JP7111276B2 - water meter reading device - Google Patents

Description

TECHNICAL FIELD The present disclosure relates to a water meter reading device, and more particularly to a water meter reading device that uses an unmanned small aircraft to read a water meter installed above the ceiling.

Patent Literature 1 discloses a technique related to an inspection method using an unmanned small aircraft. In this technology, an unmanned small flying vehicle equipped with a camera is used to photograph the conditions of internal spaces such as chimneys and tunnels, and to check the conditions of the walls.

Japanese Patent Application Laid-Open No. 2019-36269

A water meter may be installed behind the ceiling of a building or the like. Water meter reading is generally performed by a worker reaching out through an inspection opening provided in the ceiling and taking an image of the dial of the water meter with a camera. Moreover, when the water meter is installed at a place away from the inspection port, a method may be adopted in which a camera is attached to the tip of a rod, for example, and the dial of the water meter is imaged. Such meter reading work, for example, needs to be performed by a worker while feeling his way while on a stepladder, which poses a problem of poor work efficiency.

Therefore, as a new method of reading the water meter in the ceiling space, a method using an unmanned small flying object as described in Patent Document 1, for example, is conceivable. It is common for the dial of the water meter in the ceiling to face upward. Therefore, by flying an unmanned small flying object equipped with a camera to the sky above the water meter, it is possible to take an image of the dial even if the water meter is installed in a place where it is difficult for workers to take an image. . However, simply capturing an image of the dial from above the water meter may result in a captured image in which the orientation of the dial is tilted. In this case, the numerical value cannot be easily read from the dial of the captured image, and there is a risk that the efficiency of the meter reading work will be reduced.

The present disclosure has been made in order to solve the problems described above. To provide a water meter reading device capable of improving readability of a board.

The present disclosure is a water meter reading device that reads a water meter installed in the ceiling space, and is an unmanned flying object equipped with a camera that captures an image of an object below from the sky, and the unmanned flying object. and a control device for controlling the unmanned air vehicle and the camera. The control device consists of a dial reading unit that reads the vertical direction of the dial of the water meter from an unmanned air vehicle flying over the water meter, and the vertical direction of the captured image captured by the camera matches the vertical direction of the dial. and an image pickup unit that picks up an image of the dial after rotating the unmanned flying object in the yaw direction.

According to the water meter reading device of the present disclosure, the vertical direction of the dial of the water meter is read from the unmanned air vehicle in flight, and the vertical direction of the captured image captured by the camera matches the vertical direction of the dial. The dial is imaged after rotating the unmanned air vehicle in the yaw direction. As a result, the vertical direction of the dial in the captured image can be matched with the direction of the captured image, so that the readability of the dial in the captured image can be improved.

It is a figure which shows the outline|summary of the meter-reading process using a water meter meter-reading apparatus. It is a figure which shows an example of the water meter installed in the ceiling space. 1 is a diagram showing a schematic configuration of an unmanned air vehicle; FIG. 3 is a functional block diagram showing functions of a control device for an unmanned air vehicle; FIG. 4 is a flowchart showing a control routine for meter reading processing executed in the water meter meter reading device of the embodiment; It is a figure which shows the image of the dial imaged in the meter-reading process of a comparative example. It is a figure which shows an example of the image of the dial imaged in the meter-reading process of embodiment. 1 is a diagram showing a configuration of an unmanned air vehicle having an arm; FIG. 1 is a diagram showing the configuration of an unmanned air vehicle equipped with lights; FIG. 1 is a diagram showing the configuration of an unmanned air vehicle equipped with brushes; FIG. It is a figure which shows the example of the hardware resources of a control apparatus. FIG. 10 is a diagram showing another example of hardware resources of a control device;

Embodiments will be described below with reference to the drawings. In addition, the same code|symbol is attached|subjected to the element which is common in each figure, and the overlapping description is abbreviate|omitted.

Embodiment.
1. Configuration of Embodiment 1-1. Overview of Water Meter to be Read FIG. 1 is a diagram showing an overview of meter reading processing using a water meter reading device. The water meter reading device of the present embodiment is intended to read the water meter 110 installed in the ceiling space 104 . The ceiling space 104 is a space isolated from the floor space 100 of the building via the ceiling panel 102 . The water meter 110 is installed in the middle of the water pipe 108 passing through the ceiling space 104 . An inspection opening 106 is provided in the ceiling panel 102 . By opening the door of the inspection door 106, it becomes possible to come and go between the floor space 100 and the space in the ceiling space 104. - 特許庁

A water meter 110 installed in the ceiling space 104 is installed so that the dial faces upward. FIG. 2 is a diagram showing an example of a water meter installed in the ceiling. A water meter 110 in this figure has a dial 112 inside a circular bezel 111 . The dial 112 has a first meter display section 113 that displays the flow rate in units of ¹ m3, a second meter display section 114 that displays the flow rate in units of 10 L, and a third meter display section 115 that displays the flow rate in units of 1 L. and are placed. The dial 112 also has an arrow mark 116 indicating the direction of the water stream flowing through the water pipe 108 . The arrow mark 116 is an arrow pointing downward in the vertical direction of the dial. Additionally, the dial 112 is provided with a pilot mark 117 that rotates when there is water flow through the interior of the water meter 110 .

1-2. Configuration of Water Meter Reading Device The water meter reading device includes an instruction terminal 8 and an unmanned flying object 10 . The unmanned air vehicle 10 can fly while grasping the attitude and position of the aircraft according to instructions from the instruction terminal 8 . The unmanned flying object 10 is about the size of a palm and is capable of hovering flight stationary in the air. The unmanned air vehicle 10 is also generally called a drone. FIG. 3 is a diagram showing a schematic configuration of the unmanned air vehicle 10. As shown in FIG. The unmanned air vehicle 10 has a main body 11, a plurality of legs 12 for takeoff and landing, a plurality of rotor blades 13 for flight, a camera 14 for imaging, and a control device 20. there is The camera 14 is mounted on the lower part of the main body part 11, and images the lower part from the sky.

The control device 20 controls the flight of the unmanned air vehicle 10 and the imaging by the camera 14 according to instructions input from the instruction terminal 8 . The unmanned air vehicle 10 flies by vertical movement, horizontal movement, yaw movement, and combinations thereof. For example, the control device 20 controls the position and attitude of the unmanned flying object 10 so that it autonomously flies according to the flight route instructed from the instruction terminal 8 . Alternatively, the control device 20 may search for an object indicated by the instruction terminal 8, calculate a target flight route, and autonomously fly to the sky over the object according to the calculated target flight route. The configuration and flight control of the unmanned air vehicle 10 are not limited. That is, the configuration of an unmanned air vehicle and its flight control have already been proposed in many documents. Known configurations and known flight controls for unmanned air vehicles may be employed here.

2. Functions of Water Meter Reading Device FIG. 4 is a functional block diagram showing the functions of the control device of the unmanned air vehicle. As shown in FIG. 4, the control device 20 of the unmanned flying object 10 includes an autonomous flight unit 22, a dial reading unit 24, an image capturing unit 26, and an image storage unit as functional blocks for reading the water meter 110. A portion 28 is provided.

The autonomous flight unit 22 is a control block for executing processing related to flight of the unmanned air vehicle 10 . Processing related to flight includes autonomous flight processing for performing autonomous flight according to a flight route. As shown in FIG. 1, the flight route consists of a first route R1 that ascends from the floor space 100 through the inspection opening 106 to the ceiling space 104, and a water meter 110 that moves horizontally through the ceiling space 104 to reach the destination. and a second route R2 that flies to the sky above. In the autonomous flight process, the unmanned flying object 10 autonomously flies above the water meter 110 along the first route R1 and the second route R2.

The dial reading unit 24 reads specific information for specifying the vertical orientation of the dial 112 . This process is called "dial reading process". The “vertical direction of the dial” in the dial reading process is the upward or downward direction of the numerical value of the first meter display section 113 in the dial 112 . In the dial reading process, for example, the arrow mark 116 is recognized from the image data of the dial 112 captured by the unmanned air vehicle 10 flying over the water meter 110 , and the arrow mark 116 points in the direction of the dial 112 . The vertical direction is read as downward. Further, in the dial reading process, for example, the numerals on the first meter display unit 113 may be read directly with the orientation of the dial 112 facing up and down.

The autonomous flight unit 22 rotates the unmanned flying object 10 in the yaw direction so that the vertical direction of the image captured by the camera 14 matches the vertical direction of the dial read by the dial reading process. This process is called "orientation adjustment process".

The image capturing unit 26 performs image capturing processing for capturing an image of the dial 112 by operating the camera 14 . The image storage unit 28 stores image data captured by the image capturing unit 26 in association with relevant information related to the water meter 110 . This process is hereinafter referred to as "image storage process". The related information includes, for example, identification information of the building where the water meter 110 is installed, information related to the type of the water meter 110, information related to the arrangement of the water meter 110 in the ceiling space 104, flight route to the water meter 110 and information related to

3. Specific Processing of Meter-Reading Process by Water Meter-Reading Device FIG. 5 is a flowchart showing a control routine for meter-reading processing executed in the water meter-reading device of the present embodiment. When performing the meter reading process, the worker opens the inspection opening 106 of the ceiling panel 102 as a preliminary preparation. In addition, the operator uses the instruction terminal 8 to transmit a previously prepared flight route up to the water meter 110 to the unmanned flying object 10 and to instruct the start of the meter reading process. The flowchart of FIG. 5 is executed when the control device 20 of the unmanned flying object 10 receives an instruction to start meter reading processing together with the flight route from the instruction terminal 8 .

In step S100 of the control routine shown in FIG. 5, autonomous flight processing is executed. The control device 20 receives the flight route from the instruction terminal 8 to the water meter 110 . Here, the control device 20 performs autonomous flight of the unmanned air vehicle 10 according to the received flight route.

In the next step S102, it is determined whether or not the unmanned flying object 10 has reached the sky above the water meter 110. FIG. The control device 20 always keeps track of the position of the unmanned flying object 10 by a known technique using signals from various sensors. Here, the controller 20 determines whether or not the grasped position of the unmanned flying object 10 has reached the position of the water meter 110 . As a result, if the position of the unmanned flying object 10 has not yet reached above the water meter 110, the process returns to step S100 to continue the autonomous flight process.

On the other hand, if it is determined in the process of step S102 that the unmanned flying object 10 has reached above the water meter 110, the process proceeds to the next step S104. In step S104, dial reading processing is executed. Here, the control device 20 reads the vertical direction of the dial 112 based on the direction of the arrow mark 116 on the dial 112 captured by the camera 14 .

In the next step S106, orientation adjustment processing is executed. Here, the control device 20 rotates the unmanned air vehicle 10 in the yaw direction so that the up-down direction of the image captured by the camera 14 matches the up-down direction of the dial 112 read in the dial reading process. As a result, the orientation of the unmanned air vehicle 10 is adjusted so that the arrow mark 116 on the dial 112 points downward in the captured image.

In the next step S108, imaging processing is executed. Here, the control device 20 captures an image of the dial 112 of the water meter 110 with the camera 14 . In the next step S110, image saving processing is executed. Here, the control device 20 associates the captured image captured by the imaging process with related information related to the water meter 110 and stores the related information in the memory.

According to the meter reading process configured as described above, the following effects are obtained. FIG. 6 is a diagram showing an image of a dial imaged in the meter reading process of the comparative example. The comparative example shown in FIG. 6 is an example of a captured image obtained when the orientation adjustment process is not performed in the meter reading process of the present embodiment. In the captured image 120 shown in FIG. 6 , the vertical direction of the dial 112 of the water meter 110 to be captured does not match the vertical direction of the captured image 120 . When such a captured image is displayed on a display device and the meter reading work is performed, it is difficult for the worker to check the numeric value on the dial 112 .

On the other hand, FIG. 7 is a diagram showing an example of the image of the dial imaged in the meter reading process of the present embodiment. In the captured image 122 shown in FIG. 7, the vertical direction of the captured image by the camera 14 and the vertical direction of the dial 112 of the water meter 110 are adjusted by orientation adjustment processing. For this reason, when performing meter reading work by displaying such a captured image on the display device, the operator can easily check the numeric value on the dial 112 .

As described above, according to the meter reading process by the water meter meter reading device of the present embodiment, it is possible to obtain a captured image that makes it easy for the operator to read the numeric values on the dial 112 . As a result, it is possible to improve the working efficiency of meter reading of the water meter.

Further, according to the meter reading process by the water meter meter reading device of the present embodiment, the vertical direction of the dial 112 is read based on the arrow mark included in the dial 112 . Since the image of the arrow mark is easy to recognize, the vertical direction of the dial 112 can be reliably read.

Further, according to the meter-reading process by the water meter meter-reading device of the present embodiment, the captured image is stored in association with the relevant information related to the water meter 110 . As a result, it is possible to specify the type, arrangement, etc. of the water meter 110 together with the captured image, so that the efficiency of the meter reading work by the worker can be enhanced.

Further, according to the meter reading process by the water meter meter reading device of the present embodiment, the unmanned flying object 10 can autonomously fly above the water meter 110 . As a result, the unmanned flying object 10 can fly above the water meter 110 even in the dark space behind the ceiling 104 where it is difficult for a worker to manually fly.

4. Modifications of the present embodiment The water meter reading device of the present embodiment may be modified as follows.

4-1. Imaging Process The imaging process may be configured to image the dial 112 from a plurality of different imaging locations above the water meter 110 . In this case, for example, when the process of step S110 is completed, the control device 20 controls the autonomous flight section 22 to move the unmanned flying object 10 in the horizontal direction. Here, for example, it moves on an arc along the outer circumference of the bezel 111 of the water meter 110 . Then, the control device 20 executes the processing from step S104 to step S110 again. By repeating such processing a plurality of times, captured images from a plurality of imaging locations along the outer periphery of the bezel 111 can be obtained. As a result, when the worker reads the numerical value on the dial 112, even if the numerical value of one captured image is difficult to read due to the reflection of light or the like, the numerical value on the dial 112 can be read by referring to another image. can be read.

4-2. Image Storage Processing The image storage processing may further include transmission processing for transmitting the captured image data to the instruction terminal 8 of the worker. There is no limitation on the transmission method of the image data. As a result, the worker can check the captured image on the spot using the display device of the instruction terminal 8 .

4-3. Unmanned flying object 10 having an arm part
Some water meters 110 are provided with a lid that covers the dial 112 . Therefore, the unmanned aerial vehicle 10 may have an arm for opening the lid covering the dial 112 . FIG. 8 is a diagram showing the configuration of an unmanned air vehicle having an arm. A modified unmanned flying object 10 shown in FIG. 8 is provided with an arm portion 16 extending downward from a body portion 11 . The arm portion 16 may be fixed or movable. If the arm portion 16 is of a fixed type, the control device 20 controls the flight of the unmanned flying object 10 so that the tip of the arm portion 16 is hooked on the cover of the dial 112 and opened before the process of step S104. Further, when the arm portion 16 is movable, the control device 20 controls the movement of the arm portion 16 so that the tip of the arm portion 16 is hooked on the lid of the dial 112 to open it before the process of step S104. As a result, even the water meter 110 in which the dial 112 is provided with a cover can be read.

4-4. Unmanned aerial vehicle 10 with lights
Since the ceiling space 104 is a dark place, it is difficult to image the dial 112 of the water meter 110 . Therefore, the unmanned air vehicle 10 may be equipped with a light that illuminates the downward direction. FIG. 9 is a diagram showing the configuration of an unmanned air vehicle equipped with lights. A modified unmanned flying object 10 shown in FIG. The light 15 may be a constant lighting type, or may be a sensor light that automatically turns on in a dark place. Further, the control device 20 may control the light 15 so as to turn on during the imaging process. As a result, it is possible to prevent a situation in which the dial 112 in the captured image cannot be visually recognized due to insufficient light.

4-5. Unmanned air vehicle 10 with brush
In the water meter 110 that does not have a lid that covers the dial 112, the dial 112 may be difficult to see due to accumulation of dust. Therefore, the unmanned air vehicle 10 may be equipped with a brush for cleaning the surface of the dial 112 . FIG. 10 is a diagram showing the configuration of an unmanned air vehicle equipped with brushes. A modified unmanned flying object 10 shown in FIG. 10 is provided with a brush 17 protruding downward from a body portion 11 . The brush 17 may be fixed or configured to be driven to rotate. The control device 20 lowers the unmanned flying object 10 and sweeps off the dust on the dial 112 with the brush 17 before the process of step S104. If the brush 17 is rotationally driven, the controller 20 rotates the brush 17 to further sweep off the dust. This makes it possible to prevent a situation where the dial 112 cannot be visually recognized due to deposits in the temple.

4-6. control device 20
In the present embodiment, the autonomous flight unit 22, the dial reading unit 24, the image capturing unit 26, and the image storage unit 28 represent functions that the control device 20 has. FIG. 11 is a diagram illustrating an example of hardware resources of a control device. The control device 20 includes, as hardware resources, a processing circuit 200 including a processor 201 and a memory 202, for example. Functions of the image storage unit 28 are implemented by the memory 202 . The memory 202 is, for example, a semiconductor memory. The control device 20 implements the functions of the autonomous flight section 22, the dial reading section 24, the image capturing section 26, and the image storage section 28 by executing the program stored in the memory 202 by the processor 201. .

FIG. 12 is a diagram showing another example of hardware resources of the control device. In the example shown in FIG. 12 , the control device 20 comprises processing circuitry 200 including, for example, a processor 201 , memory 202 and dedicated hardware 203 . FIG. 12 shows an example in which a part of the functions of the control device 20 are realized by dedicated hardware 203. As shown in FIG. All the functions of the control device 20 may be implemented by the dedicated hardware 203 . Dedicated hardware 203 can be single circuits, multiple circuits, programmed processors, parallel programmed processors, ASICs, FPGAs, or combinations thereof.

8 instruction terminal, 10 unmanned air vehicle, 11 body, 12 leg, 13 rotor, 14 camera, 15 light, 16 arm, 17 brush, 20 controller, 22 autonomous flight unit, 24 dial reader, 26 Image capturing unit 28 Image storage unit 100 Floor space 102 Ceiling panel 104 Ceiling space 106 Inspection door 108 Water pipe 110 Water meter 111 Bezel 112 Dial 113 First meter display unit 114 Second Meter display unit 115 Third meter display unit 116 Arrow mark 117 Pilot mark 120 Captured image 122 Captured image 200 Processing circuit 201 Processor 202 Memory 203 Dedicated hardware

Claims (9)

A water meter reading device for reading a water meter installed in the ceiling,
an unmanned air vehicle equipped with a camera that captures an image of an object below from the sky;
a control device mounted on the unmanned flying object and controlling the unmanned flying object and the camera;
The control device is
a dial reading unit that reads the vertical direction of the dial of the water meter from the unmanned air vehicle flying over the water meter;
an image capturing unit that captures the dial after rotating the unmanned flying object in a yaw direction so that the vertical direction of the captured image captured by the camera matches the vertical direction of the dial;
water meter reading device. The dial reading unit is configured to read the up and down direction of the dial based on the arrow mark included in the dial,
2. The water meter reading device according to claim 1, wherein the image capturing unit rotates the unmanned flying object in a yaw direction so that the arrow mark points downward in the captured image. The water meter reading device according to claim 1 or 2, wherein the image capturing unit captures images of the dial from a plurality of different image capturing locations above the water meter. The water meter reading device according to any one of claims 1 to 3, wherein the control device further includes an image storage unit that stores the captured image in association with related information related to the water meter. The related information includes any one of information related to the building in which the water meter is installed, information related to the type of the water meter, and information related to the arrangement of the water meter in the ceiling space. The water meter reading device according to claim 4. The water meter meter-reading device according to any one of claims 1 to 5, wherein the control device further includes an autonomous flight unit that autonomously flies to above the water meter. The water meter reading device according to any one of claims 1 to 6, wherein the unmanned flying object further includes an arm portion for opening the lid of the water meter. The water meter reading device according to any one of claims 1 to 7, wherein the unmanned flying object further comprises a light for illuminating downward. The water meter reading device according to any one of claims 1 to 8, wherein the unmanned flying object further includes a brush for cleaning the surface of the dial of the water meter.

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