosure will be described as optional constituent elements.

Each figure is a schematic diagram and is not necessarily strictly illustrated. Moreover, in each figure, the same code|symbol is attached|subjected about the same component. Also, in the specification and claims, a "device" may mean not only one device, but also a system of multiple devices.

[Embodiment 1]
[1-1. Configuration of Inspection Device]
First, a schematic configuration of an inspection apparatus 100 according to Embodiment 1 will be described. FIG. 1 is a schematic perspective view showing an example of a situation in which an inspection apparatus 100 according to Embodiment 1 performs inspection. As shown in FIG. 1, the inspection device 100 can inspect the interior and exterior of a building C. As shown in FIG. In this embodiment, the construction C is described as a house, but the inspection target of the inspection apparatus 100 may be any construction.

Furthermore, the inspection apparatus 100 is assumed to be mounted on the mobile object 1 together with the measuring unit 10 and inspect various parts of the building C while moving together with the mobile object 1 . The mobile object 1 may be a mobile object that runs on a support surface, a mobile object that flies in the air, or a mobile object that advances on water or in water. Examples of mobile objects 1 are land mobile robots, drones and water or underwater mobile robots. In this embodiment, the mobile object 1 is a land mobile robot. All of the inspection apparatus 100 may be mounted on the moving body 1 , or part or all of the inspection apparatus 100 may be mounted on one or more devices different from the moving body 1 . In the former case, the inspection device 100 is electrically connected to the measuring section 10 . In the latter case, the inspection device 100 may exchange information and instructions with the measuring unit 10 of the mobile object 1 via wired communication or wireless communication. An example of the equipment on which the latter inspection device 100 is mounted is a control device 1a for controlling the moving body 1 and a computer device (not shown).

In the example of FIG. 1, the mobile object 1 arbitrarily travels on the floor surface F inside the building C, and the measurement unit 10 captures an image of the inside of the building C. As shown in FIG. The inspection device 100 inspects the interior of the building C, for example, the interior, using the image captured by the measurement unit 10 .

Furthermore, a detailed configuration of the inspection apparatus 100 according to Embodiment 1 will be described. FIG. 2 is a block diagram showing an example of a functional configuration of inspection apparatus 100 according to Embodiment 1. As shown in FIG. The inspection apparatus 100 includes a part determination unit 101, a position recognition unit 102, an abnormality determination unit 103, a type recognition unit 104, a building information storage unit 105, an abnormality standard storage unit 106, and a type standard storage unit 107. including. The measurement unit 10 also includes a position acquisition unit 11 , a 2D (2-Dimensions) image acquisition unit 12 , and a 3D (3-Dimensions) image acquisition unit 13 .

The position acquisition unit 11 acquires the position of the measurement unit 10 , specifically, the position of the moving body 1 . The position of the measuring unit 10 may be a two-dimensional position or a three-dimensional position, and may be determined according to the direction in which the moving body 1 can move. For example, when the moving object 1 moves on the floor surface F, the position of the measuring unit 10 may be a two-dimensional position, and when the moving object 1 flies, the position of the measuring unit 10 may be a three-dimensional position. good too. The position acquisition unit 11 may include an acceleration sensor, a gyro sensor (also called an "angular velocity sensor"), and/or a GPS (Global Positioning System) receiver. The position acquisition unit 11 can calculate the position of the measurement unit 10 using the acceleration and angular velocity detected by the acceleration sensor and the gyro sensor. The position acquisition unit 11 can calculate the position of the measurement unit 10 based on satellite signals acquired via the GPS receiver. The position acquisition unit 11 outputs the position information of the measurement unit 10 to the position recognition unit 102 of the inspection device 100 . The position information of the measurement unit 10 includes the position of the measurement unit 10 and the imaging directions, which are the orientations of the 2D image acquisition unit 12 and the 3D image acquisition unit 13 . The imaging direction is the direction along the optical axis of the 2D image acquisition unit 12 and the 3D image acquisition unit 13 . Examples of the position of the measurement unit 10 include a position based on coordinates with the earth as a reference such as a map, a position based on coordinates set within a specific area, a position relative to a reference point, and the like. Further, if the mobile body 1 includes an acceleration sensor, a gyro sensor, and/or a GPS receiver, the position acquisition unit 11 may acquire the position information from the mobile body 1 .

The 2D image acquisition unit 12 captures a two-dimensional image, specifically, a two-dimensional digital image of a portion of the building C to be inspected. A two-dimensional image is an image including a luminance value as a pixel value of each pixel. An example of the 2D image acquisition unit 12 is a 2D camera such as a monocular camera. The 2D image acquisition unit 12 may include a camera platform such as a gimbal (not shown) so that the imaging direction can be freely changed. Then, the 2D image acquisition unit 12 may change its orientation and take an image according to a control command from the inspection device 100 or the control device 1a. The 2D image acquisition unit 12 outputs the captured two-dimensional image to the part determination unit 101 of the inspection apparatus 100 .

The 3D image acquisition unit 13 captures a three-dimensional image, specifically a three-dimensional digital image, of a portion of the building C to be inspected. A three-dimensional image is an image that includes distance information from the 3D image acquisition unit 13 to a subject. An example of a three-dimensional image is a distance image that includes the distance from the 3D image acquisition unit 13 to the subject as the pixel value of each pixel. An example of the 3D image acquisition unit 13 is a 3D camera such as a laser beam projection camera and a compound eye camera. The 3D image acquisition unit 13 may include a pan head such as a gimbal (not shown) so that the imaging direction can be freely changed. Then, the 3D image acquisition unit 13 may change its orientation and take an image according to a control command from the inspection device 100 or the control device 1a. The 3D image acquisition unit 13 images an area that is the same as or overlaps with the imaging area of the 2D image acquisition unit 12 . When the 3D image acquisition unit 13 is composed of a laser beam projection camera, the 2D image acquisition unit 12 may also serve as the 3D image acquisition unit 13 . Alternatively, when the 3D image acquisition unit 13 is composed of a compound eye camera, the 3D image acquisition unit 13 may also serve as the 2D image acquisition unit 12 . The 3D image acquisition unit 13 outputs the captured 3D image to the part determination unit 101 of the inspection apparatus 100 .

The building object information storage unit 105, the abnormality criteria storage unit 106, and the type criteria storage unit 107 can store information and can retrieve the stored information. The building object information holding unit 105, the abnormality reference holding unit 106, and the type reference holding unit 107 are, for example, ROM (Read Only Memory), RAM (Random Access Memory), semiconductor memory such as flash memory, hard disk drive, or SSD (Solid State Drive) or the like.

The abnormality standard holding unit 106 and the type standard holding unit 107 store, that is, hold inspection standards for each part of the building C. FIG. The abnormality criteria holding unit 106 holds criteria for determining the presence or absence of abnormality for each part of the building C as inspection criteria. The type standard holding unit 107 holds, as an inspection standard, a discrimination standard for the type of abnormality for each part of the building C. FIG. The details of the judgment criteria and the judgment criteria held by the abnormality criterion holding unit 106 and the type criterion holding unit 107 will be described later.

The building object information holding unit 105 stores information on the building object C created in advance. Examples of information on the building C include a diagram showing the appearance of the building C, a diagram showing the inside of the building C, the types, shapes, colors, and patterns of materials and members used in each part of the building C, Information such as surface roughness and position, type, shape, color, pattern, information such as surface roughness and position of fittings of building C, and type, shape, color, pattern and surface of attachments of building C Information such as roughness and position. In this way, the building information storage unit 105 stores information on building components, which are components used in the building C, such as materials, members, fixtures, and attachments. Here, the building object information holding unit 105 is an example of an information holding unit.

Examples of materials used are wall, floor, ceiling and roofing materials. Examples of used members are pillars, baseboards and wiring fixtures such as outlets and light switches. Examples of fittings are partitions that open and close doors, windows and other openings. Examples of accessories are baths, toilets, kitchens, storage shelves, closets, closets and shoe cupboards. Examples of diagrams showing the appearance of the building C are a front view, a side view, a rear view and a top view of the building C. FIG. Examples of views showing the interior of the building C are a sectional view of the building C and a floor plan of the building C as shown in FIG. Note that FIG. 3 is a diagram showing an example of the floor plan of the building C stored in the building information holding unit 105 according to the first embodiment. The information on the building components of each part is associated with the positions where they are arranged in the external view, cross-sectional view, and floor plan of the building C. FIG.

For example, FIG. 4 is a diagram showing an example of information included in the floor plan of FIG. As shown in FIG. 4, the building components present in each part of the floor plan are associated with positions indicated by three-dimensional coordinates set on the floor plan, for example.

The position recognizing unit 102 acquires the position information of the measuring unit 10 from the measuring unit 10 that captures an image of the inspection target portion of the building C, and uses the information and measurements of the building C held in the building information holding unit 105. The position of the measurement unit 10 with respect to the building C is calculated based on the position information of the unit 10 . Specifically, the position recognition unit 102 calculates the position and orientation of the measurement unit 10 with respect to the building C. As shown in FIG. The orientation of the measurement unit 10 is the imaging direction of the 2D image acquisition unit 12 and the 3D image acquisition unit 13 . As in the present embodiment, when the mobile object 1 is located inside the building C, the position recognition unit 102 associates the position of the measurement unit 10 with the floor plan of the building C, and performs measurement on the floor plan. The position and orientation of the part 10 are calculated. The position recognition unit 102 outputs position information including the position and orientation of the measurement unit 10 with respect to the building C to the part determination unit 101 .

The part determining unit 101 acquires an image captured by the measuring unit 10, and based on the acquired image and the position information of the measuring unit 10 acquired from the position recognizing unit 102, is the part shown in the image. The position and area of the object to be photographed are specified with respect to the construction C. Part determination section 101 uses both a two-dimensional image and a three-dimensional image in the present embodiment, but may use at least one of the two-dimensional image and the three-dimensional image. Also, in the present embodiment, the position and area of the object to be photographed are the position and area on the floor plan, but may be the position and area of the building C with respect to other references. Note that when the fields of view, that is, the viewing angles of the 2D image acquisition unit 12 and the 3D image acquisition unit 13 are known, the part determination unit 101 determines the position and orientation of the measurement unit 10 with respect to the building C and the floor plan without using images. and the position and region of the subject site may be specified.

Further, the site determination unit 101 identifies a site to be inspected, which is an area of each building component included in the subject site, in the image. The site determination unit 101 compares information of each building component included in the floor plan with information such as the outline, color and texture of the subject extracted from the image, thereby identifying the building component and its inspection target. Identify parts. The site determination unit 101 includes the position and area of the subject site, the position and area on the image of each building component in the subject site and its inspection target site, and the image corresponding to the subject site. Information is output to the abnormality determination unit 103 . Note that the part determination unit 101 may calculate the position and area of the inspection target part with respect to the building C or the floor plan by using a three-dimensional image.

The abnormality criterion holding unit 106 stores the criteria for determining the presence or absence of an abnormality for each part of the building C, which are created in advance, that is, the abnormality determination criteria. Specifically, the abnormality criterion holding unit 106 stores an abnormality determination criterion for each building component used in each part of the building C. FIG. Anomaly criteria are criteria based on two-dimensional and three-dimensional images of building components. Specifically, the abnormality determination criteria define a predetermined state in which the change in the parameter regarding the pixel values of the pixels arranged in the image is normal. In other words, if the parameter change deviates from the abnormality determination criteria, it can be determined that there is an abnormality. Here, the abnormality criterion holding unit 106 is an example of a criterion holding unit.

A pixel value may be either a luminance value or a distance value. Examples of parameter changes are the pattern of pixel values of arrayed pixels, i.e. spatial frequency, color variations of arrayed pixels, contrast variations of arrayed pixels, and distance values indicated by pixel values of arrayed pixels. changes in, but not limited to, For example, the spatial frequency of the luminance value indicated by the pixel value indicates the surface pattern and the state of surface processing such as texture, and the spatial frequency of the distance value indicated by the pixel value indicates the state of surface processing such as the uneven structure of the surface. can show A change in a combination of two or more parameters may be evaluated as an abnormality determination target. Further, the abnormality determination criterion may be a unique criterion set for the building C, or a general-purpose criterion set for general building components. For example, FIG. 5 shows an example of the abnormality determination criteria stored in the abnormality criteria holding unit 106 according to the first embodiment configured with general-purpose criteria.

Also, FIG. 6 shows a schematic diagram showing an example of the type of abnormality in the inspection target site. The abnormality determination criteria are not the criteria for specifying the type of abnormality as shown in FIG. This is a criterion for the purpose of extracting features of abnormalities such as protrusions and different colors.

Based on the information acquired from the site determination section 101, the abnormality determination section 103 determines whether or not there is an abnormality in the structural element of the building for each inspection target site in the acquired image. Specifically, the abnormality determination unit 103 scans the pixel values of the pixels representing each inspection target region in the acquired two-dimensional image and/or three-dimensional image. The abnormality determination unit 103 compares the scanning result of the pixel values of each inspection target site with the abnormality determination criteria of the building component corresponding to the inspection target site stored in the abnormality standard holding unit 106, thereby determining the scanning result. deviates from the anomaly criterion. The abnormality determination unit 103 performs abnormality determination as described above on all images acquired from the measurement unit 10 . Then, in the case of deviation from the abnormality determination standard, the abnormality determination unit 103 calculates the position of a pixel, that is, the pixel coordinates, representing the abnormal area, which is the area that deviates from the abnormality determination standard, on the image on which the abnormality determination has been performed. The abnormality determination unit 103 includes an image subjected to abnormality determination, pixel coordinates of an abnormal area extracted from the image, an inspection target part including the abnormal area, a building component corresponding to the inspection target part, Information associated with the position of the inspection target site is output to the type recognition unit 104 . Here, the abnormality determination unit 103 is an example of a determination unit.

The type standard storage unit 107 stores the type determination standard, that is, the type determination standard, which has been created in advance for each part of the building C. FIG. Specifically, the type reference storage unit 107 stores a reference for determining the type of abnormality for each building component used in the building C. FIG. The type discrimination criteria are criteria for the purpose of specifying up to the type of abnormality as shown in FIG. 6, and are discrimination criteria based on two-dimensional images and three-dimensional images of building components. For example, as shown in FIG. 7, in the type discrimination criteria, the shape and/or size of the abnormal region of each building component is associated with the type of abnormality. If the shape and/or dimensions of the abnormal area of a building component satisfy any of the shape and/or dimensions of the classification criteria corresponding to the building component, the type of abnormality of the building component is It can be considered a type of anomaly corresponding to the shape and/or dimensions that are filled. FIG. 7 is a diagram showing an example of abnormality type determination criteria stored in the type criteria storage unit 107 according to the first embodiment. Here, the type reference holding unit 107 is an example of a reference holding unit.

The type recognition unit 104 identifies the image acquired from the abnormality determination unit 103, the pixel coordinates of the abnormal area extracted from the image, the inspection target area including the abnormal area, and the building configuration corresponding to the inspection target area. The type of abnormality in the abnormal region is determined based on the element and the position of the inspection target site. Specifically, the type recognition unit 104 calculates the shape of the abnormal region based on the image and the pixel coordinates of the abnormal region. Furthermore, the type recognition unit 104 may calculate the size of the abnormal region based on the pixel coordinates of the abnormal region and the pixel values of the pixel coordinates by using the three-dimensional image. The type recognition unit 104 collates the shape and/or size of the abnormal area and the building component corresponding to the inspection target site including the abnormal area with the type discrimination criteria of the type standard holding unit 107, that is, pattern matching. By doing so, the type of abnormality in the abnormal area is identified. The type recognition unit 104 associates the image for which the abnormality type has been determined, the abnormality type of the abnormal area, the building component including the abnormal area and its position, and outputs them to the outside of the inspection device 100. do. Here, the type recognition unit 104 is an example of a determination unit.

The output destination of the type recognition unit 104 may be a storage device (not shown), an output device such as a display, an output interface such as an output terminal, or a computer device. Further, the type recognition unit 104 may refer to the information on the floor plan of the building C from the building information holding unit 105, and associate the position on the floor plan with the above output information. Furthermore, the type recognition unit 104 may generate and output data in which positions on the floor plan are associated with the output information, for example, data for displaying the images in FIGS. 8A and 8B. 8A and 8B are diagrams showing examples of images of inspection results output by the inspection apparatus 100 according to the first embodiment.

The images in FIGS. 8A and 8B are displayed on the display of the computer device that is the output destination of the type recognition unit 104 . In FIG. 8A, points F1 to F10 indicate positions determined to be abnormal on the floor plan, and FIG. 8B shows the type of abnormality and the height position from the floor for each of points F1 to F10. there is When the user selects one of the points F1 to F10 in FIG. 8A by operating the computer device, the captured image corresponding to the selected point may be displayed. Examples of displays are liquid crystal panels and organic or inorganic EL (Electroluminescence) panels. The images in FIGS. 8A and 8B allow the user to visually recognize the test results output by the type recognition unit 104 .

In addition, each component of the inspection apparatus 100 including the part determination unit 101, the position recognition unit 102, the abnormality determination unit 103, and the type recognition unit 104 as described above is a CPU (Central Processing Unit) or a DSP (Digital Signal Processor). , and a computer system (not shown) including memories such as RAM and ROM. Some or all of the functions of each component may be achieved by the CPU or DSP using RAM as working memory and executing a program recorded in ROM. Moreover, some or all of the functions of each component may be achieved by dedicated hardware circuits such as electronic circuits or integrated circuits. Some or all of the functions of each component may be configured by a combination of the above software functions and hardware circuits. The program may be stored in the ROM in advance, and is provided as an application through communication via a communication network such as the Internet, communication according to mobile communication standards, other wireless networks, wired networks, broadcasting, etc., and stored in the ROM. may

[1-2. Operation of Inspection Device]
Further, an example of the operation of inspection apparatus 100 according to Embodiment 1 will be described. FIG. 9 is a flow chart showing an example of the operation flow of the inspection apparatus 100 according to the first embodiment. As shown in FIG. 9, in step S1, the 2D image acquisition unit 12 and the 3D image acquisition unit 13 of the measurement unit 10 capture a two-dimensional image and a three-dimensional image of a site to be inspected of the building C, respectively. 100 to the part determination unit 101 . In the present embodiment, the 2D image acquisition unit 12 and the 3D image acquisition unit 13 capture images at the same time, but the invention is not limited to this.

Next, in step S2, the position acquisition unit 11 of the measurement unit 10 acquires the position information of the measurement unit 10 at the time of imaging by the 2D image acquisition unit 12 and the 3D image acquisition unit 13, and the 2D image acquisition unit 12 and the 3D image acquisition unit It is output to the position recognition section 102 of the inspection apparatus 100 in association with the image of the section 13 .

Next, in step S3, the position recognition unit 102 of the inspection device 100 refers to the information of the building C held in the building information holding unit 105, based on the acquired position information of the measurement unit 10. The position and orientation of the measurement unit 10 with respect to the object C are calculated and output to the part determination unit 101 .

Next, in step S4, the site determination unit 101 identifies a site to be inspected. Specifically, based on the image acquired from the measurement unit 10 and the position and orientation of the measurement unit 10 at the time of capturing the image acquired from the position recognition unit 102, the part determination unit 101 determines the image to be displayed in the image. The location and area of the object to be imaged are identified with respect to the construction C. As shown in FIG. Further, the site determination unit 101 identifies the position and area of the inspection target site of each building component included in the subject site in the image. The site determination unit 101 outputs the position and area of the subject site, the position and area of each building component and its inspection target site, and the image corresponding to the subject site to the abnormality determination unit 103 .

Next, in step S5, the abnormality determination unit 103 determines whether or not there is an abnormality in the inspection target site. Based on the information acquired from the part determination unit 101 and the abnormality determination criteria stored in the abnormality criteria holding unit 106, the abnormality determination unit 103 determines the building component for each inspection target part in each image. Determine the presence or absence of anomalies. Abnormality determination section 103 outputs the determination result to type recognition section 104 .

Next, in step S6, the type recognition unit 104 determines the type of abnormality in the examination target site. The type recognition unit 104 identifies the image acquired from the abnormality determination unit 103, the pixel coordinates of the abnormal region extracted in the image, the inspection target region including the abnormal region, its position, and the construction corresponding to the inspection target region. The type of abnormality in the abnormal region is specified based on the entity component and the type discrimination criteria stored in the type criteria holding unit 107 .

Next, in step S7, the type recognition unit 104 outputs the discrimination result, that is, the inspection result. Specifically, the type recognition unit 104 generates data in which an image for which the abnormality type has been determined, an abnormality type of the abnormal area, a building component including the abnormal area, and its position are associated with each other. For example, as shown in FIGS. 8A and 8B, it is output in association with the floor plan of the building C. FIG.

[1-3. effects, etc.]
As described above, the inspection apparatus 100 according to Embodiment 1 inspects the building C. As shown in FIG. The inspection apparatus 100 acquires position information from a building object information holding unit 105 as an information holding unit that holds information on the building object C, and a measuring unit 10 that captures an image of an inspection target portion of the building object C. A position recognition unit 102 that calculates the position of the measuring unit 10 with respect to the building C based on the information of the building C held in the information holding unit 105 and the position information of the measuring unit 10, and the image captured by the measuring unit 10 and based on the image and the position of the measurement unit 10, a part determination unit 101 that specifies the inspection target part shown in the image, and a reference holding part that holds inspection standards for each part of the building C By comparing the inspection target part specified by the abnormality criterion holding unit 106 and the type criterion holding unit 107 and the inspection criterion held in the abnormality criterion holding unit 106 and the type criterion holding unit 107, An abnormality determining unit 103 and a type recognizing unit 104 are provided as determining units for determining and outputting inspection results of inspection target sites.

According to the above configuration, the inspection apparatus 100 makes the image captured by the measuring unit 10 based on the position of the measuring unit 10 with respect to the building C calculated using the information of the building C and the position information of the measuring unit 10. Identify the projected inspection target site. Further, the inspection apparatus 100 determines the inspection result of the inspection target site by comparing the inspection target site with the inspection standard for each site of the building C. FIG. In this way, the inspection apparatus 100 identifies various inspection target regions from various images captured by the measurement unit 10, and outputs respective inspection results. Therefore, the inspection device 100 enables automation of the inspection of the building.

Further, in the inspection apparatus 100 according to Embodiment 1, the measurement unit 10 captures two-dimensional images and three-dimensional images of a site to be inspected, acquires position information of the measurement unit 10, and the site determination unit 101 At least one of the two-dimensional image and the three-dimensional image captured by the measurement unit 10 may be used to identify the inspection target site. According to the above configuration, the part determination unit 101 can specify the shape of the inspection target part and the position of the inspection target part on the two-dimensional image by using the two-dimensional image. The part determination unit 101 can specify the shape and dimensions of the inspection target part and the three-dimensional position of the inspection target part by using the three-dimensional image. Due to the difference in target indicated by the pixel values, specifying the shape of the inspection target site using a two-dimensional image is more accurate than using a three-dimensional image. Furthermore, by using two-dimensional images and three-dimensional images, it is possible to specify the shape, size and position of the inspection target site with higher accuracy.

Further, in the inspection apparatus 100 according to Embodiment 1, the type recognition unit 104 may output the inspection result of the inspection target region, the information of the inspection target region, and the image of the inspection target region in association with each other. According to the above configuration, for example, by displaying the output result of the type recognition unit 104 on a display or the like, the user can easily recognize the inspection result and the state of each inspection target site.

[Modification of Embodiment 1]
An inspection apparatus 100A according to a modification of Embodiment 1 will be described. In Embodiment 1, the abnormality determination unit 103 and the type recognition unit 104 of the inspection apparatus 100 respectively perform the processing of abnormality determination and abnormality type determination on all images acquired by the measurement unit 10 . The abnormality determination unit 103A of the inspection apparatus 100A according to this modification performs abnormality determination processing on all images acquired by the measurement unit 10, and the type recognition unit 104A determines that there is an abnormality by the abnormality determination unit 103. Abnormality type determination processing is performed only on the image including the inspection target site. Differences from the first embodiment will be mainly described below.

FIG. 10 is a block diagram showing an example of a functional configuration of an inspection device 100A according to a modification of the first embodiment. As shown in FIG. 10, the inspection apparatus 100A includes a part determining unit 101, a position recognizing unit 102, a building information holding unit 105, an abnormality reference holding unit 106, and a type reference holding unit 106, as in the first embodiment. 107. Furthermore, the inspection apparatus 100A includes an abnormality determination section 103A and a type recognition section 104A. The configurations and operations of the part determination unit 101, the position recognition unit 102, the building object information storage unit 105, the abnormality criterion storage unit 106, and the type criterion storage unit 107 are the same as those in the first embodiment. The configuration and operation of the measurement unit 10 are also the same as in the first embodiment.

Similar to the first embodiment, the abnormality determination unit 103A determines the presence/absence of an abnormality in the inspection target site in all the images acquired from the measurement unit 10 . Then, the abnormality determination unit 103A determines that there is an abnormality in the inspection target site and its position, the building component corresponding to the inspection target site, the pixel coordinates of the abnormal area of the inspection target site, and the inspection target site. The image obtained by performing the abnormality determination of the part is output to the type recognition unit 104A. The image on which the abnormality determination of the inspection target site is performed is an image including the inspection target site. The abnormality determination unit 103A does not output information about the inspection target portion determined to have no abnormality to the type recognition unit 104A.

The type recognition unit 104A recognizes the image acquired from the abnormality determination unit 103A, the inspection target site and its position in the image, the building component corresponding to the inspection target site, and the pixels of the abnormal area of the inspection target site. The type of abnormality in the abnormal area is determined using the coordinates. Since other operations of the type recognition unit 104A are the same as those of the type recognition unit 104 of the first embodiment, description thereof will be omitted.

Further, other configurations and operations of the inspection apparatus 100A according to this modification are the same as those in the first embodiment, so description thereof will be omitted. The same effects as those of the first embodiment can be obtained by the inspection apparatus 100A according to the modification as described above.

Furthermore, in the inspection apparatus 100A, the abnormality standard holding unit 106 holds, as inspection standards, criteria for determining the presence or absence of an abnormality for each part of the building C, and the type standard holding unit 107 stores the building C as inspection standards. It is also possible to hold a criterion for determining the type of abnormality for each part of the . The abnormality determination unit 103A determines whether or not the inspection target portion satisfies the determination criteria, and the type recognition unit 104A determines whether or not the inspection target portions that do not satisfy the determination criteria meet the determination criteria. , the determination result may be output as the inspection result. According to the above configuration, the abnormality determination unit 103A can perform determination based on the determination criteria for inspection target sites included in all images. , the judgment based on the judgment criterion is performed only for the image including the inspection target portion that does not satisfy the judgment criterion. Therefore, when the amount of calculation for the discrimination processing of the type recognition unit 104A is large, it is possible to reduce the calculation load of the inspection apparatus 100A.

[Embodiment 2]
An inspection apparatus 200 according to Embodiment 2 will be described. In Embodiment 1, the abnormality determination unit 103 and the type recognition unit 104 of the inspection apparatus 100 each processed the inspection target portion in the image acquired by the measurement unit 10 . The inspection apparatus 200 according to Embodiment 2 does not include a type recognition unit, and outputs determination results of the abnormality determination unit 203 as inspection results. Differences from the first embodiment and the modification will be mainly described below.

FIG. 11 is a block diagram showing an example of a functional configuration of inspection apparatus 200 according to Embodiment 2. As shown in FIG. As shown in FIG. 11, the inspection apparatus 200 includes a part determining section 101, a position recognizing section 102, a building information holding section 105, and an abnormality reference holding section 106, as in the first embodiment. Furthermore, the inspection device 200 includes an abnormality determination section 203 . The configurations and operations of the part determination unit 101, the position recognition unit 102, the building information storage unit 105, and the abnormality reference storage unit 106 are the same as those in the first embodiment. The configuration and operation of the measurement unit 10 are also the same as in the first embodiment.

Similar to the first embodiment, the abnormality determination unit 203 determines whether or not there is an abnormality in the inspection target site in each image obtained from the measurement unit 10 . Then, the abnormality determination unit 103A associates the image subjected to the abnormality determination with the building component corresponding to the inspection target site including the abnormal area and its position, and outputs the image to the outside of the inspection device 200 . The output destination of the abnormality determination unit 203 may be a storage device (not shown), an output device such as a display, an output interface such as an output terminal, or a computer device.

Further, the abnormality determination unit 203 may refer to the floor plan information of the building C from the building information holding unit 105, and associate the position on the floor plan with the output information. Furthermore, the abnormality determination unit 203 may generate and output data in which the position on the floor plan and the output information are associated with each other. An image displayed using such data indicates, for example, a position determined to be abnormal on the floor plan, and also indicates height information of the position. Further, when the user selects the position by operating the computer device, the captured image corresponding to the selected position may be displayed.

Other configurations and operations of the inspection apparatus 200 according to Embodiment 2 are the same as those in Embodiment 1, and thus descriptions thereof are omitted. The inspection apparatus 200 according to the second embodiment as described above can also provide the same effects as those of the first embodiment.

Furthermore, in the inspection apparatus 200, the abnormality criterion holding unit 106 holds, as an inspection criterion, criteria for determining the presence or absence of an abnormality for each part of the building C, and the abnormality determining unit 203 determines that the parts to be inspected satisfy the criteria. The inspection result of the inspection target site may be determined depending on whether or not. According to the above configuration, the inspection apparatus 200 outputs only the determination result of the presence/absence of abnormality as the inspection result, so that the amount of processing can be reduced. Furthermore, since the abnormality determination unit 203 does not determine the type of abnormality, erroneous detection of an abnormality whose type is difficult to determine can be reduced. Therefore, it is possible to improve the accuracy of abnormality detection.

[Embodiment 3]
An inspection apparatus 300 according to Embodiment 3 will be described. In Embodiment 1, the abnormality determination unit 103 and the type recognition unit 104 of the inspection apparatus 100 each processed the inspection target portion in the image acquired by the measurement unit 10 . The inspection apparatus 300 according to Embodiment 3 does not include an abnormality determination unit, and outputs the determination result of the type recognition unit 304 as the inspection result. Differences from the first and second embodiments and the modification will be mainly described below.

FIG. 12 is a block diagram showing an example of a functional configuration of inspection apparatus 300 according to Embodiment 3. As shown in FIG. As shown in FIG. 12, the inspection apparatus 300 includes a part determination unit 101, a position recognition unit 102, a building information storage unit 105, and a type reference storage unit 107, as in the first embodiment. Furthermore, the inspection device 300 includes a type recognition section 304 . The configurations and operations of the part determining unit 101, the position recognizing unit 102, the building object information holding unit 105, and the type reference holding unit 107 are the same as those in the first embodiment. The configuration and operation of the measurement unit 10 are also the same as in the first embodiment.

The type recognition unit 304 determines the type of the abnormal region included in the inspection target site in all the images acquired from the measurement unit 10 . Then, the type recognition unit 304 associates the image for which the abnormality type has been determined, the abnormality type of the abnormal area, the building component including the abnormal area and the position thereof, and performs the same operation as in the first embodiment. to the outside of the inspection apparatus 300.

Specifically, the type recognizing unit 304 scans the pixel values of the pixels representing each inspection target region in each acquired image. Further, the type recognizing unit 304 extracts a feature amount related to pixel values of pixels arranged in the inspection target site. Then, the type recognizing unit 304 compares the extracted feature amount and the building constituent element corresponding to the inspection target site shown in the pixel from which the feature amount was extracted with the type discrimination criteria of the type reference holding unit 107. By doing so, the presence or absence of an abnormality is identified, and if there is an abnormality, the type of abnormality is also identified. The extraction of feature values, the presence or absence of anomalies, and the identification of the type of anomalies can be performed by techniques such as multi-class classification using deep learning. When the type of abnormality is specified, the type recognition unit 304 associates the image in which the type of abnormality was determined, the type of abnormality, the building component including the abnormality and its position, and outputs the information to the inspection device. Output to the outside of 300 .

Other configurations and operations of the inspection apparatus 300 according to Embodiment 3 are the same as those in Embodiment 1, and thus descriptions thereof will be omitted. The inspection apparatus 300 according to the third embodiment as described above can also obtain the same effects as those of the first embodiment.

Furthermore, in the inspection apparatus 300, the type standard holding unit 107 holds, as inspection standards, discrimination standards for the type of abnormality for each part of the building C, and the type recognition unit 304 determines whether the parts to be inspected match the discrimination standards. The inspection result of the inspection target site may be determined depending on whether or not to carry out the inspection. According to the above configuration, the inspection apparatus 300 detects an abnormality in the inspection target site based only on the criteria for determining the type of abnormality. Such an inspection apparatus 300 can determine the type of abnormality without performing the determination processing of the abnormality determination unit 103 according to the first embodiment. Therefore, the inspection apparatus 300 can reduce the amount of processing performed to determine the type of abnormality.

[Embodiment 4]
An inspection apparatus 400 according to Embodiment 4 will be described. The inspection apparatus 100 according to Embodiment 1 performed inspection processing using an image arbitrarily captured by the measurement unit 10 . The inspection apparatus 400 according to the fourth embodiment determines whether an image captured by the measurement unit 10 is suitable for inspection, and performs inspection processing using an image suitable for inspection. Differences from the first to third embodiments and modifications will be mainly described below.

FIG. 13 is a block diagram showing an example of the functional configuration of inspection apparatus 400 according to the fourth embodiment. As shown in FIG. 13, inspection apparatus 400 includes position recognition unit 102, abnormality determination unit 103, type recognition unit 104, building object information storage unit 105, and abnormality reference storage unit 105, as in the first embodiment. 106 and a type reference holding unit 107 . Furthermore, the inspection apparatus 400 includes a part determination unit 401 , a positional relationship recognition unit 408 , a position/orientation control unit 409 , and a positional relationship holding unit 410 . The configuration and operation of the position recognition unit 102, the abnormality determination unit 103, the type recognition unit 104, the building information storage unit 105, the abnormality criterion storage unit 106, and the type criterion storage unit 107 are the same as those in the first embodiment. The positional relationship recognition unit 408 and the position/orientation control unit 409 are implemented by the same configuration as the above components. The configuration and operation of the measurement unit 10 are the same as those of the first embodiment.

The positional relationship holding unit 410 is configured in the same manner as the building object information holding unit 105 and the like, and is implemented by the storage device as exemplified for the building object information holding unit 105 and the like. The positional relationship holding unit 410 holds the criteria for the adequacy of the positional relationship between each part of the building C and the measuring unit 10 . Specifically, the positional relationship storage unit 410 stores a predefined positional relationship between the building component and the measurement unit 10 . The positional relationship includes the range of distance between the building component and the measuring unit 10 and the range of orientation of the measuring unit 10 with respect to the surface of the building component. When the range of the distance between the building component and the measuring unit 10 and the range of the orientation of the measuring unit 10 with respect to the surface of the building component satisfy the range defined by the positional relationship holding unit 410, the measuring unit 10 The captured image is suitable for inspection, and if it does not meet the requirements, it can be determined that the image is not suitable for inspection.

The range of the distance between the building component and the measuring unit 10 is a range of distance suitable for imaging the building component by the measuring unit 10 . This range of distance can be set according to the imaging capabilities of the 2D image acquisition unit 12 and the 3D image acquisition unit 13 of the measurement unit 10, the size of an abnormal region that can occur in a building component, and the like.

The range of directions of the measurement unit 10 with respect to the surface of the building component is a range of directions suitable for imaging the building component by the measurement unit 10 . This range of orientations can be set according to the surface properties of the building component. Note that the orientation of the measurement unit 10 is the imaging direction of the 2D image acquisition unit 12 and the 3D image acquisition unit 13 . In the present embodiment, the orientation of the measurement unit 10 with respect to the surface of the building component is the orientation within the three-dimensional space, but it may be the orientation within the two-dimensional space such as a horizontal plane. For example, if the building component is a kitchen or a mirror, the surface of the building component can be glossy or specular. When the 2D image acquisition unit 12 and the 3D image acquisition unit 13 capture an image of such a surface from the front, an abnormality such as a scratch or a dent on the surface is buried in the reflected image on the surface. It may not appear. By taking an image of such a surface from an oblique direction, an abnormality on the surface is reflected in the image.

For example, as shown in FIG. 14, the positional relationship holding unit 410 stores the building component, the range of the distance between the building component and the measuring unit 10, and the orientation of the measuring unit 10 with respect to the surface of the building component. Store in association with the range. Note that if a distance range suitable for the measuring unit 10 is not set, the positional relationship holding unit 410 associates only the building component with the range of orientation of the measuring unit 10 with respect to the surface of the building component. may be stored.

As in the first embodiment, the site determination unit 401 determines the position and area of the subject site, each building component in the subject site, and the inspection target site thereof for each image acquired from the measurement unit 10 . The position and area on the image are calculated, and information including these and the image corresponding to the object part is output to the abnormality determination unit 103 and the positional relationship recognition unit 408 . Furthermore, part determination section 401 outputs the position information of measurement section 10 acquired from position recognition section 102 to positional relationship recognition section 408 .

The positional relationship recognizing unit 408 acquires the positional relationship between the measuring unit 10 and the inspection target site based on the position of the measuring unit 10 and information on the inspection target site specified by the site determination unit 401 . Specifically, the positional relationship recognition unit 408 refers to the information of the building C stored in the building information holding unit 105, and based on the information of the building C and the information acquired from the part determination unit 401, The position of the inspection target part with respect to the building C is calculated. At this time, the positional relationship recognizing unit 408 recognizes the information of the floor plan of the building C, the position and area of the object to be photographed, and the position and area of each building component in the object to be photographed and its inspection target part. Based on this, the position of the site to be inspected on the floor plan is calculated. Further, the positional relationship recognition unit 408 determines the position and orientation of the measurement unit 10 with respect to the inspection target site based on the position of the inspection target site on the floor plan and the position information of the measurement unit 10 acquired from the site determination unit 401. Calculate Specifically, the positional relationship recognizing unit 408 calculates the position and orientation of the measuring unit 10 with respect to the surface of the building component in the inspection target site. The positional relationship recognition unit 408 outputs information including the position of the inspection target site and the position and orientation of the measurement unit 10 with respect to the surface of the building component of the inspection target site to the position/orientation control unit 409 .

The position/orientation control unit 409 converts the positional relationship between the measurement unit 10 and the inspection target part acquired by the positional relationship recognition unit 408 into a positional relationship corresponding to the measurement unit 10 and the inspection target part held in the positional relationship holding unit 410 . The inspection result of the inspected part is determined by comparing the positional relationship with the object component. Furthermore, the position/orientation control unit 409 generates control information for the position and orientation of the measurement unit 10 based on the two positional relationships that have been compared. Here, the position/orientation control unit 409 is an example of a determination unit and a control information generation unit.

The position/orientation control unit 409 stores the positional relationship between the measuring unit 10 and the inspection target portion of the building component acquired by the positional relationship recognizing unit 408 from the measuring unit 10 held in the positional relationship holding unit 410 and the relevant construction unit. It is determined whether or not the positional relationship with the entity component is satisfied. If the conditions are satisfied, the position/orientation control unit 409 determines that the image of the inspection target site is appropriate, and causes the abnormality determination unit 103 and the type recognition unit 104 to perform processing using the image of the inspection target site. If the conditions are not satisfied, the position/orientation control unit 409 determines that the image of the inspection target site is inappropriate, and causes the abnormality determination unit 103 and the type recognition unit 104 to stop processing using the image of the inspection target site. .

Furthermore, in the latter case, the position/orientation control unit 409 instructs the measurement unit 10 to re-image the inspection target region. At this time, the position/posture control unit 409 changes the imaging direction of the measurement unit 10 so that the positional relationship between the measurement unit 10 and the examination target region satisfies the positional relationship held in the positional relationship holding unit 410, and A control command for changing the position of the measuring unit 10, that is, the position of the moving body 1 is generated. The position/orientation control unit 409 outputs a control command to a control device (not shown) of the measurement unit 10 and a control device (not shown) of the moving body 1 before issuing a re-imaging command. The control device of the measurement unit 10 controls, for example, a gimbal driving device of the measurement unit 10 to change the attitude of the measurement unit 10 . The control device of the moving body 1 controls the driving device of the moving body 1 to change the position of the moving body 1 . After recognizing the change in the posture and position of the measuring unit 10 and the moving body 1 via the position acquiring unit 11 and the like, the measuring unit 10 performs re-imaging. This provides an image suitable for inspection.

Further, other configurations and operations of the inspection apparatus 400 according to the fourth embodiment are the same as those of the first embodiment, so description thereof will be omitted. Further, the inspection apparatus 400 according to the fourth embodiment as described above can also obtain the same effects as those of the first embodiment.

Furthermore, the inspection apparatus 400 includes a positional relationship recognition unit that acquires the positional relationship between the measurement unit 10 and the inspection target site based on the position of the measurement unit 10 and information on the inspection target site specified by the site determination unit 401. 408 , and a positional relationship holding unit 410 that holds the positional relationship between each portion preset for each portion of the building C and the measuring unit 10 . Then, the position/orientation control unit 409 as a determining unit stores the positional relationship between the measuring unit 10 and the inspection target part acquired by the positional relationship recognizing unit 408 from the measuring unit 10 held in the positional relationship holding unit 410 for inspection. The inspection result of the inspection target site may be determined by comparing with the positional relationship with the target site. According to the above configuration, the position/orientation control unit 409 invalidates the inspection result, for example, when the positional relationship between the measurement unit 10 and the part to be inspected does not satisfy the relationship held by the positional relationship holding unit 410 and is not appropriate. be able to. In this case, the position/orientation control unit 409 may instruct the measurement unit 10 to recapture an image. This makes it possible to improve the accuracy of inspection results.

In the inspection apparatus 400 , the position/orientation control unit 409 as a control information generation unit retains the positional relationship between the measurement unit 10 and the inspection target site acquired by the positional relationship recognition unit 408 in the positional relationship storage unit 410 . Control information for the position and orientation of the measurement unit 10 may be generated based on the positional relationship between the measurement unit 10 and the inspection target site. According to the above configuration, the position/orientation control unit 409 changes the position and orientation of the measurement unit 10 when the positional relationship between the measurement unit 10 and the examination target region is not appropriate because the relationship held by the positional relationship holding unit 410 is not satisfied. Control information including a command to make it appropriate may be output to the measuring unit 10 and the moving body 1, and the measuring unit 10 may be commanded to recapture an image. As a result, it becomes possible to perform an inspection using an image suitable for detecting an abnormality, and to improve the accuracy of the inspection result.

[Embodiment 5]
An inspection apparatus 500 according to Embodiment 5 will be described. The inspection apparatus 500 according to Embodiment 5 is configured to control the imaging operation of the measuring unit 10 and the operation of the moving object 1, and to stop the moving object 1 during imaging by the measuring unit 10. It differs from the fourth embodiment. Differences from the first to fourth embodiments and modifications will be mainly described below.

FIG. 15 is a block diagram showing an example of a functional configuration of inspection apparatus 500 according to Embodiment 5. As shown in FIG. As shown in FIG. 15, the inspection apparatus 500 includes a position recognition unit 102, an abnormality determination unit 103, a type recognition unit 104, a building information storage unit 105, and an abnormality reference storage unit 105, as in the fourth embodiment. 106 , a type reference storage unit 107 , a part determination unit 401 , a positional relationship recognition unit 408 , and a positional relationship storage unit 410 . The configuration and operation of the above components are the same as in the fourth embodiment. Furthermore, the inspection apparatus 500 includes a position/posture control unit 509 and a measurement control unit 511 . The measurement control unit 511 is implemented by the same configuration as the above components. The configuration and operation of the measurement unit 10 are the same as those of the first embodiment.

The position/orientation control unit 509 operates in the same manner as in the fourth embodiment. Furthermore, when the position/orientation control unit 509 receives a command to stop the movement of the moving body 1 from the measurement control unit 511 , the command to stop the movement of the moving body 1 is sent to the control device (not shown) of the moving body 1 . to output

The measurement control unit 511 commands the measurement unit 10 to capture an image of the inspection target site, and controls the imaging operation of the measurement unit 10 . Furthermore, the measurement control unit 511 outputs a command to stop the movement of the moving body 1 in advance when outputting an imaging command to the measurement unit 10 . Specifically, the measurement control unit 511 acquires a command for performing imaging by the measurement unit 10 via the input device 520 . Next, the measurement control unit 511 outputs a command to stop the movement of the moving body 1 to the position/orientation control unit 509 . Next, the measurement control unit 511 outputs to the measurement unit 10 a command to perform imaging after the moving body 1 stops moving. The order of commands output to the measuring unit 10 is not limited to the above, and may be reversed. When the position acquisition unit 11 detects that the moving body 1 has stopped moving, the measurement unit 10 takes an image. Therefore, the measurement unit 10 performs imaging while the moving body 1 is in a state where the movement is stopped. Here, the measurement control unit 511 is an example of a control command unit.

In the present embodiment, the input device 520 is an input interface such as a switch that receives a user command input to the inspection device 500 . For example, the input device 520 may be mounted on the control device 1a of the mobile object 1. FIG. Alternatively, the input device 520 may be mounted on a device different from the control device 1a and connected to the mobile object 1 via wired communication or wireless communication. The input device 520 may not output a command to perform imaging in the OFF state and may output a command to perform imaging in the ON state.

Further, when the measurement unit 10 is configured to sequentially perform imaging according to a predetermined program, the measurement control unit 511 obtains the imaging timing from the measurement unit 10 in advance, and controls the movement of the moving body 1 before the imaging timing. A command to stop may be output.

Further, the measurement control unit 511 is mounted together with other components of the inspection device 500, but is not limited to this. good too.

Other configurations and operations of the inspection apparatus 500 according to the fifth embodiment are the same as those of the fourth embodiment, and thus descriptions thereof will be omitted. The inspection apparatus 500 according to the fifth embodiment as described above can also provide the same effects as those of the fourth embodiment.

Furthermore, the inspection apparatus 500 further includes a measurement control unit 511 as a control command unit that commands the measurement unit 10 to capture an image of the inspection target site. , a command to stop the movement of the moving body 1 may be output in advance. According to the above configuration, the movement of the moving body 1 on which the measurement unit 10 is mounted is stopped when the measurement unit 10 is imaging. As a result, the vibration and displacement applied from the moving body 1 to the measurement unit 10 are reduced, so that the measurement unit 10 can stably capture clear images. Therefore, the abnormality detection accuracy in the inspection device 500 is improved.

[others]
As described above, the embodiment and modifications of the inspection apparatus according to the present disclosure have been described. However, the technology of the present disclosure is not limited to the above embodiments and modifications, and can be applied to modifications, replacements, additions, omissions, etc. of the embodiments or other embodiments as appropriate. be. Moreover, it is also possible to combine each component described in the embodiment and modification to form a new embodiment or modification.

For example, as described above, the technology of the present disclosure may be implemented in a system, apparatus, method, integrated circuit, computer program, or recording medium such as a computer-readable recording disk. , may be implemented in any combination of a computer program and a recording medium. Computer-readable recording media include, for example, non-volatile recording media such as CD-ROMs.

For example, each processing unit included in the above embodiments and modifications is typically realized as an LSI (Large Scale Integration), which is an integrated circuit. These may be made into one chip individually, or may be made into one chip so as to include part or all of them.

Further, circuit integration is not limited to LSIs, and may be realized by dedicated circuits or general-purpose processors. An FPGA (Field Programmable Gate Array) that can be programmed after the LSI is manufactured, or a reconfigurable processor that can reconfigure the connections and settings of the circuit cells inside the LSI may be used.

In addition, in the above-described embodiment and modifications, each component may be configured by dedicated hardware, or may be realized by executing a software program suitable for each component. Each component may be realized by reading and executing a software program recorded in a recording medium such as a hard disk or a semiconductor memory by a program execution unit such as a processor such as a CPU.

Also, some or all of the above components may be composed of a detachable IC (Integrated Circuit) card or a single module. An IC card or module is a computer system composed of a microprocessor, ROM, RAM and the like. An IC card or module may include the above LSI or system LSI. The IC card or module achieves its function by the microprocessor operating according to the computer program. These IC cards and modules may be tamper-resistant.

The technique of the present disclosure may be implemented by a method such as the following inspection method. The inspection method may be realized by a processor such as an MPU (Micro Processing Unit) and CPU, a circuit such as LSI, an IC card, a single module, or the like. Such an inspection method is an inspection method for inspecting a building, in which an image of a site to be inspected in the building and information on the imaging position of the image are acquired, information on the building is acquired, calculating the imaging position of the building based on the information of the building and the information of the imaging position, and determining the inspection target portion shown in the image based on the image and the imaging position of the building; By identifying and obtaining an inspection standard for each portion of the building, and comparing the identified inspection target portion with the inspection standard, an inspection result of the inspection target portion is determined.

Furthermore, the technology of the present disclosure may be realized by a software program or a digital signal composed of a software program, or may be a non-transitory computer-readable recording medium on which the program is recorded. It goes without saying that the above program can be distributed via a transmission medium such as the Internet.

In addition, all numbers such as ordinal numbers and numbers used above are examples for specifically describing the technology of the present disclosure, and the present disclosure is not limited to the numbers exemplified. Also, the connection relationship between the components is an example for specifically describing the technology of the present disclosure, and the connection relationship for realizing the function of the present disclosure is not limited to this.

Also, the division of functional blocks in the block diagram is an example, and a plurality of functional blocks can be realized as one functional block, one functional block can be divided into a plurality of functional blocks, and some functions can be moved to other functional blocks. may Moreover, single hardware or software may process the functions of a plurality of functional blocks having similar functions in parallel or in a time-sharing manner.

1 moving body C building 10 measurement unit 100, 100A, 200, 300, 400, 500 inspection device 101, 401 site determination unit 102 position recognition unit 103, 103A, 203 abnormality determination unit (determination unit)
104, 104A, 304 type recognition unit (determination unit)
105 Building Information Storage Unit (Information Storage Unit)
106 Abnormality reference holding unit (reference holding unit)
107 type reference holding unit (reference holding unit)
408 positional relationship recognition units 409 and 509 position/posture control units (determination unit, control information generation unit)
410 positional relationship holding unit 511 measurement control unit (control command unit)

Claims (10)

An inspection device for inspecting a building having an interior including at least one of wall materials, floor materials, and ceiling materials,
an information holding unit that holds information on the building;
positional information of a measuring unit that captures an image of a site to be inspected in the building is obtained, and based on the information of the building held in the information holding unit and the positional information of the measuring unit, the a position recognition unit that calculates the position of the measurement unit;
a region determination unit that acquires an image captured by the measurement unit and specifies the inspection target region shown in the image based on the image and the position of the measurement unit;
a reference holding unit that holds an inspection reference for each part of the building;
a determination unit that determines and outputs an inspection result of the inspection target site by comparing the inspection target site specified by the site determination unit and the inspection reference held in the reference holding unit;
The part to be inspected is the interior,
The building information includes a floor plan of the building,
The inspection device, wherein the position of the measuring unit with respect to the building is a position or area in the floor plan. The measurement unit captures a two-dimensional image and a three-dimensional image of the inspection target site and acquires position information of the measurement unit;
The inspection apparatus according to claim 1, wherein the part determining section identifies the inspection target part using at least one of a two-dimensional image and a three-dimensional image captured by the measuring section. The inspection apparatus according to claim 1 or 2, wherein the determination unit associates and outputs an inspection result of the inspection target site, information on the inspection target site, and the image of the inspection target site. The reference holding unit holds, as an inspection reference, a reference for determining the presence or absence of an abnormality for each part of the building,
The inspection apparatus according to any one of claims 1 to 3, wherein the determination unit determines the inspection result of the inspection target site according to whether or not the inspection target site satisfies the determination criteria. An inspection device for inspecting a building,
an information holding unit that holds information on the building;
positional information of a measuring unit that captures an image of a site to be inspected in the building is obtained, and based on the information of the building held in the information holding unit and the positional information of the measuring unit, the a position recognition unit that calculates the position of the measurement unit;
a region determination unit that acquires an image captured by the measurement unit and specifies the inspection target region shown in the image based on the image and the position of the measurement unit;
a reference holding unit that holds an inspection reference for each part of the building;
a determination unit that determines and outputs an inspection result of the inspection target site by comparing the inspection target site specified by the site determination unit and the inspection reference held in the reference holding unit;
The reference holding unit holds, as an inspection reference, a criterion for determining a type of abnormality for each part of the building,
The inspection apparatus, wherein the determination unit determines an inspection result of the inspection target site according to whether the inspection target site matches the discrimination criterion. An inspection device for inspecting a building,
an information holding unit that holds information on the building;
positional information of a measuring unit that captures an image of a site to be inspected in the building is obtained, and based on the information of the building held in the information holding unit and the positional information of the measuring unit, the a position recognition unit that calculates the position of the measurement unit;
a region determination unit that acquires an image captured by the measurement unit and specifies the inspection target region shown in the image based on the image and the position of the measurement unit;
a reference holding unit that holds an inspection reference for each part of the building;
a determination unit that determines and outputs an inspection result of the inspection target site by comparing the inspection target site specified by the site determination unit and the inspection reference held in the reference holding unit;
The reference holding unit holds, as inspection standards, a criterion for determining the presence or absence of an abnormality in each portion of the building and a criterion for determining a type of abnormality in each portion of the building;
The determination unit determines whether or not the inspection target portion satisfies the determination criterion, determines whether or not the inspection target portion that does not satisfy the determination criterion meets the determination criterion, and makes a determination. An inspection device that outputs results as inspection results. An inspection device for inspecting a building,
an information holding unit that holds information on the building;
positional information of a measuring unit that captures an image of a site to be inspected in the building is obtained, and based on the information of the building held in the information holding unit and the positional information of the measuring unit, the a position recognition unit that calculates the position of the measurement unit;
a region determination unit that acquires an image captured by the measurement unit and specifies the inspection target region shown in the image based on the image and the position of the measurement unit;
a reference holding unit that holds an inspection reference for each part of the building;
a determination unit that determines and outputs an inspection result of the inspection target site by comparing the inspection target site specified by the site determination unit and the inspection reference held in the reference holding unit;
a positional relationship recognizing unit that acquires a positional relationship between the measuring unit and the part to be inspected based on the position of the measuring unit and information on the part to be inspected specified by the part determining unit;
further comprising a positional relationship holding unit that holds a positional relationship between each portion preset for each portion of the building and the measuring unit;
The determining unit converts the positional relationship between the measuring unit and the inspection target part acquired by the positional relationship recognizing unit into the positional relationship between the measuring unit and the inspection target part held in the positional relationship holding unit. An inspection device that determines an inspection result of the inspection target site by comparison. An inspection device for inspecting a building,
an information holding unit that holds information on the building;
positional information of a measuring unit that captures an image of a site to be inspected in the building is obtained, and based on the information of the building held in the information holding unit and the positional information of the measuring unit, the a position recognition unit that calculates the position of the measurement unit;
a region determination unit that acquires an image captured by the measurement unit and specifies the inspection target region shown in the image based on the image and the position of the measurement unit;
a reference holding unit that holds an inspection reference for each part of the building;
a determination unit that determines and outputs an inspection result of the inspection target site by comparing the inspection target site specified by the site determination unit and the inspection reference held in the reference holding unit;
a positional relationship recognizing unit that acquires a positional relationship between the measuring unit and the part to be inspected based on the position of the measuring unit and information on the part to be inspected specified by the part determining unit;
a positional relationship holding unit that holds a positional relationship between each portion preset for each portion of the building and the measuring unit;
the measurement based on the positional relationship between the measuring unit and the inspection target part acquired by the positional relationship recognizing unit and the positional relationship between the measuring unit and the inspection target part held in the positional relationship holding unit; and a control information generator that generates control information for the position and orientation of the part. The inspection device according to any one of claims 1 to 8, wherein the measurement unit is mounted on a moving body,
further comprising a control command unit that commands the measurement unit to capture an image of the inspection target site;
The inspection apparatus, wherein the control command unit outputs a command to stop the movement of the moving body in advance when outputting an imaging command to the measurement unit. An inspection method for inspecting a building having an interior including at least one of wall material, floor material, and ceiling material,
Acquiring an image of a site to be inspected in the building and information on the imaging position of the image,
Acquiring information on the building,
calculating the imaging position with respect to the building based on the information of the building and the information of the imaging position;
based on the image and the imaging position with respect to the building, identifying the inspection target portion shown in the image;
obtaining inspection standards for each part of the building;
determining an inspection result of the inspection target site by comparing the specified inspection target site and the inspection standard;
The part to be inspected is the interior,
The building information includes a floor plan of the building,
The inspection method, wherein the imaging position with respect to the building is a position or area in the floor plan.

Images