JP5087360B2 - Inspection system - Google Patents

Description

  The present invention relates to an inspection system, a moving body, an operation device, and an inspection program for inspecting a closed space of a building.

  In recent years, opportunities to inspect buildings such as houses and houses have increased due to national policies aimed at improving the quality of houses, demands for home remodeling, and growing interest in disaster prevention. Buildings include not only those provided on the ground but also those provided underground. The underfloor space and attic space (hereinafter referred to as “closed space”) of a building is difficult to touch, but is a key part of the building, so there is a high need for inspection.

  However, the above-mentioned closed space is generally a very narrow space and has poor hygiene. For this reason, a method has been proposed in which a moving body (for example, a mobile robot) is introduced, the position and traveling direction of the moving body is automatically detected, and the inside of the closed space is imaged by remotely operating the moving body ( For example, see Patent Document 1).

  However, in the above-mentioned closed space, it is difficult to receive radio waves from a GPS (Global Positioning System) satellite, so GPS cannot be used. Furthermore, there is a problem that the azimuth magnet cannot be used due to the disturbance of geomagnetism due to the reinforcing bars.

  The following method has been proposed as a technique for detecting the traveling direction of a moving body without using GPS or a compass (see Patent Document 2). Specifically, in the method described in Patent Document 1, the moving body includes a gyro sensor that detects an angular velocity in a rotation direction with respect to the traveling direction (hereinafter, “yaw angle direction”).

Then, the traveling direction of the moving body is determined by integrating the angular velocities detected by the gyro sensor by a method such as integration. In the method described in Patent Document 2, the accumulated error caused by the integration is corrected by detecting a marker previously set on the traveling route (ground) of the moving body with a magnetic sensor.
JP-A-11-137148 ([Claim 1] etc.) JP 2002-23847 (paragraphs [0004], [0017], [0021], [0022], FIG. 3 to FIG. 4)

  However, the inspection of the closed space of the building has a frequency of once every several years, and it is not realistic to place a sign for the mobile body to trace in advance on the ground. Moreover, when a sign is installed on the floor base of the building, it is difficult to maintain the installed sign permanently.

  Therefore, the present invention has been made to solve the above-described problems, and can accurately correct cumulative errors caused by obtaining the traveling direction of a moving body by integration when checking the closed space of a building. An object of the present invention is to provide an inspection system, a moving body, an operation device, and an inspection program.

  In a feature of the present invention, a moving body (underfloor inspection robot 200) that moves in a closed space (underfloor space A1) of a building, and an operating device (robot operating device 100) that remotely operates the moving body are provided. An inspection system (underfloor inspection system 10) for inspecting a closed space includes an angle change detection unit (sensor unit 230) that detects an angle change (angular velocity Δγ) in the yaw angle direction of the moving body, and the angle change detection unit. A traveling direction detection unit (direction detection unit 310) that detects the traveling direction (traveling direction FR) of the moving body by integrating the output values of the moving body, and a ceiling member (for example, a member existing on the ceiling in the closed space) And a ceiling member detection unit (for example, ceiling distance measurement unit SR, SL) that detects a large drawing / joe), and the traveling direction detection unit uses the detection result of the ceiling member detection unit to perform the integration. Therefore, an accumulated error correction unit (error correction unit 320) that corrects the accumulated error that occurs is included. Here, a ceiling member means the member which supports a ceiling board and maintains the intensity | strength of a building, for example.

  According to such an inspection system, the accumulated error is corrected by using a ceiling member that is a member existing on the ceiling in the closed space, instead of installing a sign for the mobile body to trace on the ground. Accumulated errors can be corrected with high accuracy.

  In the inspection system according to the above feature, the cumulative error correction unit may be either a value (γ ′) indicating a traveling direction of the moving body at a previous timing or a value (γ) based on a detection result by the ceiling member detection unit. A selection unit (selection unit 322) for selecting, the traveling direction detection unit, the addition result of the output value of the selection unit and the output value (Δγ) of the angle change detection unit at the current timing, An adding unit (adding unit 311) that outputs a value indicating the traveling direction of the moving body at the current timing, and the selection unit is a value based on a detection result by the ceiling member detecting unit when correcting the accumulated error Is preferably selected.

  According to such an inspection system, when the accumulated error is corrected, the value based on the detection result by the ceiling member detection unit and the output value of the angle change detection unit at the current timing are added to correct the accumulated error. Therefore, the accumulated error can be corrected with higher accuracy.

  In the inspection system according to the above feature, the cumulative error correction unit calculates an angle (angle α) formed by a left-right direction with respect to a traveling direction of the moving body and a longitudinal direction of the ceiling member, and calculates the calculated angle. Accordingly, it is preferable to correct the accumulated error.

  According to such an inspection system, the accumulated error is corrected according to the angle formed by the left-right direction (direction “LR”) with respect to the traveling direction of the moving body and the longitudinal direction of the ceiling member (direction “LD”). The accumulated error can be corrected each time the moving body passes below the ceiling member.

  In the inspection system according to the above feature, the ceiling member detection unit includes a pair of left and right ceiling distance measurement units (ceiling distance measurement units SR, SL) that are provided in the moving body and measure distances upward. The cumulative error correction unit includes a position interval (interval L) of the ceiling distance measurement unit and a distance (movement distance D) by which the moving body moves between each position where the ceiling distance measurement unit detects the ceiling member. ) And the angle is preferably calculated.

  According to such an inspection system, it is possible to detect the angle formed by the left and right direction with respect to the traveling direction of the moving body and the longitudinal direction of the ceiling member with a minimum number of sensors.

  In the inspection system according to the above feature, the ceiling member detection unit includes an imaging device (camera unit 210) provided on the moving body and capable of imaging the upper side of the moving body, and the cumulative error correction unit includes: It is preferable that the angle is calculated by performing image processing on an image obtained by an imaging device imaging the ceiling member.

  According to such an inspection system, it is possible to detect the angle between the left-right direction with respect to the traveling direction of the moving body and the longitudinal direction of the ceiling member without providing a sensor.

  In the inspection system according to the above feature, a movement distance calculation unit (movement distance calculation unit 330) that detects a movement distance of the moving body, the traveling direction detected by the traveling direction detection unit, and the movement distance calculation unit And a location position specifying unit (location position specifying unit 340) for specifying the location of the moving body in the closed space based on the moving distance detected by the display, and a plan view of the closed space. It is preferable to further include a display unit (display unit 180) for displaying the location position specified by the location location specifying unit on the plan view.

  According to such an inspection system, it is possible to detect the location of the moving body using the traveling direction detected with high accuracy and to present the detected location to the user.

  In a feature of the present invention, a moving body that moves in a closed space of a building integrates an angle change detection unit that detects a change in angle of the moving body in a yaw angle direction, and an output value of the angle change detection unit. A traveling direction detection unit that detects a traveling direction of the moving body, and a ceiling member detection unit that detects a ceiling member that is a member existing on the ceiling in the closed space, and the traveling direction detection unit includes: A cumulative error correction unit that corrects a cumulative error caused by the integration using a detection result by the ceiling member detection unit is provided.

  According to such a moving body, since the accumulated error caused by obtaining the traveling direction of the moving body by integration is corrected using the ceiling member, the accumulated error can be accurately corrected.

  According to a feature of the present invention, an operating device that remotely controls a moving body that moves in a closed space of a building detects the traveling direction of the moving body by integrating the change in angle in the yaw angle direction of the moving body. A traveling direction detection unit; and a detection result acquisition unit (communication device 110) that acquires a detection result of a ceiling member that is a member existing on the ceiling in the closed space, wherein the traveling direction detection unit acquires the detection result. A cumulative error correction unit that corrects a cumulative error caused by the integration using the detection result acquired by the unit;

  According to such an operation device, since the accumulated error caused by obtaining the traveling direction of the moving body by accumulation is corrected using the ceiling member, the accumulated error can be accurately corrected.

  In a feature of the present invention, an inspection method using a moving body that moves in a closed space of a building and an operation device that remotely controls the moving body detects a change in the angle of the moving body in the yaw angle direction. An angle change detection step, a travel direction detection step for detecting the travel direction of the moving body by integrating the output values of the angle change detection step, and a ceiling member that is a member existing on the ceiling in the closed space And a cumulative error correction step of correcting a cumulative error caused by the integration using a detection result of the ceiling member detection step.

  According to such an inspection method, the accumulated error caused by obtaining the traveling direction of the moving body by correction is corrected using the ceiling member, so that the accumulated error can be corrected with high accuracy.

  A feature of the present invention is that a computer that functions as an operating device that remotely controls a moving body that moves in a closed space of a building is integrated with a change in the yaw angle direction of the moving body to advance the moving body. Using a traveling direction detection procedure for detecting a direction, a detection result acquisition procedure for acquiring a detection result of a ceiling member that is a member existing on the ceiling in the closed space, and the detection result acquired by the detection result acquisition procedure And a cumulative error correction procedure for correcting a cumulative error caused by the integration.

  According to such an inspection program, the accumulated error caused by obtaining the traveling direction of the moving body by correction is corrected using the ceiling member, so that the accumulated error can be corrected with high accuracy.

  According to the present invention, when inspecting a closed space of a building, an inspection system, a moving body, an operating device, and an inspection program capable of accurately correcting an accumulated error caused by obtaining the traveling direction of the moving body by integration are provided. Can be provided.

  Next, an embodiment of the present invention will be described with reference to the drawings. In the description of the drawings in the following embodiments, the same or similar parts are denoted by the same or similar reference numerals.

[First Embodiment]
In the present embodiment, (1) a schematic configuration of the underfloor inspection system, (2) a detailed configuration of the underfloor inspection system, (3) an operation of the underfloor inspection system, and (4) actions and effects will be described.

(1) Schematic Configuration of Underfloor Inspection System FIG. 1 is a schematic configuration diagram of an underfloor inspection system 10 according to the present embodiment. The underfloor inspection system 10 includes a robot operation device (operation device) 100 and an underfloor inspection robot (moving body) 200.

  The robot operation device 100 performs wireless communication with the underfloor inspection robot 200 and remotely operates the underfloor inspection robot 200. In FIG. 1, a notebook PC is illustrated as the robot operation device 100.

  The underfloor inspection robot 200 inspects the underfloor space A1 of the building. Specifically, the underfloor inspection robot 200 captures an image of the underfloor space A1 of the building, and transmits image data obtained by the image capturing to the robot operation device 100.

  The robot operation apparatus 100 is used by a user (operator) in the floor space A2, for example. Based on the image data received from the underfloor inspection robot 200, the robot operation apparatus 100 displays the captured image on the display unit 180 in real time.

  The robot operation apparatus 100 transmits an operation command (such as a camera operation command or a robot movement command) for operating the underfloor inspection robot 200 to the underfloor inspection robot 200 in accordance with an input operation from the user.

  The underfloor inspection robot 200 includes a front wheel 202F, a rear wheel 202R, and a crawler 201 that is stretched over the front wheel 202F and the rear wheel 202R. The crawler 201 rotates as the front wheel 202F and the rear wheel 202R rotate. The underfloor inspection robot 200 moves in a combination of forward movement, backward movement, and on-site turning by the rotation of the crawler 201.

  The underfloor inspection robot 200 includes a camera unit (imaging device) 210 that protrudes upward. Hereinafter, the main body portion excluding the camera unit 210 in the underfloor inspection robot 200 is appropriately referred to as a “vehicle body”. The camera unit 210 can be rotated in the pan direction and the tilt direction independently of the vehicle body, and can also be zoomed.

  An example of the environment in the underfloor space A1 will be described with reference to FIGS.

  As shown in FIG. 2, the underfloor space A1 is a space having a height of about 32 cm to 37 cm, and is divided into rectangular sections by a foundation. The underfloor inspection robot 200 moves to an adjacent section through a vent formed in the foundation. The underfloor inspection robot 200 images the foundation, piping, cables and pipes, etc. under the control of the robot operating device 100.

  Moreover, as shown in FIG. 3, ceiling members, such as large drawing and joists, are arrange | positioned at the ceiling part of underfloor space A1 at the grid | lattice form. The plurality of large forks are supported by a bunch of stones, a floor bundle, and the like, and are arranged in parallel to each other. The plurality of joists are supported by the large draw and are arranged in parallel to each other. A ceiling board (not shown) is disposed on the upper surface of the joist. Each of the large pull / joe has a straight (rod-like) shape and is arranged in parallel with the wall surface of the foundation.

(2) Detailed Configuration of Underfloor Inspection System Next, detailed configurations of the underfloor inspection robot 200 and the robot operation device 100 will be described.

(2.1) Configuration of Underfloor Inspection Robot FIG. 4 is a plan view of the underfloor inspection robot 200. The underfloor inspection robot 200 rotates the left crawler 201L and the right crawler 201R in opposite directions to rotate in the yaw angle direction around the vehicle body center C. In FIG. 4, the symbol “FR” indicates the traveling direction, and the symbol “RE” indicates the rear of the vehicle body. Symbols “R” and “L” indicate the right direction and the left direction of the vehicle body, respectively.

  On the left and right sides of the front part of the underfloor inspection robot 200, a left ceiling distance measurement unit SL and a right ceiling distance measurement unit SR that perform distance measurement toward the upper side of the underfloor inspection robot 200 are arranged. For example, an optical distance sensor or an ultrasonic distance sensor can be used as the ceiling distance measuring units SR and SL. In the present embodiment, the ceiling distance measurement units SR and SL are included in a ceiling member detection unit that detects a ceiling member (specifically, a ceiling member such as a large drawing or joist).

  In the present embodiment, the ceiling distance measuring units SR and SL may output an upward distance value, or may output H (high) / L (low) according to the unevenness of the ceiling member. When the ceiling distance measuring units SR and SL output the upward distance value, the above-described ceiling member detection unit outputs the comparison result between the distance value and the threshold value as H (high) / L (low). . This embodiment demonstrates the case where ceiling distance measurement part SR, SL outputs the value of the distance to the upper direction.

  FIG. 5 is a functional block configuration diagram of the underfloor inspection robot 200. As shown in FIG. 5, the underfloor inspection robot 200 includes a camera unit 210, a communication device 220, a sensor unit 230, a traveling motor 240, a movement control device 250, and a power supply device 260.

  The communication device 220 is configured in accordance with, for example, a wireless LAN method and executes wireless communication. In addition to the ceiling distance measuring units SR and SL, the sensor unit 230 includes an encoder (rotary encoder) that detects the rotational speed of the front wheels 202F and the rear wheels 202R, a gyro sensor that detects an angular velocity Δγ in the yaw angle direction, and the like. In the present embodiment, the gyro sensor functions as an angle change detection unit that detects a change in angle in the yaw angle direction of the underfloor inspection robot 200. The angle change detection unit can also detect the change in the angle using the output value of the encoder. In the present embodiment, a case where a gyro sensor is used as the angle change detection unit will be described.

  The traveling motor 240 is supplied with electric power from a power supply device (battery) 260 and drives the front wheels 202F and the rear wheels 202R. The movement control device 250 controls the traveling motor 240 in accordance with the robot movement command transmitted from the robot operation device 100.

  In addition, the movement control device 250 controls the traveling motor 240 according to the sensor value from the sensor unit 230, or transmits the sensor value to the robot operation device 100 via the communication device 220.

  The camera unit 210 includes a camera 211, a pan motor 212, a tilt motor 213, a zoom mechanism 214, a focus mechanism 215, and a camera control device 216. Note that an illumination device that illuminates the underfloor space A1 may be provided in the camera unit 210.

  The camera 211 is, for example, a CCD camera, and image data obtained from the camera 211 is transmitted to the robot operation device 100 via the camera control device 216 and the communication device 220.

  The tilt motor 213 rotates the camera 211 in the tilt direction. The pan motor 212 rotates the camera 211 (the entire camera unit 210) in the pan direction.

  The zoom mechanism 214 changes the zoom rate of the camera 211. The focus mechanism 215 controls the focus of the camera 211. The camera control device 216 controls the entire camera unit 210 in accordance with the camera operation command transmitted from the robot operation device 100.

(2.2) Configuration of Robot Operating Device FIG. 6 is a functional block configuration diagram of the robot operating device 100. As illustrated in FIG. 6, the robot operation device 100 includes a communication device 110, a storage unit 130, a control unit 150, an input unit 170, and a display unit 180.

  The communication device 110 is configured in accordance with, for example, a wireless LAN system and executes wireless communication. The storage unit 130 stores various data used for information processing and image processing in the robot operation apparatus 100. In the present embodiment, the storage unit 130 stores in advance drawing data of an underfloor drawing (plan view) based on a basic plan view.

  The control unit 150 controls the entire robot operation device 100 and transmits various commands to the underfloor inspection robot 200 using the communication device 110 or receives various information (image data, sensor values, etc.) from the underfloor inspection robot 200. Or get it. In the present embodiment, the communication device 110 functions as an acquisition unit that acquires various types of information from the underfloor inspection robot 200.

  The input unit 170 is, for example, a keyboard or a mouse, and receives input from the user. The display unit 180 displays various information. Specifically, the display unit 121 includes a display 182 such as an LCD, and a display control unit 181 that controls the display 182 (see FIG. 7A). In the present embodiment, the display unit 180 displays the underfloor drawing and displays the location of the underfloor inspection robot 200 on the underfloor drawing.

(2.3) Traveling Direction Detection Function FIG. 7A is a functional block configuration diagram showing a configuration for detecting the traveling direction FR of the underfloor inspection robot 200 in the underfloor inspection system 10.

  The functional blocks of the direction detection unit 310, the movement distance calculation unit 330, and the location position specification unit 340 shown in FIG. 7A are the internal components of the movement control device 250 of the underfloor inspection robot 200 or the control unit 150 of the robot operation device 100. Is provided.

  Alternatively, the functional blocks of the direction detection unit 310, the movement distance calculation unit 330, and the location position specifying unit 340 shown in FIG. 7A are used as the movement control device 250 of the underfloor inspection robot 200 or the control unit 150 of the robot operation device 100. It may be provided in a distributed manner.

  The direction detection unit 310 includes a selection unit 322, an addition unit 311, an angle calculation unit 321, and a holding unit 323. The selection unit 322, the addition unit 311 and the angle calculation unit 321 operate in synchronization with the same clock.

  Below, the structure of the direction detection part 310 is demonstrated with reference to the time chart shown in FIG.7 (b) suitably. In FIG. 7B, “t (n)” indicates the current timing (hereinafter “current timing”), and “t (n−1)” indicates the timing one clock cycle before (hereinafter “previous timing”). ).

  The holding unit 323 holds and outputs the value γ ′ indicating the traveling direction FR in synchronization with the rising edge of the clock.

  The selection unit 322 selects either the value γ ′ indicating the traveling direction FR at the previous timing t (n−1) output from the holding unit 323 or the value γ based on the detection result by the ceiling member detection unit described above.

  The addition unit 311 adds the output value of the selection unit 322 and the value indicating the angle change (angular velocity Δγ) at the current timing t (n), and the traveling direction FR of the underfloor inspection robot 200 at the current timing t (n). Is output as traveling direction information γ ′.

  Specifically, the traveling direction information γ ′ indicates an angle and is determined based on the traveling direction at the initial position of the underfloor inspection robot 200. In the present embodiment, the clockwise direction is the forward direction with respect to the traveling direction at the initial position of the underfloor inspection robot 200.

  Note that the angular velocity Δγ may be an angular velocity Δγ calculated based on the difference between the rotational speeds of the left and right encoders, in addition to being obtained by the gyro sensor.

  The angle calculation unit 321 calculates an angle α formed by the left-right direction with respect to the traveling direction FR of the underfloor inspection robot 200 and the longitudinal direction of the ceiling member such as a large draw or joist as a correction value γ of the traveling direction information γ ′. Then, the selection unit 322 supplies either the correction value γ calculated by the angle calculation unit 321 or the traveling direction information γ ′ obtained at the previous timing t (n−1) to the addition unit 311.

  Thus, the selection unit 322 and the angle calculation unit 321 function as an error correction unit 320 that corrects the accumulated error. Specifically, the selection unit 322 selects the correction value γ when the accumulated error is corrected (that is, when the ceiling member passes below), and otherwise the traveling direction obtained at the previous timing t (n−1). Select information γ ′. However, it should be noted that the selection unit 322 selects an initial value (0 °) at the initial position of the underfloor inspection robot 200.

  The movement distance calculation unit 330 calculates the movement distance of the underfloor inspection robot 200 according to, for example, the rotational speed E of the front wheel 202F and the rear wheel 202R detected by the encoder.

  Based on the initial position of the underfloor inspection robot 200, the traveling direction information γ detected by the direction detection unit 310, and the movement distance calculated by the movement distance calculation unit 330, the location position specifying unit 340 is located in the underfloor space A1. The location of the underfloor inspection robot 200 is specified.

  The display control unit 181 displays the underfloor drawing on the display 182 based on the underfloor drawing data stored in the storage unit 130 and the location of the underfloor inspection robot 200 identified by the location identifying unit 340. The location position PS of the underfloor inspection robot 200 is displayed on the underfloor drawing (see FIG. 14).

(3) Operation of Underfloor Inspection System Hereinafter, the operation of the underfloor inspection system 10 will be described with reference to FIGS. 8 to 14.

(3.1) Outline of Cumulative Error Correction Operation FIG. 8 is a diagram showing an outline of the cumulative error correction operation in the underfloor inspection system 10.

  In FIG. 8, the symbol “γ” means the actual traveling direction of the underfloor inspection robot 200, and the symbol “γ ′” means the direction indicated by the traveling direction information output from the direction detection unit 310. That is, the traveling direction information γ ′ includes an accumulated error due to integration. In FIG. 8, coordinate axes X and Y parallel to the wall surface of the foundation are defined. Further, in FIG. 8, the symbol “LD” means the longitudinal direction in the large drawing or joist.

  As shown in FIG. 8A, the underfloor inspection robot 200 is installed so that the traveling direction information γ is parallel to the coordinate axis X, and the movement of the underfloor inspection robot 200 is started.

  As shown in FIG. 8B, immediately after the start of movement, the actual traveling direction γ and the traveling direction information γ ′ of the underfloor inspection robot 200 substantially coincide with each other. Thereafter, as shown in FIG. 8C, the accumulated error increases in the traveling direction information γ ′ of the underfloor inspection robot 200 as time passes, and the error between the actual traveling direction γ and the traveling direction information γ ′ increases. growing.

  FIG. 8D shows a state when the underfloor inspection robot 200 passes under a ceiling member such as a large draw or joist. In FIG. 8, the longitudinal direction of the ceiling member is along the coordinate axis X direction. In actuality, for example, ceiling members such as large draws and joists are arranged at intervals of about 90 cm.

  FIG. 9 is a front view showing a state when the underfloor inspection robot 200 passes under a ceiling member such as a large draw or joist. The underfloor inspection robot 200 detects a ceiling member such as a large draw or a joist based on a decrease in the sensor value of the ceiling distance measuring units SR and SL.

  The error correction unit 320 uses the sensor values of the ceiling distance measurement units SR and SL to calculate an angle α formed between the ceiling member such as large draw and joist and the horizontal direction with respect to the traveling direction FR of the underfloor inspection robot 200. A value of 90 ° −α ″ is used as the correction value γ. As a result, the accumulated error is reset and the integration from the actual value in the traveling direction γ is resumed.

  Thus, in the present embodiment, the accumulated error can be corrected easily and with high accuracy by paying attention to the fact that the ceiling member such as a large draw or joist is a linear (bar-shaped) member parallel to the foundation wall.

(3.2) Angle Calculation Operation Next, the angle α calculation operation in the underfloor inspection system 10 will be described with reference to FIGS. 10 and 11. Here, an example of calculating the angle α for the large pull will be described.

  FIG. 10A shows a state in which the underfloor inspection robot 200 passes under the large pull in plan view. In the present embodiment, the angle α is calculated using the position interval L of the ceiling distance measuring units SR and SL and the movement distance D.

  As shown in FIG. 10B, the moving distance D remains after the ceiling distance measuring units SR and SL remain after the ceiling distance measuring units SR and SL detect a ceiling member such as a large draw or joist. It means the distance that the underfloor inspection robot 200 has moved until one of the ceiling members is detected.

  In the example of FIGS. 10 (a) and 10 (b), an underfloor inspection is performed after the left ceiling distance measurement unit SL detects a large pull until the right ceiling distance measurement unit SR detects the large pull. A distance traveled by the robot 200 is defined as a travel distance D.

  Here, the angle α is calculated by the following equation (1).

α = tan ^-1 (D / L) (1)
FIG. 11 is a diagram illustrating a specific example of the angle α. As shown in FIG. 11 (a), when the angle formed by the left-right direction with respect to the traveling direction FR of the underfloor inspection robot 200 and the longitudinal direction of the fork is 0 °, the angle α is
α = tan ^-1 (0 / L) = 0 (2)
It becomes. As shown in FIG. 11 (b), when the angle formed between the left-right direction with respect to the traveling direction FR of the underfloor inspection robot 200 and the longitudinal direction of the overdraw is not 0 ° or 90 °, the angle α is calculated according to the equation (1). Is done.

As shown in FIG. 11 (c), when the angle formed by the left-right direction with respect to the traveling direction FR of the underfloor inspection robot 200 and the longitudinal direction of the forcible is 90 °, the angle α is
α = tan ^-1 (∞ / L) = 90 (3)
It becomes.

(3.3) Outline of Traveling Direction Detection Operation Next, an outline of the traveling direction detection operation in the underfloor inspection system 10 will be described using the flowchart shown in FIG.

  In step S101, the underfloor inspection robot 200 is put into the underfloor space so as to be parallel to the coordinate axis X (X axis). Specifically, the underfloor inspection robot 200 is installed in a direction in which the traveling direction FR of the underfloor inspection robot 200 is visually confirmed as being parallel to the base wall surface of a certain section.

  In step S102, the direction detection unit 310 initializes the traveling direction information γ ′ to “0”.

  In step S <b> 103, the error correction unit 320 determines whether the underfloor inspection robot 200 has passed under a ceiling member such as a large draw or joist. If the underfloor inspection robot 200 has passed under the ceiling member, the process proceeds to step S104. If the underfloor inspection robot 200 has not passed under the ceiling member, the process proceeds to step S105.

  In step S104, the error correction unit 320 calculates the angle α according to the equation (1) and corrects the traveling direction information γ ′ using the angle α.

  In step S105, the direction detection unit 310 integrates the angular velocity Δγ to obtain the traveling direction information γ ′.

(3.4) Details of Cumulative Error Correction Operation Next, details of the cumulative error correction operation in the underfloor inspection system 10 will be described using the flowchart shown in FIG. The cumulative error correction operation includes a step S210 for detecting a ceiling member such as a large draw or joist and a step S220 for updating the traveling direction information γ ′.

  In step S211, the error correction unit 320 determines whether the underfloor inspection robot 200 is traveling straight. If the underfloor inspection robot 200 is traveling straight, the process proceeds to step S212. If the underfloor inspection robot 200 is not traveling straight, the process returns to step S211.

  In step S212, the error correction unit 320 determines whether or not the detection distances DS1 and DS2 of the right ceiling distance measurement unit SR or the left ceiling distance measurement unit SL are shorter than a predetermined value. If the detection distances DS1 and DS2 are shorter than the predetermined value, the process proceeds to step S213. If the detection distances DS1 and DS2 are not shorter than the predetermined value, the process returns to step S212. When the detection distances DS1 and DS2 are shorter than a predetermined value, the error correction unit 320 instructs the movement distance calculation unit 330 to calculate the movement distance D.

  In step S213, the movement distance calculation unit 330 starts calculating the movement distance D. The calculated movement distance D is notified to the error correction unit 320.

  In step S214, the error correction unit 320 determines whether or not the movement distance D is within a predetermined value from the reaction of the ceiling distance measurement unit SL or the ceiling distance measurement unit SR (step S212; YES). If the movement distance D is within the predetermined value, the process proceeds to step S215. If the movement distance D exceeds the predetermined value, the process proceeds to step S223. That is, in step S223, it is considered that the state of FIG.

  In step S215, the error correction unit 320 determines whether or not the detection distances DS1 and DS2 of the right ceiling distance measurement unit SR or the left ceiling distance measurement unit SL are shorter than a predetermined value. Specifically, if the right ceiling distance measurement unit SR has reacted in step S212, it is determined whether the left ceiling distance measurement unit SL has reacted. In step S212, the left ceiling distance measurement unit SL has reacted. For example, it is determined whether or not the right ceiling distance measuring unit SR has reacted.

  If the detection distances DS1 and DS2 are shorter than the predetermined value, the process proceeds to step S221. If the detection distances DS1 and DS2 are not shorter than the predetermined value, the process returns to step S214. Here, when the detection distances DS1 and DS2 are shorter than a predetermined value, the measurement of the movement distance D is completed.

  In step S221, the error correction unit 320 calculates the angle α according to the equation (1).

  In step S222, the error correction unit 320 determines whether or not the underfloor inspection robot 200 passes under the ceiling member parallel to the coordinate axis Y based on the traveling direction information γ ′. Specifically, when the traveling direction information γ ′ is near 90 ° or −90 °, it is determined that the underfloor inspection robot 200 has passed under the ceiling member parallel to the coordinate axis Y.

  When the underfloor inspection robot 200 passes below the ceiling member parallel to the coordinate axis Y, the process proceeds to step S223, and when the underfloor inspection robot 200 does not pass below the ceiling member parallel to the coordinate axis Y. Advances to step S224.

  In step S223, the error correction unit 320 corrects the traveling direction information γ ′ to 90 ° (or −90 °).

  In step S224, the error correction unit 320 corrects the traveling direction information γ ′ using the angle α calculated in step S221.

(3.5) Configuration of Display Screen FIG. 14 is a diagram illustrating an example of a display screen configuration on the display 182 of the display unit 180.

  In the display screen configuration shown in FIG. 14, an underfloor drawing created based on the basic floor plan is displayed, and a symbol PS indicating the location of the underfloor inspection robot 200 and a movement locus (traveling locus) of the underfloor inspection robot 200 are displayed. A symbol LN is displayed. With the symbol PS indicating the location of the underfloor inspection robot 200, the traveling direction of the underfloor inspection robot 200 can be identified.

  In addition to the area where the underfloor drawing is displayed, an area where a real-time video is displayed and an area where buttons for transmitting various commands are displayed may be included.

(4) Actions / Effects According to the present embodiment, instead of placing a sign for the underfloor inspection robot 200 to trace on the ground, a cumulative error caused by obtaining the advancing direction of the underfloor inspection robot 200 by integration, Since correction is performed using a ceiling member such as a large drawing or joist existing on the ceiling in the underfloor space A1, the accumulated error can be corrected with high accuracy.

  According to the present embodiment, the accumulated error is corrected according to the angle α formed by the left-right direction (direction “LR”) with respect to the traveling direction FR of the underfloor inspection robot 200 and the longitudinal direction of the ceiling member (direction “LD”). Therefore, the accumulated error can be corrected every time the underfloor inspection robot 200 passes below the ceiling member. In addition, according to the present embodiment, the angle α can be detected by the minimum ceiling distance measuring units SR and SL.

  Furthermore, according to the present embodiment, it is possible to detect the location of the underfloor inspection robot 200 using the traveling direction FR detected with high accuracy and to present the detected location to the user.

[Second Embodiment]
In the present embodiment, differences from the above-described first embodiment will be mainly described, and redundant description will be omitted. Specifically, in the present embodiment, (1) operation of the underfloor inspection system and (2) operation / effect will be described.

(1) Operation of the Underfloor Inspection System In the first embodiment described above, ceiling members such as large draws and joists are detected using the ceiling distance measuring units SR and SL. An angle α is calculated by performing image processing on an image obtained by the camera 211. That is, in the present embodiment, the camera unit 210 is included in a ceiling member detection unit that detects a ceiling member.

  Specifically, as shown in FIG. 15A, the underfloor inspection robot 200 operates the camera unit 210 (camera 211) in the tilt direction to face upward, and images the underfloor ceiling with the movement stopped. . Then, the error correction unit 320 calculates the angle α from a ceiling member such as a large drawing or joist included in the image P of the underfloor ceiling.

  Next, operation | movement of the underfloor inspection system 10 which concerns on this embodiment is demonstrated using the flowchart shown in FIG. Note that step S320 for updating the traveling direction information γ 'is the same as that in the first embodiment described above, and therefore, step S310 for detecting a ceiling member such as a large draw or joist will be described here.

  In step S311, the underfloor inspection robot 200 images the underfloor ceiling and focuses the underfloor ceiling.

  In step S312, the error correction unit 320 performs image processing (line detection by edge detection and Hough conversion) on the image obtained in step S311.

  In step S313, the error correction unit 320 determines whether or not the straight line detected in step S312 is longer than a predetermined value. If the straight line detected in step S312 is longer than the predetermined value, it is determined that a ceiling member has been detected, and the process proceeds to step S321. In step S321, the inclination of the straight line is calculated as the angle α.

(2) Action / Effect According to the present embodiment, the angle α can be detected without providing the ceiling distance measuring sections SR and SL, and therefore the accumulated error can be corrected with high accuracy.

[Other Embodiments]
As mentioned above, although this invention was described by embodiment, it should not be understood that the description and drawing which form a part of this indication limit this invention. From this disclosure, various alternative embodiments, examples and operational techniques will be apparent to those skilled in the art.

  In the underfloor inspection system 10, there is a possibility that the piping shown in FIG. 2, the cable, the pipe, the hose, or the like is erroneously detected as a ceiling member. In such a case, the correction of the accumulated error fails. In order to avoid the above problems, the following method (a) or (b) is effective.

  (A) Since each distance between the ceiling member and the floor base surface is substantially constant, the determination range of the sensor values DS1 and DS2 of the ceiling distance measuring units SR and SL is narrowed.

  (B) Since the position interval of the ceiling member is substantially constant, each distance between the floor base surface and the ceiling member is measured at the interval, and the measured value is averaged to omit the sensor value far from the average value.

  Furthermore, in the above-described embodiment, the angle α is calculated without particularly distinguishing between large pulls and joists, but as shown in FIG. 3, the heights at which the large pulls and joists are arranged are different. Using this, it is possible to distinguish between Ohiki and Jouda. The angle α can be calculated with higher accuracy by discriminating between large drawing and joist.

  In the embodiment described above, the configuration including the pair of left and right ceiling distance measuring units SR and SL has been described. However, not only the ceiling distance measuring units SR and SL but also the ceiling distance measuring unit is provided at the center position of the underfloor inspection robot 200. May be added.

  Further, the ceiling distance measuring units SR and SL are not limited to the optical distance sensor or the ultrasonic distance sensor, and may be configured to detect physical contact / non-contact with the ceiling member. For example, as shown in FIG. 17, the underfloor inspection robot 200 includes a pair of bars BR and BL that are arranged on the left and right of the front portion of the vehicle body and extend along the vertical direction.

  The lower ends of the bars BR and BL are tiltably supported by the vehicle body of the underfloor inspection robot 200 and are biased to be in an initial state (a state along the vertical direction). As a result, the bars BR and BL are inclined toward the rear of the vehicle body with the lower end portion as a fulcrum when contacting the ceiling member, and return to the initial state when they are not in contact with the ceiling member.

  Here, the closer the distance between the vehicle body and the ceiling member is, the larger the inclination angle of the bars BR and BL at the time of contact with the ceiling member is. Therefore, the inclination angle is used between the vehicle body and the ceiling member. The distance can be estimated. Or you may output H / L according to the contact / non-contact with a ceiling member.

  In the above-described embodiment, the underfloor inspection system has been described. However, the present invention is not limited to underfloor inspection, and can be applied to, for example, the back of a ceiling of a building. Furthermore, the present invention can also be applied to inspections of places where it is difficult for people to enter, such as inside nuclear power plants, underground facilities, underground clay pipes, or closed spaces where people cannot enter.

  In the above-described embodiment, the underfloor inspection robot 200 including the crawler 201 has been described. However, a vehicle-type moving body that does not include the crawler 201 and travels only by wheels may be used. Further, the underfloor inspection robot 200 and the robot operation device 100 may be capable of wired communication.

  It should be noted that each process / procedure described in each embodiment described above can be implemented as a computer program and executed by a PC or the like.

  Thus, it should be understood that the present invention includes various embodiments and the like not described herein. Therefore, the present invention is limited only by the invention specifying matters in the scope of claims reasonable from this disclosure.

1 is a schematic configuration diagram of an underfloor inspection system according to a first embodiment of the present invention. It is a figure which shows an example of the environment in underfloor space (the 1). It is a figure which shows an example of the environment in underfloor space (the 2). It is a top view of the underfloor inspection robot which concerns on 1st Embodiment of this invention. It is a functional block block diagram of the underfloor inspection robot which concerns on 1st Embodiment of this invention. It is a functional block block diagram of the robot operating device concerning a 1st embodiment of the present invention. It is a figure for demonstrating the structure which detects the advancing direction of the underfloor inspection robot in the underfloor inspection system which concerns on 1st Embodiment of this invention. It is a figure which shows the outline of the accumulation error correction | amendment operation | movement in the underfloor inspection system which concerns on 1st Embodiment of this invention. It is a front view which shows the state at the time of the floor inspection robot which concerns on 1st Embodiment of this invention passing the downward direction of ceiling members, such as a draw and a joist. It is a figure for demonstrating calculation operation | movement of the angle (alpha) in the underfloor inspection system which concerns on 1st Embodiment of this invention. It is a figure which shows the specific example of angle (alpha). It is a flowchart which shows the outline of the advancing direction detection operation | movement in the underfloor inspection system which concerns on 1st Embodiment of this invention. It is a flowchart which shows the detail of the accumulation error correction | amendment operation | movement in the underfloor inspection system which concerns on 1st Embodiment of this invention. It is a figure which shows an example of the display screen structure in the display of the display part which concerns on 1st Embodiment of this invention. It is a figure for demonstrating operation | movement of the underfloor inspection system which concerns on 2nd Embodiment of this invention. It is a flowchart which shows operation | movement of the underfloor inspection system which concerns on 2nd Embodiment of this invention. It is a figure which shows the structure of the underfloor inspection robot which concerns on other embodiment.

Explanation of symbols

  SR, SL: Ceiling distance measurement unit, 10: Underfloor inspection system, 100 ... Robot operation device, 110 ... Communication device, 121 ... Display unit, 130 ... Storage unit, 150 ... Control unit, 170 ... Input unit, 180 ... Display unit , 181 ... Display control unit, 182 ... Display, 200 ... Underfloor inspection robot, 201 ... Crawler, 202F ... Front wheel, 202R ... Rear wheel, 210 ... Camera unit, 211 ... Camera, 212 ... Pan motor, 213 ... Tilt motor , 214 ... Zoom mechanism, 215 ... Focus mechanism, 216 ... Camera control device, 220 ... Communication device, 230 ... Sensor unit, 240 ... Motor for travel, 250 ... Movement control device, 260 ... Power supply device, 310 ... Direction detection unit, 311... Adder, 320. Error corrector, 321. Angle calculator, 322. Selectr, 330. ... location identification unit

Claims (5)

A moving body that moves in a closed space of the building;
An operation system for remotely operating the movable body, and an inspection system for inspecting the closed space,
An angle change detection unit for detecting a change in angle in the yaw angle direction of the moving body;
A traveling direction detector that detects the traveling direction of the moving body by integrating the output values of the angle change detector;
A ceiling member detection unit that detects a ceiling member that is a member present on the ceiling in the closed space;
The traveling direction detection unit uses the detection result of the ceiling member detecting unit, and have a cumulative error correcting unit for correcting the accumulated errors caused by the integration,
The cumulative error correction unit calculates an angle between a horizontal direction with respect to a traveling direction of the moving body and a longitudinal direction of the ceiling member, and corrects the cumulative error according to the calculated angle . The cumulative error correction unit includes a selection unit that selects either a value indicating a traveling direction of the moving body at a previous timing or a value based on a detection result by the ceiling member detection unit,
The advancing direction detection unit includes an adding unit that outputs the addition result of the output value of the selection unit and the output value of the angle change detection unit at the current timing as a value indicating the advancing direction of the moving body at the current timing. Have
The inspection system according to claim 1, wherein the selection unit selects a value based on a detection result by the ceiling member detection unit when the accumulated error is corrected. The ceiling member detection unit includes a pair of left and right ceiling distance measurement units that are provided in the moving body and measure distances upward.
The cumulative error correction unit calculates the angle based on a position interval of the ceiling distance measurement unit and a distance that the moving body has moved between each position where the ceiling distance measurement unit detects the ceiling member. The inspection system according to claim 1 to calculate. The ceiling member detection unit is provided on the moving body, and includes an imaging device capable of capturing an image above the moving body,
The inspection system according to claim 1 , wherein the cumulative error correction unit calculates the angle by performing image processing on an image obtained by the imaging device imaging the ceiling member. A moving distance calculating unit for detecting a moving distance of the moving body;
A location position identifying unit that identifies a location of the moving body in the closed space based on the traveling direction detected by the traveling direction detection unit and the travel distance detected by the travel distance calculation unit; ,
And it displays the plan view of the closed space, according to the location specified by the location specification section in any one of claims 1 to 4, further comprising a display unit for displaying on the plan view Inspection system.

Images