JPH10318805A - Moving inspection system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce the time for inspection work more than heretofore so as to improve the efficiency of inspection work. SOLUTION: This inspection system is provided with a moving vehicle 2 on a moving route, a detector for detecting the direction and quantity of travelling thereof, a telescopic camera 4a which is placed on the vehicle 2 and photographs a picture for inspecting a transformer T according to optionally settable position for photographing a picture, a stereoscopic monitoring camera 3 for photographing a picture for monitoring the transformer T, a stereoscopic picture processing computer 10 and a picture indication monitor 11 for indicating the photographed picture for monitoring, a touch panel 11a to set the coordinate position of the transformer T at the time when the transformer T appears on the picture for monitoring, a device 12 for computing specified position and a control computer 16 which aligns the photographing position of the camera 4a with the transformer T, and a control computer 16 which allows the camera 4a to trace automatically the transformer T for photographing according to the direction and quantity of travelling of the vehicle 2.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a moving inspection system for inspecting an object to be inspected by moving a moving means such as a moving vehicle equipped with an inspection device such as a camera.

[0002]

2. Description of the Related Art Conventionally, when inspecting various equipments provided at a plurality of locations, such as a voltage conversion transformer (transformer) mounted on a telephone pole, a worker has to distribute the equipments. He was patroling the locations one by one on foot and visually inspecting them.

[0003]

In the conventional circulation inspection work by the worker, the worker has to walk around the installation site of the equipment one by one on foot, so that the work time for the inspection work becomes enormous, and the inspection efficiency is reduced. It had dropped significantly.

[0004] Therefore, a mobile robot equipped with an inspection device having photographing equipment such as a camera is moved to travel around each equipment, and the photographing equipment photographs the equipment (object to be inspected) to perform inspection work. A mobile inspection system to be performed has been considered.

[0005] According to this mobile inspection system, the time required for patrol of each equipment is reduced as compared with the conventional patrol inspection work by the worker, so that the number of workers involved in the inspection work is smaller than the patrol inspection work by the worker. This reduces the overall inspection work time and improves the inspection efficiency.

However, according to the conventional mobile inspection system, the mobile robot is moved to the vicinity of a certain installation location of equipment, the movement of the robot is stopped, and the inspection is performed. The inspection process was to move the equipment to the next installation location. In other words, the movement of the mobile robot must be stopped during the inspection of each facility and equipment, so that the overall inspection work time cannot be sufficiently reduced. Efficiency was desired.

The present invention has been made in view of the above circumstances, and an object of the present invention is to make it possible to carry out an inspection work while moving an inspection device such as a camera at the same time, thereby reducing the time required for the inspection work. To further improve the inspection work efficiency.

[0008]

According to a first aspect of the present invention, there is provided a moving inspection system according to the present invention, which moves along a place where a plurality of inspection objects are installed. Moving means for traveling on a route, detecting means for detecting a moving direction and a moving amount of the moving means, and the object to be inspected in accordance with a data acquisition position arbitrarily set and installed on the moving means Inspection data acquisition means for acquiring inspection data relating to, monitoring image photographing means installed on the moving means for photographing a monitoring image for monitoring the inspection object, and mounted on the moving means Monitoring image display means for displaying a monitoring image captured by the monitoring image capturing means; and an inspection object when an inspection object appears in the monitoring image displayed by the monitoring image display means. A coordinate position setting unit for setting a coordinate position of the elephant; and a data acquisition position of the inspection data acquisition unit based on the coordinate position of the inspection object set by the coordinate position setting unit. Moving the moving means by correcting the data acquiring position of the inspection data acquiring means according to the traveling direction and traveling traveling amount of the moving means detected by the detecting means; Automatic tracking means for automatically tracking the data acquisition position of the inspection data acquisition means with respect to the inspection object regardless of the above.

According to a second aspect of the present invention, the coordinate position setting means is provided on the inspection object displayed on the display screen of the monitoring image display means through manual operation of an operator. A data input device is provided for inputting a coordinate position of the inspection object by designating a predetermined position.

According to the third aspect of the present invention, the coordinate position setting means performs image processing on the monitoring image captured by the monitoring image capturing means, and performs image processing on the monitoring object. An image processing means is provided for extracting an image area and obtaining a coordinate position of the inspection object based on the extracted image area of the inspection object.

According to a fourth aspect of the present invention, there is provided a mobile inspection system, further comprising storage means for storing data representing a positional relationship between the plurality of inspection objects, wherein the coordinate position setting means detects the position by the detection means. The inspection target object (previous inspection object) which has completed the inspection of the inspection object to be inspected next (the next inspection object) in the traveling traveling direction and traveling traveling amount of the moving means and the positional relationship data stored in the storage means. Based on the positional relationship data with respect to the inspection object), whether the moving means approaches the next inspection object to within a predetermined range and the next inspection object is captured in the photographing range of the monitoring image photographing means. Determining means for determining whether or not the moving vehicle means has approached the next inspection object to within a predetermined range by the determining means; The coordinate position of the next inspection object is predicted by referring to the positional relationship data of the elephant with respect to the previous inspection object, and the monitoring image captured by the monitoring image capturing unit is predicted with reference to the prediction data. Prediction processing means for performing image processing and designating the coordinate position of the next inspection object.

According to the moving inspection system according to the fifth aspect, a connecting body for functionally connecting the inspection objects is provided between the plurality of inspection objects along the moving path of the transfer means. The monitoring image capturing unit is configured to capture an image of the connected object as the monitoring image, while the coordinate position setting unit is captured by the monitoring image capturing unit. Processing means for performing image processing on the monitoring image to extract an image region of the connected object, and calculating position information of the connected object with respect to the moving means based on the extracted image region of the connected object; and The moving means is positioned within a predetermined range with respect to the next inspection object based on the traveling direction and traveling amount of the moving means detected by the detecting means and the position information of the connecting body obtained by the processing means. Determining means for judging whether or not the next inspection object is captured in the photographing range of the monitoring image photographing means, and the moving vehicle means is provided with the next inspection object by this judgment means. On the other hand, when it is determined that the inspection object comes close to a predetermined range, the coordinate position of the inspection object is set.

According to the moving inspection system of the sixth aspect, an electric field related to the inspection object exists between the plurality of inspection objects in parallel with the moving path of the transfer means, and The position setting means is an electric field detection sensor for detecting the electric field, a processing means for obtaining position information of the electric field with respect to the moving means based on electric field data detected by the electric field detection sensor, and the position detection means is detected by the detection means. Based on the traveling direction and traveling amount of the traveling means and the position information of the electric field obtained by the processing means, the traveling means approaches the next inspection object to within a predetermined range and the next inspection object is Determining means for determining whether or not the moving vehicle means is captured within the image capturing range of the monitoring image capturing means, and the mobile vehicle means is adapted to detect the next inspection object by this determining means. Is set the coordinate position of the object to be inspected object when it is determined to have approached to within a predetermined range Te.

According to the moving inspection system of the present invention, a magnetic field relating to the inspection object exists between the plurality of inspection objects in parallel with a movement path of the transfer means, and The position setting means is a magnetic field detection sensor for detecting the magnetic field, processing means for obtaining position information of the magnetic field with respect to the moving means based on magnetic field data detected by the magnetic field detection sensor, Based on the traveling direction and travel distance of the moving means and the position information of the magnetic field obtained by the processing means, the moving means approaches the next inspection object to within a predetermined range, and the next inspection object is Determining means for determining whether or not the moving vehicle means is captured within the image capturing range of the monitoring image capturing means, and the mobile vehicle means is adapted to detect the next inspection object by this determining means. Is set the coordinate position of the object to be inspected object when it is determined to have approached to within a predetermined range Te.

According to the moving inspection system of the present invention, a GPS signal is received from a GPS satellite mounted on the moving means and arranged at a predetermined altitude and a three-dimensional position of the moving means is calculated. Equipped with a GPS receiver,
The PS receiver corrects the traveling direction and travel distance of the moving means detected by the detecting means based on the calculated three-dimensional position of the moving means, and supplies the corrected data to the automatic tracking means.

According to a ninth aspect of the present invention, the inspection data acquiring means includes: a photographing unit for photographing an inspection image of the inspection object as inspection data relating to the inspection object; A supporting unit installed on the moving unit to support the photographing unit so that its photographing position can be changed, wherein the data acquisition position setting unit is configured to set a position of the inspection target object set by the coordinate position setting unit. The photographing position of the photographing unit is made to coincide with the inspection target object via the support unit based on the coordinate position, and the automatic tracking unit detects a traveling direction of the moving unit detected by the detection unit. By correcting the photographing position of the photographing unit according to the traveling movement amount, the photographing position of the photographing unit is automatically tracked with respect to the inspection object regardless of the movement of the moving means. That.

According to the moving inspection system of the tenth aspect, image display means for displaying an inspection image of the inspection target portion photographed by the photographing section, and the inspection target photographed by the photographing section. An image recording means for recording an inspection image of the target portion is mounted on the moving means.

According to the mobile inspection system of the eleventh aspect, the inspection object recorded in the image recording means has an image memory for storing a normal image of the inspection object acquired in advance. Image comparison processing means for comparing the inspection image of the part with the normal state image of the inspection object stored in the image memory, and the inspection object according to the comparison result by the image comparison processing means Abnormality detecting means for automatically detecting whether or not an abnormality has occurred in the moving means.

According to the moving inspection system of the present invention, the large computer installed at a position distant from the moving route of the moving means, and the computer mounted on the moving means and recorded on the image recording means. Transmitting means for converting the inspection image of the inspection target part into transmission data and transmitting the transmission data to the large computer, wherein the large computer restores the image of the inspection target part from the transmitted transmission data, Based on the restored image of the inspection target portion, it is automatically detected whether or not the inspection target object has an abnormality.

On the other hand, in order to solve the above-mentioned problem, a moving inspection system according to the present invention circulates on a moving path along a place where a plurality of inspection objects are installed. A moving means for traveling, a detecting means for detecting a moving direction and a moving amount of the moving means, and a monitoring image installed on the moving means for monitoring the inspection object and arbitrarily set Image photographing means for photographing an inspection image of the inspection object in accordance with a possible photographing position; and monitoring image display means mounted on the moving means and displaying a monitoring image photographed by the image photographing means. A coordinate position setting means for setting a coordinate position of the inspection object when the inspection object appears in the monitoring image displayed by the monitoring image display means; An image capturing position setting unit that matches a capturing position of the image capturing unit with the inspected object based on a coordinate position of the inspected object, and a traveling direction and travel of the moving unit detected by the detecting unit. Automatic tracking that corrects the image shooting position of the image shooting means by automatically correcting the image shooting position of the image shooting means with respect to the inspection object regardless of the movement of the moving means by correcting the image shooting position of the image shooting means in accordance with the amount of movement. Means.

[0021]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a mobile inspection system according to the present invention will be described below with reference to the drawings.

(First Embodiment) A first embodiment of the present invention will be described below with reference to FIGS. In addition,
In the present embodiment, a description will be given of a mobile inspection system for inspecting a voltage conversion transformer T mounted on each telephone pole TP as an object to be inspected (inspected equipment).

As shown in FIG. 1, the mobile inspection system 1 of this embodiment is configured so that an inspector (operator, operator) OP can get in and execute an inspection work, and travel on a road on which a telephone pole TP is installed. The moving vehicle 2 that moves and this moving vehicle 2
Stereoscopic surveillance camera 3 for shooting surrounding surveillance images
And a telephoto camera 4a which is mounted on the mobile vehicle 2 and has a zoom mechanism for photographing a transformer T which is an inspection object mounted on the telephone pole TP and inspecting its appearance, and the telephoto camera 4a. An inspection device 4 having a camera platform 4b that is rotatably supported in a vertical direction (up and down direction) and a horizontal direction (left and right direction) so that the direction of the photographing lens (photographing direction) can be set in a predetermined direction. I have.

The three-dimensional surveillance camera 3 has two identical lenses which are arranged several inches apart and whose shooting directions are directed obliquely upward, so that the moving vehicle 2 moves a predetermined distance from the telephone pole TP. When approaching, the same lens captures the peripheral portion including the transformer T and simultaneously captures the image to acquire an image of the peripheral portion of the transformer T.

The moving vehicle 2 has an image processor, a CPU, and the like, and processes an image signal sent from the stereoscopic surveillance camera 3 via the modem 5 and the communication line 6 to process a peripheral portion of the transformer T. A three-dimensional image processing computer 10 for generating a three-dimensional image (three-dimensional image) including depth information, and an image display monitor 11 for displaying a three-dimensional image generated by the three-dimensional image processing computer 10 are mounted.

A touch panel 11a, which is a data input device, is attached to the monitor screen of the image display monitor 11, and an operator OP who gets on the mobile vehicle 2 touches the monitor screen (touch panel 11a) directly or with a pen or the like. Thus, it is possible to specify a coordinate position in the monitor screen, that is, a desired coordinate position in the stereoscopic image displayed on the monitor screen. In addition, the touch panel 1
Instead of 1a or in addition to the touch panel 11a, an input device such as a keyboard, a mouse, a trackball, or the like that can specify a coordinate position on the monitor screen by moving a cursor may be provided.

The mobile vehicle 2 has a CPU, an arithmetic and control processor, and the like.
Based on the coordinate position information specified via the stereoscopic image processing computer 10 and the stereoscopic image information sent from the stereoscopic image processing computer 10, the reference position of the moving vehicle 2 at the specified coordinate position (for example, the lens center position of the telephoto camera 4a of the inspection device 4) ), And a designated position calculation device 12 that calculates and calculates a distance between the designated coordinate position and the reference position and a horizontal direction and a vertical direction with respect to the moving direction of the mobile vehicle 2 on a line connecting the designated coordinate position and the reference position.

On the other hand, the moving vehicle 2 includes a traveling mechanism 13 composed of wheels, shafts, and the like, and a driving device 14 for driving the traveling mechanism 13. The driving device 13 controls the driving of the traveling mechanism 13. Then, the mobile vehicle 2 travels in a predetermined direction at a predetermined speed. And
A detector 1 detects driving control information of the driving device 14 for the traveling mechanism 13 and outputs a traveling direction and a traveling amount of the traveling vehicle 2 based on the driving control information.
5 is mounted.

Further, the mobile vehicle 2 having this configuration has a CPU, a control arithmetic processor, and the like.
A control computer 16 connected to the rotation drive unit of the pan head 4b of the inspection device 4 is mounted on the detector 15.

The control computer 16 inputs the distance information and the horizontal / vertical angle information obtained by the designated position calculation device 12 and controls the rotation drive unit of the camera platform 4b of the inspection device 4 so that the telephoto camera 4a The telephoto camera 4a is rotated so that the subject on the coordinate position designated by the designated position calculation device 12 is captured in (the center of) the photographing range, and the traveling direction and traveling amount output from the detector 15 In accordance with the input moving direction and moving amount of the moving vehicle 2, the subject on the designated coordinate position is always the position of the telephoto camera 4 a irrespective of the moving position of the moving vehicle 2 which changes every time the moving vehicle moves. It has a function of correcting the rotation direction and the rotation amount of the telephoto camera 4a via the rotation drive unit of the camera platform 4b so as to be captured in (the center of) the imaging range.

A monitor 16a is provided in the control device 16, and image data captured by the telephoto camera 4a is displayed on the monitor 16a.

Next, the overall operation of the mobile inspection system 1 having this configuration will be described.

When starting the inspection using the mobile inspection system 1, the mobile vehicle 2 starts the inspection by driving the driving device 14 and the moving mechanism 13 while the operator OP is on the mobile vehicle 2. Traveling toward the electric pole TP. At this time, the stereoscopic surveillance camera 3 that has started shooting
Is transmitted to the three-dimensional image processing computer 10 via the modem 5 and the communication line 6, and is displayed as a three-dimensional image via the image display monitor 11. Further, during the shooting of the three-dimensional image, the operator OP always observes the image display monitor 11.

When the mobile vehicle 2 moves to the vicinity of the inspection start electric pole TP and a three-dimensional image including the transformer T above the electric pole TP is displayed on the image display monitor 11, the operator OP
A predetermined position (for example, the center position of the transformer T) in the image region of the transformer T included in the stereoscopic image on the monitor screen is designated via the touch panel 11a. Coordinate position information designated via this touch panel 11a, ie,
The coordinate position information of the transformer T is sent to the designated position calculation device 12, and based on the coordinate position information of the transformer T, the distance between the coordinate position of the transformer T and a reference position (the lens center position of the telephoto camera 4a) and the transformer T Of the line connecting the coordinate position and the reference position with respect to the moving direction of the moving vehicle 2.
A vertical angle is calculated for each. The calculated distance data and horizontal / vertical direction angle data are sent to the control computer 16.

At this time, the rotation drive unit of the camera platform 4b of the inspection device 4 is controlled by the control computer 16 based on the transmitted distance data and the horizontal and vertical angle data, and the telephoto camera 4a automatically rotates. The transformer T is automatically captured substantially at the center of the shooting range of the telephoto camera 4a.

As a result, the image of the transformer T can be captured by the telephoto camera 4a. Then, the image data of the transformer T obtained by photographing is displayed via the monitor 16a.

Therefore, the operator (inspector) OP can inspect the appearance of the transformer T by looking at the screen of the monitor 16a.

On the other hand, since the traveling vehicle 2 is always traveling, the traveling direction and traveling distance of the traveling vehicle 2 are sequentially sent to the control computer 16 via the detector 15.

At this time, the rotation direction and the rotation amount of the telephoto camera 4a are automatically controlled by the control computer 16 via the rotation drive unit of the camera platform 4b in accordance with the traveling direction and the traveling amount of the mobile vehicle 2 sent. Is always corrected by the telephoto camera 4a regardless of the traveling position of the mobile vehicle 2.
Of the monitor 16a.
The image of the transformer T is always displayed on the screen.

That is, the relative position of the transformer T with respect to the telephoto camera 4a is constantly moving based on the traveling movement of the moving vehicle 2, but according to this configuration, the traveling direction and the traveling amount of the moving vehicle 2 are different. Since the telephoto camera 4a tracks the relative movement of the transformer T by the correction processing of the rotation direction and the rotation amount of the telephoto camera 4a in accordance therewith, regardless of the traveling movement of the mobile vehicle 2, in other words, the traveling vehicle 2 travels Monitor 1 while constantly taking image data of transformer T
6a. Therefore, since the inspection work of the transformer T can be performed while the mobile vehicle 2 is traveling, the inspection work time of the transformer T can be reduced and the inspection work efficiency can be improved.

When the telescope 4b of the inspection device 4 is controlled by the control computer 16 in accordance with the distance data and the horizontal / vertical angle data sequentially sent from the designated position calculation device 12, the telephoto camera 4a is rotated. By controlling the zoom mechanism of the telephoto camera 4a, an image of the transformer T can be taken at a fixed angle of view by the telephoto camera 4a. If the image of the transformer T is taken at a fixed angle of view in this way,
Since the images of the transformer T successively displayed through the monitor 16a have the same image size, a new effect is obtained that makes it easier for the inspector OP to inspect the appearance of the transformer T.

(Second Embodiment) A second embodiment of the present invention will be described below with reference to FIG. In addition, about the component substantially equivalent to the movement inspection system 1 shown in 1st Embodiment (FIG. 1 or FIG. 2), the same code | symbol is attached | subjected and the description is abbreviate | omitted or simplified.

As shown in FIG. 3, in the mobile inspection system 20 of the present embodiment, the image display monitor 11 is configured not to have the touch panel 11a but to have a normal monitor screen. The mobile vehicle 2 is provided with an object position calculating device 21 having a CPU, a calculation control processor, and the like, instead of the designated position calculating device 12. The object position calculating device 21 obtains coordinate position data of the transformer T which is the inspection target in the three-dimensional image based on the three-dimensional image information sent from the three-dimensional image processing computer 10, and calculates the coordinate position data of the moving vehicle 2 at the coordinate position. The distance from the reference position (for example, the lens center position of the telephoto camera 4a of the inspection device 4), and the horizontal direction and the vertical direction with respect to the moving direction of the moving vehicle 2 that connects the obtained coordinate position of the transformer T and the reference position. Are calculated and obtained. Other configurations are the same as those of the movement inspection system 1 of the first embodiment (FIGS. 1 and 2).

That is, the mobile inspection system 20 of this configuration
According to the above, when the moving vehicle 2 moves to the vicinity of the inspection starting power pole TP and a three-dimensional image including the transformer T above the power pole TP is displayed on the image display monitor 11, the object position calculating device 2
In step 1, the image area of the transformer T in the stereoscopic image in the monitor screen is extracted by image processing such as threshold processing, and coordinate position data at a predetermined position (for example, a center position) in the extracted image area is obtained.

Then, the determined coordinate position, that is, the distance between the coordinate position of the transformer T and the reference position (the lens center position of the telephoto camera 4a) and the moving vehicle 2 that connects the coordinate position of the transformer T and the reference position Horizontal to the moving direction of
Vertical angles are calculated, and the distance data and the horizontal / vertical angle data are sent to the control computer 16. The same processing as the processing in the first embodiment is executed by the following control computer 16, and the automatic tracking and photographing processing of the transformer T by the telephoto camera 4a is performed.

That is, according to this configuration, when the transformer T in the stereoscopic image is displayed, the coordinate position data of the transformer T and the distance data based on the coordinate position data and the horizontal Since the vertical angle data is automatically calculated, a new effect of reducing the burden on the operator OP can be obtained in addition to the effect of the first embodiment. Further, a monitor having high versatility can be used as the image display monitor 11 instead of a monitor having the touch panel 11a.

(Third Embodiment) A third embodiment of the present invention will be described below with reference to FIG. In addition, about the component substantially equivalent to the movement inspection system 1 shown in 1st Embodiment (FIG. 1 or FIG. 2), the same code | symbol is attached | subjected and the description is abbreviate | omitted or simplified.

As shown in FIG. 4, in the moving inspection system 25 according to the present embodiment, the stereoscopic surveillance camera 3 and the telephoto camera 4a according to the first embodiment are replaced with one monitoring / inspection camera 26.

That is, the mobile inspection system 25 is mounted on the mobile vehicle 2a, and is used to take an image of the transformer T, which is the object to be inspected, mounted on the telephone pole TP and its surroundings, and inspect its appearance. A monitoring / inspection camera 26 having a zoom lens, and a direction (photographing direction) of the photographing lens is predetermined by supporting the monitoring / inspection camera 26 rotatably in a vertical direction (up-down direction) and a horizontal direction (left-right direction). And a pan head 27 that can be set in the direction of.

The monitoring / inspection camera 26 normally captures an image (surrounding monitoring image) of the peripheral portion of the transformer T by setting the zoom mechanism to a wide-angle state, and transmits the image from the designated position calculating device 12 described later. The zoom mechanism is set to the telephoto state according to the control signal c1 sent, and the image of the transformer T is enlarged and photographed.

The moving vehicle 2a has an image processor or C
An image processing computer 28 having a PU or the like and processing an image signal sent from the monitoring / inspection camera 26 via the modem 5 and the communication line 6 to generate a peripheral monitoring image of the transformer T and an inspection image of the transformer T And an image display monitor 29 for displaying the peripheral monitoring image and the transformer T inspection image generated by the image processing computer 28, respectively.

Further, the designated position calculation device 1 in this configuration
2a, based on the coordinate position information designated by the operator OP via the touch panel 11a of the image display monitor 29 and the image information sent from the image processing computer 28, the designated coordinate position and the reference position (for example, monitoring / inspection) Camera 26
The horizontal and vertical angles with respect to the moving direction of the moving vehicle 2a connecting the line connecting the lens and the lens center position are calculated and the control signal c1 is transmitted to the zoom mechanism of the monitoring / inspection camera 26. ing.

Further, the mobile vehicle 2a having this configuration is provided with a CPU.
And a control operation processor, etc.
a, a control computer 30 connected to the rotation drive unit of the detector 15 and the pan head 27 is mounted.

The control computer 30 inputs the horizontal / vertical angle information obtained by the designated position calculating device 12a and controls the rotation drive unit of the camera platform 27, thereby controlling the rotation range of the monitoring / inspection camera 26. The monitoring / inspection camera 26 is rotated so that the subject on the coordinate position designated by the designated position calculation device 12a is captured at the (center) position,
The traveling direction and traveling amount output from the detector 15 are input, and the traveling position of the traveling vehicle 2a, which changes with traveling traveling, is changed according to the traveling direction and traveling amount of the traveling vehicle 2a. Regardless, the rotation direction and the amount of rotation of the monitoring / inspection camera 26 via the rotation drive unit of the camera platform 27 so that the subject on the designated coordinate position is always captured in (the center of) the shooting range of the monitoring / inspection camera 26. It has a function to correct. Other configurations are the same as those of the movement inspection system 1 of the first embodiment (FIGS. 1 and 2).

Next, the overall operation of the mobile inspection system 25 having this configuration will be described.

When the inspection is started using the mobile inspection system 25, the driving device 14 and the moving mechanism 13 are driven to drive the mobile vehicle 2a while the operator OP is in the vehicle 2a. Move to the utility pole TP where the inspection starts. At this time, the image signal acquired by the monitoring / inspection camera 26 in the wide-angle zoom state where the photographing has been started is sent to the image processing computer 28 via the modem 5 and the communication line 6 and is used as the peripheral monitoring image on the image display monitor 2.
9 is displayed. At this time, the operator OP always observes the image display monitor 29.

When the moving vehicle 2a moves to the vicinity of the inspection start electric pole TP and a three-dimensional image including the transformer T above the electric pole TP is displayed on the image display monitor 29, the operator O
P designates a predetermined position in the image area of the transformer T included in the stereoscopic image on the monitor screen via the touch panel 11a. The coordinate position information designated via the touch panel 11a, that is, the coordinate position information of the transformer T is sent to the designated position calculating device 12a, and based on the coordinate position information of the transformer T, the coordinate position of the transformer T and the reference position Are calculated in the horizontal and vertical directions with respect to the moving direction of the moving vehicle 2 connecting the lines. This calculated horizontal
The vertical angle data is sent to the control computer 30.

On the other hand, the coordinate position information designated by the touch panel 11a is sent to the designated position calculating device 12a, and at the same time, the control signal c1 is sent to the zoom mechanism of the monitoring / inspection camera 26 via the designated position calculating device 12a. You. As a result, the zoom of the monitoring / inspection camera 26 is changed from the wide-angle state to the telephoto state.

Then, the control computer 30 controls the rotation drive unit of the camera platform 27 based on the sent horizontal and vertical angle data, and the monitoring / inspection camera 26 automatically rotates.
The transformer T is automatically captured substantially at the center of the shooting range of the monitoring / inspection camera 26.

As a result, an image of the transformer T can be captured by the monitoring / inspection camera 26. Then, the image data of the transformer T (the transformer T
Is displayed on the monitor 29 via the modem 5, the communication line 6, and the image processing computer 28.

Therefore, the operator (checker) OP can check the appearance of the transformer T by looking at the screen of the monitor 29.

On the other hand, since the traveling vehicle 2a is always traveling, the traveling direction and traveling distance of the traveling vehicle 2a are sequentially sent to the control computer 30 via the detector 15.

At this time, the rotation direction and the rotation amount of the monitoring / inspection camera 26 are controlled by the control computer 30 via the rotation drive unit of the camera platform 27 in accordance with the traveling direction and the traveling amount of the mobile vehicle 2a sent. Since the correction is automatically performed, the transformer T is always captured in the shooting range of the monitoring / inspection camera 26 regardless of the traveling position of the moving vehicle 2a, and the screen of the monitor 29 indicates the relative movement of the transformer T. Regardless of this, the inspection image of the transformer T obtained by the automatic tracking of the monitoring / inspection camera 26 is displayed.

As described above, according to the present configuration, the three-dimensional surveillance camera 3 and the telephoto camera 4a are not used separately, and both functions (peripheral surveillance image photographing function and inspection image photographing function) are one. Since this can be realized by the monitoring / inspection camera 26, it is not necessary to obtain distance information by using a stereoscopic image including depth information as a peripheral monitoring image, and the inspection monitoring image is obtained only by acquiring horizontal and vertical angle information. Obtainable.

Therefore, it is not necessary to use a stereoscopic surveillance camera for photographing a stereoscopic image, a stereoscopic image processing computer, and the like. In addition to the effects of the first embodiment, it is possible to provide a simpler and less expensive movement inspection system 25. it can.

(Fourth Embodiment) A fourth embodiment of the present invention will be described below with reference to FIG. In addition, about the component substantially equivalent to the movement inspection system 20 shown in 1st Embodiment (FIGS. 1 and 2) and 2nd Embodiment (FIG. 3), the same code | symbol is attached | subjected and the description is abbreviate | omitted. It has been simplified.

As shown in FIG. 5, in this embodiment, a plurality of electric poles TP1, TP2,... Are arranged at predetermined intervals (or at different intervals) along a road (in FIG. 5, , And only the power poles TP1 and TP2 are shown).
Each pole is provided with a transformer (only T1 and T2 are shown in the figure), and the mobile inspection system 40 of the present embodiment uses a plurality of transformers from T1 to T2 and T2.
3 and so on. Further, an electric wire EW (only the electric wire between the electric poles TP1 and TP2 is shown in the drawing) is installed between the electric poles along the inspection direction of the mobile inspection system 40.

Then, the mobile inspection system 40 of this configuration
The image signal sent from the stereoscopic surveillance camera 3 via the modem 5 is subjected to image processing such as threshold processing to thereby obtain a wire E between the power poles (for example, between TP1 and TP2).
An electric wire position calculation circuit 41 for calculating the position information of the electric wire EW with respect to the mobile vehicle 2 while continuously capturing the position of W irrespective of the movement of the mobile vehicle 2, and all the transformers T1, T
.. And data representing the mutual arrangement of the electric wires EW between the poles, that is, between the poles where the transformers T1, T2,.
(1 <k ≦ n)} storage device 42 for storing data representing the positional relationship (for example, the distance and direction of the utility pole TPk with respect to the utility pole TPk-1).

Further, the mobile inspection system 40 of this configuration
Is the travel direction and travel distance output from the detector 15, and the power pole TP of the power pole TPk stored in the storage device 42.
The distance and direction data for k-1 and, if necessary, the position information of the electric wire EW calculated by the electric wire position calculating circuit 41 with respect to the moving vehicle 2, are read. Is determined to be within a predetermined range (within the range where the transformer Tk is captured by the three-dimensional surveillance camera 3 of the mobile vehicle 2) with respect to the utility pole TPk on which the transformer Tk is mounted, and as a result, When it is determined that the vehicle 2 has approached the telephone pole TPk within a predetermined range, an object position calculation command is issued to the object position calculation device 21.
a is provided with a control device 43 for sending to a.

Then, the object position calculating device 21a is driven in accordance with the transmitted object position calculating command and transmits the distance and direction data between the electric poles (the electric poles TPk-1 and TPk) stored in the storage device 42. The coordinate position of the transformer Tk is predicted by referring to the coordinate data of the transformer Tk in the stereoscopic image based on the stereoscopic image information sent from the stereoscopic image processing computer 10 while referring to the prediction data. The distance between the coordinate position and the reference position of the moving vehicle 2, and the angle in the horizontal and vertical directions with respect to the moving direction of the moving vehicle 2 of the line connecting the obtained coordinate position of the transformer Tk and the reference position, respectively. It is calculated and calculated.

Further, the control device 43 inputs the distance information and the horizontal / vertical angle information obtained by the object position calculating device 21a and controls the rotation drive section of the camera platform 4b of the inspection device 4 to thereby control the telephoto camera. The telephoto camera 4a is rotated so that the transformer Tk is captured within the photographing range of the moving vehicle 4a, and the moving direction and the moving amount output from the detector 15 are input. In accordance with the direction and the travel distance, the transformer Tk is driven through the rotary drive of the camera platform 4b so that the transformer Tk is always captured in the photographing range of the telephoto camera 4a regardless of the moving position of the mobile vehicle 2 which changes every time due to the travel movement. And a function of correcting the rotation direction and the rotation amount of the telephoto camera 4a. The other configuration is the same as the movement inspection system 20 of the first embodiment (FIGS. 1 and 2) and the second embodiment (FIG. 3).

That is, the mobile inspection system 40 of this configuration
According to the above, the moving vehicle 2 which has completed inspection of the transformer T1 mounted on the telephone pole TP1 while moving,
Next, continue moving toward the telephone pole TP2 equipped with the transformer T2 to be inspected. At this time, the position of the electric wire EW between the electric poles TP1 and TP2 is captured by the electric wire position calculating circuit 41 according to the image signal sent from the stereoscopic monitoring camera 3 via the modem 5 irrespective of the movement of the mobile vehicle 2. , Position information for the moving vehicle 2 is calculated.

On the other hand, the control device 43 stores the traveling direction and traveling amount output from the detector 15, the position information of the electric wire EW with respect to the moving vehicle 2 calculated by the electric wire position calculating circuit 41, and the storage device 42. Checked telephone pole TP2 (telephone TPk, k = 2) to be inspected next completed telephone pole T
Based on the distance and direction data with respect to P1 (TPk-1, k = 2), the moving vehicle 2 approaches the telephone pole TP2 within a predetermined range, and the transformer T2 is captured by the stereoscopic monitoring camera 3 of the moving vehicle 2. It is determined whether or not it is performed.

Therefore, when the mobile vehicle 2 approaches the telephone pole TP2 within a predetermined range, the control device 43 transmits an object position calculation command to the object position calculation device 21a.

At this time, in the object position calculating device 21a driven in accordance with the transmitted object position calculating command, the inspection pole TP1 of the electric pole TP2 stored in the storage device 42 is completed.
The distance and direction data with respect to the transformer T2 are referred to.
For example, the coordinate position of the center position is predicted, and image processing such as threshold processing is performed only on the image area around the predicted coordinate position data in the stereoscopic image information sent from the stereoscopic image processing computer 10. Then, coordinate position data of a predetermined position (for example, a center position) of the transformer T2 in the stereoscopic image is obtained.

Further, the coordinate position obtained by the object position calculating device 21a, that is, the distance between the coordinate position of the transformer T2 and the reference position (the lens center position of the telephoto camera 4a), and the coordinate position of the transformer T2 and the reference position Are calculated in the horizontal and vertical directions with respect to the moving direction of the moving vehicle 2, and the distance data and the horizontal and vertical angle data are sent to the control computer 43. Hereinafter, the same processing as the processing in the first and second embodiments is executed by the control computer 43, and the automatic tracking and photographing processing of the transformer T2 by the telephoto camera 4a is performed.

In this manner, when the moving vehicle 2 completes the inspection process of the transformer T2 in accordance with the automatic tracking and photographing process of the transformer T2, the moving vehicle 2
Next, the transformer T3 (k = 3) to be inspected continues to move toward the installed telephone pole TP3, and the above-described automatic tracking / photographing inspection processing is executed for each of the transformers T3 to Tn.

That is, according to the present configuration, the data representing the mutual arrangement relationship of all the transformers stored in the storage device 20 in advance is the data representing the positional relationship between the telephone poles on which the respective transformers are mounted. The position of the transformer to be inspected next is predicted based on the predicted position data, and image processing is executed in accordance with the predicted position data to extract the position data of the transformer to be inspected next. A new effect that the image processing procedure and the processing time can be further reduced can be obtained. Further, an image processing circuit or an image processing program required for extracting the position of the transformer can be configured with a simpler one.

In this configuration, after the completion of the inspection of a certain transformer Tk-1, the control device 43 of the mobile vehicle 2 of the mobile inspection system 40 sends the electric pole TPk- on which the transformer Tk-1 is mounted.
Utility pole TP equipped with 1 and the transformer Tk to be inspected next
The position of the electric wire EW laid between k is calculated by the stereoscopic surveillance camera 3 and the electric wire position calculation circuit 41, and the calculated position information of the electric wire EW, the traveling movement direction and traveling amount output from the detector 15, and Utility pole T stored in storage device 42
Based on the distance and direction data of Pk with respect to the utility pole TPk-1, it is determined whether or not the traveling mobile vehicle 2 has approached the utility pole TPk equipped with the transformer Tk within a predetermined range. Is configured to send an object position calculation command to the object position calculating device 21a when it is determined that the object pole has approached the telephone pole TPk within a predetermined range, but the present invention is not limited to this.

For example, the control device 43 uses only the traveling direction and traveling amount output from the detector 15 and the distance and direction data of the electric pole TPk with respect to the electric pole TPk-1 stored in the storage device 42 to obtain the transformer Tk. Can be executed.

Further, since the positional relationship between the electric wire EW and the electric pole TPk is known in advance, the control device 43 uses this positional relationship information to determine the traveling direction and traveling amount output from the detector 15 and the traveling amount. The recognition process of the transformer Tk can be executed using only the position information of the electric wire EW. In other words, the control device 43 outputs the traveling direction and traveling distance of the traveling vehicle 2 output from the detector 15 and the traveling vehicle 2 of the electric wire EW calculated by the electric wire position calculation circuit 41.
The position information of the moving vehicle 2 with respect to the power pole TPk (transformer Tk) is obtained based on the position information of the moving vehicle 2. It is also possible to determine whether or not the transformer T2 is captured by the three-dimensional monitoring camera 3.

Further, for example, a utility pole TPk-1 provided with a transformer Tk-1 and a utility pole T provided with a transformer Tk
Between Pk, an electric field or a magnetic field exists substantially in parallel with the moving direction of the moving vehicle 2, and therefore, the transformer Tk-1 (electric pole TPk-1) and the transformer Tk (electric pole TPk)
), An electric field detection sensor or a magnetic field detection sensor for detecting an electric field or a magnetic field between them is installed, and the position data of the electric field or the magnetic field detected by the electric field detection sensor or the magnetic field detection sensor with respect to the moving vehicle 2 (the fourth embodiment). (Corresponding to the position data of the electric wire with respect to the moving vehicle 2) may be used for the above-described transformer Tk recognition processing of the control device 43.

(Fifth Embodiment) A fifth embodiment of the present invention will be described below with reference to FIG. In addition, about the component substantially equivalent to the movement inspection system 1 shown in 1st Embodiment (FIG. 1 or FIG. 2), the same code | symbol is attached | subjected and the description is abbreviate | omitted or simplified.

As shown in FIG. 6, in the mobile inspection system 50 of the present embodiment, in addition to the configuration of the first embodiment (FIGS. 1 and 2), GPS (Global Posit) for more accurate location determination
ioning System) A receiver 51 is mounted. This G
The PS receiver 51 is, for example, at an altitude of 20,000 km,
A radio wave (GPS signal) from a deployed GPS satellite is received, and an extremely accurate three-dimensional position of the mobile vehicle 2 is calculated in real time.

The detector 15a in the mobile inspection system 50 of this configuration detects drive control information for the drive mechanism 13 of the drive unit 14, and based on the drive control information, the travel direction and travel of the vehicle 2. The amount is calculated, and the calculated travel direction and travel amount are corrected and output according to the extremely accurate three-dimensional position information of the mobile vehicle 2 calculated by the GPS receiver 51 and output. Other configurations are the same as those of the movement inspection system 1 of the first embodiment (FIGS. 1 and 2).

That is, according to this configuration, the detector 15a
The travel direction and travel distance of the mobile vehicle 2 determined by the above are corrected according to the extremely accurate three-dimensional position information of the mobile vehicle 2 calculated by the GPS receiver 51, and then output to the control computer 16. Therefore, the traveling direction and traveling amount of the mobile vehicle 2 input by the control computer 16 hardly include the influence of a detection error such as slippage of the driving device 14. Therefore, the automatic tracking and photographing processing of the transformer T by the telephoto camera 4a can be executed with higher accuracy.

(Sixth Embodiment) A sixth embodiment of the present invention will be described below with reference to FIG. In addition, about the component substantially equivalent to the movement inspection system 1 shown in 1st Embodiment (FIG. 1 or FIG. 2), the same code | symbol is attached | subjected and the description is abbreviate | omitted or simplified.

As shown in FIG. 6, in the movement inspection system 60 of this embodiment, in addition to the configuration of the first embodiment (FIGS. 1 and 2), the appearance of the transformer T photographed by the telephoto camera 4a is shown. An image recording device 61 for recording image data to be represented is mounted in the mobile vehicle 2. Other configurations are the same as those of the movement inspection system 1 of the first embodiment (FIGS. 1 and 2).

According to this configuration, the inspector OP can use the monitor 16
It is not necessary to manually record the image of the transformer while watching a, and the burden on the inspector OP can be reduced. Further, it is possible to execute the defect detection by making a database of the appearance inspection images of the respective transformers T1 to Tn recorded by the image recording device 61 or performing image processing on the appearance inspection images of the respective transformers.

(Seventh Embodiment) A seventh embodiment of the present invention will be described below with reference to FIG. Note that the same reference numerals are given to the components substantially the same as those of the movement inspection system 1 shown in the first embodiment (FIGS. 1 and 2) and the movement inspection system 60 shown in the sixth embodiment (FIG. 7). The description is omitted or simplified.

As shown in FIG. 8, in the movement inspection system 70 of the present embodiment, an image memory for storing an image (normal appearance image) representing the appearance of the transformer T in a normal state (no defective portion) acquired in advance is provided. And an image (appearance check image) representing the appearance of the transformer T recorded by the image recording device 61 and the corresponding transformer T stored in the image memory.
An image comparison processing circuit 71 that compares the normal appearance image with the normal appearance image by performing image processing such as image correlation processing, and whether an abnormality (fault) has occurred in the transformer T according to the comparison result of the image comparison processing circuit 71 An abnormality detection circuit 72 for automatically detecting whether or not the moving vehicle 2 is mounted on the mobile vehicle 2. Other configurations are the same as those of the movement inspection system 1 of the first embodiment (FIGS. 1 and 2).

According to this configuration, the appearance inspection image of the transformer T recorded by the image recording device 61 is transmitted to the image comparison processing circuit 71 during another transformer inspection or after all the transformer inspections are completed. Then, the transmitted image of the transformer T is automatically compared with the normal appearance image of the same transformer T stored in the image memory by the image comparison processing circuit 71 by, for example, image correlation processing.

At this time, the result of the image comparison processing of the image comparison processing circuit 71 is automatically referred to by the abnormality detection circuit 72. If a comparison result lower than a predetermined collation degree is obtained, the transformer T It is determined that an abnormality has occurred. On the other hand, if a comparison result exceeding a predetermined collation degree has been obtained, the transformer T is determined to be normal.

That is, according to this configuration, a series of appearance inspection work of each of the transformers T1 to Tn is performed by the inspector OP based on the appearance inspection image of each of the transformers T1 to Tn recorded by the image recording device 61. Can be performed automatically in the moving vehicle 2. Therefore, the efficiency and cost of the transformer inspection can be improved, and the inspection can be performed with extremely high accuracy.

(Eighth Embodiment) An eighth embodiment of the present invention will be described below with reference to FIG. Note that the same reference numerals are given to the components substantially the same as those of the movement inspection system 1 shown in the first embodiment (FIGS. 1 and 2) and the movement inspection system 60 shown in the sixth embodiment (FIG. 7). The description is omitted or simplified.

As shown in FIG. 9, the mobile inspection system 80 of the present embodiment uses a computer 81a, which is larger than a general-purpose personal computer or the like installed at a location far from the travel route of the mobile vehicle 2. The computer center 81 is provided. The computer 81a has an image memory for storing a previously acquired normal appearance image of the transformer T and a high-speed arithmetic processing unit.

In the mobile vehicle 2 of the mobile inspection system 80, the image for inspecting the appearance of the transformer T recorded by the image recording device 61 is converted into transmission data by, for example, image compression processing or the like, and transmitted via the transmission antenna AN1. And a transmitter 82 for transmitting data.

Large computer 81a of computer center 81
Receives transmission data transmitted from the transmitter 82 via the transmission antenna AN1 via the reception antenna AN2,
The appearance inspection image of the transformer T is restored based on the transmission data. Then, the large-sized computer 81a records the restored appearance inspection saving image of the transformer T, and also displays the restored appearance inspection image of the transformer T and the corresponding normal appearance image of the transformer T stored in the image memory. By performing image processing such as correlation processing, a defect detection processing of the transformer T is executed.

That is, according to this configuration, the inspection work of the transformer can be executed not by the mobile vehicle 2 but by the large computer 81a of the computer center 81. The system in the mobile vehicle 2 can be simplified as compared with the case where the system is used, and image processing related to inspection work can be performed at high speed.

Note that the moving inspection systems in the first, second, and fourth to eighth embodiments described above use the monitoring images obtained by the three-dimensional monitoring camera to change the telephoto camera of the inspection device to the inspection object. (Transformer)
By correcting the position of the telephoto camera in accordance with the movement of the moving vehicle, the appearance inspection image of the inspection object can be taken while tracking the telephoto camera to the inspection object regardless of the movement of the moving vehicle. However, the present invention is not limited to this.

For example, inspection of sound using a directional microphone having high sensitivity to a specific incident direction of a sound wave, and use of a radiation thermometer that measures temperature using thermal radiation energy from an object are used. In the case where the inspection data acquisition unit having directivity, such as temperature inspection, is positioned in the direction toward the object to be inspected and the inspection data is acquired by the inspection data acquisition unit to perform the inspection, the movement of each of the above-described embodiments is performed. An inspection system can also be used. In this specification, the “directivity” refers to the inspection data acquisition state of the inspection data acquisition unit, such as the imaging direction of a telephoto camera, the sound collection direction of a directional microphone, and the temperature measurement direction of a radiation thermometer. It means that it changes according to the direction of the inspection data acquisition unit with respect to the inspection object.

That is, in the mobile inspection system according to the first, second, and fourth to eighth embodiments, a directional microphone and the directional microphone are supported so as to be movable in a three-dimensional direction instead of the telephoto camera and the camera platform. By mounting an inspection device having a supporting portion on the mobile vehicle, the directional microphone of the inspection device is positioned with respect to the inspection object using the monitoring image obtained by the three-dimensional monitoring camera, and the mobile vehicle is moved. By correcting the position of the directional microphone via the support portion in accordance with the above, the sound of the inspection target portion can be automatically detected while the directional microphone automatically tracks the inspection target regardless of the movement of the moving vehicle. Can be collected.

Further, in the above-mentioned mobile inspection system, an inspection device having a radiation type thermometer instead of the telephoto camera and the camera platform and a supporting portion for supporting the radiation type thermometer so as to be movable in a three-dimensional direction is mounted on a moving vehicle. By using the monitoring image obtained by the stereoscopic surveillance camera, the radiation type thermometer of the inspection device is positioned with respect to the inspection object, and the radiation type thermometer is supported through the support portion in accordance with the movement of the moving vehicle. By correcting the position of the thermometer, the temperature of the inspection target portion can be measured while automatically tracking the radiation type thermometer on the inspection target regardless of the movement of the mobile vehicle.

In each of the embodiments described above, the stereoscopic image processing computer, the designated position calculation device, and the control computer are each configured using a separate CPU and control calculation processor, but the present invention is not limited to this. Rather, the above-mentioned three-dimensional image processing calculation function, designated position calculation function, and shooting direction and shooting position control function of the telephoto camera of the inspection device are performed by a computer (computer) using a single CPU or a control calculation processor. May be executed.

Further, in each of the above embodiments,
Although the transformer for voltage conversion mounted on the telephone pole is the inspection object (inspected equipment), the present invention is not limited to this, and the equipment may be installed at a plurality of locations. Any equipment may be used as the inspection object.

[0106]

As described above, according to the mobile inspection system of the present invention, the coordinates of the inspection object appearing in the monitoring image photographed by the monitoring image photographing means and displayed by the monitoring image display means. The position is set by the setting means, and based on the coordinate position of the inspection object set by the setting means, the data acquisition position (for example, the imaging position) of the inspection data acquisition means having an imaging unit or the like is set as the inspection object. And the automatic tracking unit corrects the data acquisition position of the inspection data acquisition unit in accordance with the traveling direction and traveling amount of the moving unit detected by the detecting unit, regardless of the traveling movement of the moving unit. Since the data acquisition position of the inspection data acquisition means is automatically tracked with respect to the inspection object, the inspection data is checked while moving the moving means. Can acquire the data (inspection image) displayed through the image display means or the like. Therefore,
For example, the inspector who gets into the moving means can perform the inspection work on the inspection target object by visually checking the inspection image displayed on the image display means while the traveling means is traveling, and The inspection work time can be reduced and the inspection work efficiency can be improved.

Further, according to the mobile inspection system of the present invention, the inspection object which has previously stored the inspection image of the inspection object, which is the inspection data acquired by the photographing unit of the inspection data acquiring means. Compared with the normal image, it is possible to automatically detect whether or not the inspection target has an abnormality, thereby realizing efficient and cost-saving inspection work of the inspection target. It is possible to perform a very high-precision inspection operation as compared with a visual inspection operation.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a functional configuration of a mobile inspection system according to a first embodiment of the present invention.

FIG. 2 is a block diagram showing the overall configuration of the mobile inspection system according to the first embodiment of the present invention.

FIG. 3 is a block diagram showing the overall configuration of a mobile inspection system according to a second embodiment of the present invention.

FIG. 4 is a block diagram showing the overall configuration of a mobile inspection system according to a third embodiment of the present invention.

FIG. 5 is a block diagram showing an overall configuration of a mobile inspection system according to a fourth embodiment of the present invention.

FIG. 6 is a block diagram showing an overall configuration of a mobile inspection system according to a fifth embodiment of the present invention.

FIG. 7 is a block diagram showing an overall configuration of a mobile inspection system according to a sixth embodiment of the present invention.

FIG. 8 is a block diagram showing an overall configuration of a mobile inspection system according to a seventh embodiment of the present invention.

FIG. 9 is a block diagram showing an overall configuration of a mobile inspection system according to an eighth embodiment of the present invention.

[Explanation of symbols]

1, 20, 25, 40, 50, 60, 70, 80 Moving inspection system 2 Moving vehicle 3 Stereoscopic monitoring camera 4 Inspection device 4a Telephoto camera 4b, 27 Pan head 10 Stereoscopic image processing computer 11, 29 Image display monitor 11a Touch panel 12 , 12a Designated position calculation device 13 Traveling mechanism 14 Driving device 15, 15a Detector 16, 30 Control computer 16a Monitor 21, 21a Object obscuration calculation device 26 Monitoring / inspection camera 28 Image processing computer 41 Wire position calculation circuit 42 Storage device 51 GPS receiver 61 Image recording device 71 Image comparison processing circuit 72 Abnormality detection circuit 81 Computer center 81a Computer 82 Transmitter

Continuation of the front page (72) Inventor Koichi Tsuji 2-4 Suehirocho, Tsurumi-ku, Yokohama-shi, Kanagawa Prefecture Toshiba Keihin Works

Claims (13)

[Claims] A moving means for traveling around a moving route along a place where a plurality of inspected objects are installed; a detecting means for detecting a moving direction and a moving amount of the moving means; Inspection data acquisition means for acquiring inspection data relating to the inspection object in accordance with a data acquisition position that can be arbitrarily set and installed on the means; and monitoring the inspection object installed on the moving means. Monitoring image photographing means for photographing the surveillance image, monitoring image display means mounted on the moving means for displaying the surveillance image photographed by the surveillance image photographing means, and monitoring image display means Coordinate position setting means for setting a coordinate position of the inspection object when the inspection object appears in the displayed monitoring image; and coordinates of the inspection object set by the coordinate position setting means. A data acquisition position setting unit that matches a data acquisition position of the inspection data acquisition unit with the inspection object based on a position, and a traveling direction and a traveling amount of the moving unit detected by the detection unit. Automatic tracking for automatically tracking the data acquisition position of the inspection data acquisition means with respect to the inspection object regardless of the movement of the moving means by correcting the data acquisition position of the inspection data acquisition means. Moving inspection system comprising: 2. The inspection apparatus according to claim 1, wherein said coordinate position setting means designates a predetermined position on the inspection object displayed on a display screen of said monitoring image display means through manual operation of an operator. The mobile inspection system according to claim 1, further comprising a data input device for inputting a coordinate position of the object. 3. The coordinate position setting means performs image processing on the monitoring image captured by the monitoring image capturing means to extract an image area of the inspection object, and extracts the extracted inspection object. 2. An image processing means for obtaining a coordinate position of the inspection object based on an image area of the object.
Mobile inspection system as described. 4. A storage unit for storing data representing a positional relationship between the plurality of inspection objects, wherein the coordinate position setting unit is configured to detect a traveling direction and traveling of the moving unit detected by the detection unit. Based on the movement amount and the positional relationship data for the inspected object (pre-inspection object) for which inspection of the inspected object (next inspection object) to be inspected next in the positional relationship data stored in the storage means is completed. Determining means for determining whether or not the moving means is close to the next inspection object within a predetermined range and the next inspection object is captured in the shooting range of the monitoring image shooting means; and Means for determining the positional relationship data of the next inspection object stored in the storage means with respect to the preceding inspection object when it is determined that the moving vehicle means has approached the next inspection object to within a predetermined range. The coordinate position of the next inspection object is predicted by referring to the coordinate data of the next inspection object by performing image processing on the monitoring image captured by the monitoring image capturing unit while referring to the prediction data. 2. The mobile inspection system according to claim 1, further comprising a prediction processing means for specifying a position. 5. A connecting body for operatively connecting each of the inspected objects along the movement path of the transfer means is provided between the plurality of inspected objects, and the monitoring image photographing means is provided. Is configured to capture an image of the connected body as the monitoring image, while the coordinate position setting means,
The monitoring image photographed by the monitoring image photographing means is subjected to image processing to extract an image region of the connected object, and based on the extracted image area of the connected object, Processing means for obtaining location information;
Based on the traveling direction and traveling amount of the traveling means detected by the detecting means and the positional information of the connecting body obtained by the processing means, the traveling means moves the next inspection object within a predetermined range. Judging means for judging whether or not the next object to be inspected is captured within the photographing range of the monitoring image photographing means. 2. The mobile inspection system according to claim 1, wherein the coordinate position of the inspection object is set when it is determined that the inspection object comes close to a predetermined range. 6. An electric field related to the inspected object exists between the plurality of inspected objects in parallel with a moving path of a transfer unit, and the coordinate position setting unit detects an electric field for detecting the electric field. A detection sensor, processing means for obtaining position information of the electric field with respect to the moving means based on electric field data detected by the electric field detecting sensor, and a moving direction and a moving amount of the moving means detected by the detecting means Based on the position information of the electric field obtained by the processing means, the moving means approaches the next inspection object to within a predetermined range, and the next inspection object falls within the shooting range of the monitoring image shooting means. Determining means for determining whether or not the vehicle is captured, and when the determining means determines that the moving vehicle means has approached the next inspection object within a predetermined range, The mobile inspection system according to claim 1, wherein a coordinate position of the inspection object is set. 7. A magnetic field related to the inspection object exists between the plurality of inspection objects in parallel with a moving path of a transfer unit, and the coordinate position setting unit detects the magnetic field. A detection sensor, processing means for obtaining position information of the magnetic field with respect to the moving means based on the magnetic field data detected by the magnetic field detecting sensor, and a moving direction and a moving amount of the moving means detected by the detecting means Based on the position information of the magnetic field obtained by the processing means, the moving means comes close to a next inspection object within a predetermined range, and the next inspection object falls within the photographing range of the monitoring image photographing means. Determining means for determining whether or not the vehicle is captured, and when the determining means determines that the moving vehicle means has approached the next inspection object within a predetermined range, The mobile inspection system according to claim 1, wherein a coordinate position of the inspection object is set. 8. A GPS receiver which receives GPS signals from GPS satellites mounted on the moving means and arranged at predetermined altitudes and calculates a three-dimensional position of the moving means, wherein the GPS receiver is provided with a GPS receiver. Wherein the traveling direction and traveling amount of the moving means detected by the detecting means are corrected based on the calculated three-dimensional position of the moving means and supplied to the automatic tracking means. The movement inspection system according to any one of claims 1 to 7. 9. The inspection data acquisition unit includes: a photographing unit that photographs an inspection image of the inspection target object as inspection data relating to the inspection target object; and an imaging unit that is installed in the moving unit. And a supporting portion for supporting the photographing position so that the photographing position can be changed.
Based on the coordinate position of the inspection target object set by the coordinate position setting means, to match the shooting position of the imaging unit to the inspection target object via the support unit, the automatic tracking means, By correcting the photographing position of the photographing unit in accordance with the traveling direction and traveling amount of the moving unit detected by the detecting unit, the photographing position of the photographing unit can be checked regardless of the movement of the moving unit. The mobile inspection system according to any one of claims 1 to 8, wherein the object is automatically tracked. 10. An image display means for displaying an inspection image of the inspection target portion photographed by the imaging section, and an image recording for recording an inspection image of the inspection target section photographed by the imaging section. The movement inspection system according to claim 9, wherein the means is mounted on the moving means. 11. An image memory for storing an image of a normal state of the inspection object obtained in advance, and an inspection image of the inspection object portion recorded in the image recording means and stored in the image memory. Image comparison processing means for comparing the image of the inspected object with the normal image of the inspected object, and automatically determining whether an abnormality has occurred in the inspected object according to a comparison result by the image comparison processing means. The movement inspection system according to claim 10, wherein an abnormality detection means for detecting the abnormality is mounted on the movement means. 12. A large-sized computer installed at a position distant from a moving route of the moving means, and an inspection image of the inspection target portion recorded on the image recording means mounted on the moving means and transmitted. And transmitting means for converting the image to the large computer.The large computer restores the image of the inspection target part from the transmitted transmission data, and converts the restored image of the inspection target part into the restored image of the inspection target part. The mobile inspection system according to claim 10, wherein whether or not an abnormality has occurred in the inspection object is automatically detected based on the inspection result. 13. A moving means for traveling on a moving route along a place where a plurality of inspection objects are installed, a detecting means for detecting a moving direction and a moving amount of the moving means, and the moving means. Means for photographing a monitoring image for monitoring the object to be inspected installed on the means, and photographing the image for inspection of the object to be inspected in accordance with an arbitrarily set photographing position; Monitoring image display means mounted on the means for displaying a monitoring image captured by the image capturing means, and a monitor object when the inspection object appears in the monitoring image displayed by the monitoring image display means. A coordinate position setting means for setting a coordinate position of the inspection object; and a photographing position of the image photographing means corresponding to the inspection object based on the coordinate position of the inspection object set by the coordinate position setting means. Let Irrespective of the movement of the moving means by correcting the image photographic position of the image photographing means in accordance with the traveling direction and amount of travel of the moving means detected by the detecting means. An automatic tracking means for automatically tracking an image capturing position of the image capturing means with respect to the inspection object.