JP7416673B2 - Mobility support device - Google Patents

Description

The present invention relates to a movement support device that supports movement on a road surface when performing work related to gas pipes buried in roads.

Patent Document 1 discloses an LD spectroscopic gas detection device that allows a laser beam to pass through a gas to be measured and detects a predetermined gas in the gas based on a change in the intensity of the laser beam that has passed, and a current position and a display control device that displays, based on the output of the positioning device, a location where the predetermined gas is detected by the LD spectroscopic gas detection device, mounted on a moving body. A gas detection device is described.

Note that Patent Document 1 includes a display control device that has electronic map information, information regarding the buried position of the gas pipe, etc., and displays the gas leak detection position and the like. A mobile GIS "Geographic information system" is used as the display control device. In addition, mobile GIS has electronic map information such as the buried status of gas pipes, and it is stated that gas detection information and position information can be displayed on the electronic map in real time according to information obtained through communication lines. has been done.

Further, Patent Document 2 discloses an automatic driving control device that controls automatic driving of a vehicle, which includes a visible light camera that can photograph the outside of the vehicle, and an infrared device that inputs infrared rays or inputs and outputs infrared rays. a surrounding environment information acquisition means for obtaining surrounding environment information from an image taken by the visible light camera; a determining means for determining the presence or absence of a gas leak using the infrared device; position information of the vehicle; a driving route generating means for generating a driving route for the vehicle to travel based on a destination position of the vehicle and a determination result by the determining means, the driving route generated by the driving route generating means; An automatic travel control device is described that controls automatic travel of the vehicle based on the surrounding environment information acquired by the surrounding environment information acquisition means.

In addition, Patent Document 2 states that when automatically driving vehicles at a gas factory, unlike on ordinary roads, it is necessary to ensure the safety of passengers from gas leaks, etc., and to avoid ignition sources (vehicles). In order to solve the unique problem of preventing fires and explosions, the degree of gas leakage can be determined and detected when controlling automatic vehicle driving based on the driving route and surrounding environment information. It is described that a driving route is generated based on the degree of travel.

Gas pipes that have traditionally been buried underground must be periodically checked to ensure that there are no gas leaks (gas leak inspection), as stipulated by the Gas Business Act.

A worker conducting a gas leak inspection patrols the road while walking, using, for example, a cart-type gas detector while paying attention to the surrounding traffic environment.

In this case, the workers who conduct the gas leak inspection are a team of two people: the inspection staff who actually inspects the gas leak, and the security staff who monitors the surrounding traffic environment etc. to ensure the safety of the inspection staff. There is.

Inspection personnel must concentrate on gas leak inspection, and security personnel will play an important role, and the mental burden placed on each of the inspection personnel and security personnel is immeasurable.

Japanese Patent Application Publication No. 11-72411 JP2019-204344A

However, it is possible to reduce the workload of inspection personnel for gas leakage inspection by referring to prior art such as Patent Document 1 and Patent Document 2. On the other hand, security personnel have no choice but to monitor their surroundings, such as traffic conditions, through their own five senses (especially visual and auditory senses) and ensure the safety of inspection personnel. That is, no means have been established to reduce the workload of security personnel to ensure the safety of gas leakage inspection personnel.

The present invention can notify the worker of the presence and location of the attention-seeking target by automatically identifying the attention-seeking target from images taken at the work site and superimposing the display on the worker's field of view. The purpose is to obtain a mobility support device.

The movement support device according to the present invention is a movement support device for supporting the movement of a worker when carrying out a gas leak inspection work that uses a gas leak detector to check whether there is a gas leak from a gas pipe buried in a road surface. The support device includes a photographing unit that photographs the surroundings of the worker, and an extraction unit that extracts attention-calling targets set in advance to safely perform the gas leakage inspection work within the photographing area of the photographing unit. a reading unit that reads the alerting information set for the alerting target extracted by the extracting unit; and a notification unit that notifies the alerting information read by the reading unit.

According to the present invention, a caution target set in advance for safely carrying out gas leak inspection work is extracted in a photographing area for photographing the surroundings of a worker, and a caution target set as a caution target is extracted. Reads information and broadcasts alert information.

Therefore, by automatically determining the attention target from images taken at the work site and superimposing the image on the worker's field of view, it is possible to notify the worker of the presence and location of the attention target.

In the present invention, the worker includes an inspection staff member who performs the gas leak inspection work in which the gas leak detector is moved facing the road surface, and a surrounding area to ensure the safety of the test staff member. The system is characterized by the fact that the responsibilities are shared with security personnel, who monitor traffic conditions and call for caution.

Gas leak inspection work is carried out in pairs consisting of inspection personnel and security personnel, and the mobility support device assists the security personnel in monitoring surrounding traffic conditions and alerting them to ensure safety. It is possible to assist and reduce the workload.

In the present invention, the worker is a single worker who recognizes the alert information notified by the notification section while performing gas leak inspection work in which the gas leak detector is moved facing the road surface. It is a feature.

By using a mobility support device, workers can recognize accurate warning information, so they can work with inspection personnel who perform gas leak inspection work by moving a gas leak detector facing the road surface. In order to ensure the safety of inspection personnel, they can also serve as security personnel who monitor surrounding traffic conditions and call for caution.

The present invention is characterized in that it further includes a moving body that can automatically or manually travel on the road along the location where the gas pipe is buried by the driving force of the prime mover.

In addition to the effects of the mobility support device, the efficiency of gas leak inspection work can be improved. Furthermore, for example, by using automatic operation, it is possible to reduce so-called human errors such as deviation from the inspection route.

The present invention is characterized in that the worker can ride on the moving body.

The burden on workers during gas leak inspection can be reduced.

As explained above, the present invention automatically determines the attention target from images taken at the work site and superimposes it on the worker's field of view, thereby notifying the worker of the presence and location of the attention target. can do.

FIG. 2 is a perspective view showing a state in which the cart-type gas detector according to the first embodiment is used to inspect gas leaks while moving along a gas conduit buried in a road surface. FIG. 2 is a control block diagram of the movement support device according to the present embodiment. It is a flowchart which shows the flow of image superimposition control in the movement support device concerning a 1st embodiment. (A) is a side view showing a state in which the cart-type gas detector according to the first embodiment is used to inspect gas leaks while moving along a gas pipe buried in the road surface; (B) ) is a front view of an image displayed on a tablet carried by security personnel. FIG. 7 is a perspective view showing a state in which security personnel are inspecting a gas leak while wearing smart glasses and moving along a gas conduit buried in a road surface, according to a second embodiment. FIG. 7 is a perspective view showing a state in which an inspection personnel is wearing VR goggles as a display device applied as a third embodiment. It is a traveling device applied as a 4th embodiment, and is a perspective view showing a state where inspection personnel and security personnel ride.

[First embodiment]

FIG. 1 shows a first embodiment in which inspection personnel 10 and security personnel 11, who are workers who inspect gas leaks, work in pairs to detect road surface RS using a cart-type gas detector 12. The figure shows a state in which a gas leak is being inspected while moving along a gas conduit 14 buried in the ground. Note that the gas pipe 14 refers to a gas pipe buried in a road among all gas pipes including those piped within the premises of a house.

The cart-type gas detector 12 includes a tester main body 16 that determines whether there is a gas leak from the gas pipe 14 by sucking gas floating on the road surface RS and analyzing the sucked gas components; A pair of left and right wheels 18 that can be moved while maintaining a predetermined distance from the road surface RS, and a handle that protrudes above the road surface RS from the tester body 16 and is grasped by the tester 10 to move the tester main body 16. It is composed of a section 20.

A monitor section (not shown) is attached to the handle section 20 to display the gas leakage determination result etc. by the inspection device main body 16, and the inspection personnel 10 moves along the gas conduit 14 buried in the road surface RS. At the same time, gas leakage inspection is performed by monitoring this monitor unit. Note that the monitor may be attached to the upper part of the tester main body 16.

Here, the inspection personnel 10 holds a drawing showing a piping diagram etc. of the gas pipe 14 in one hand, grasps the handle part 20 with the other hand, and visually inspects the object to be alerted to in the moving surrounding environment. Move with caution.

On the other hand, the security personnel 11 has the role of not only visually observing the inspection personnel 10 but also monitoring the environment around the moving road surface RS and alerting the inspection personnel 10 so that the inspection personnel 10 can concentrate on gas leakage inspection. have.

In the first embodiment, the security personnel 11 carry a movement support device 24. The movement support device 24 includes a knapsack-shaped device main body 26 typified by a backpack, a photographing device 30 attached to the tip of a support 28 that projects upward from the device main body 26, and a photographing device 30 that takes a photograph. It consists of a tablet 32 that displays images processed by the main body 26.

The photographing device 30 is preferably located above the head of the security personnel 11, and is capable of photographing the surroundings (for example, 360°) of the security personnel 11.

FIG. 2 is a control block diagram of the movement support device 24 according to the first embodiment.

As shown in FIG. 2, the movement support device 24 includes a photographing device 30 as an input device.

The photographing device 30 is composed of, for example, a CCD camera or the like, and uses a hemispherical lens (so-called fisheye lens) to photograph an image of the surroundings (360°) of the security personnel 11 as a photographing area.

The photographing device 30 is connected to an image analyzing section 33 and an image superimposing section 34, and image information photographed by the photographing device 30 is analyzed by the image analyzing section 33. As an example of image analysis by the image analysis unit 33, a method can be applied in which regions are divided based on image information, machine learning is performed based on a predetermined labeling list (feature image list), and classification is performed. Note that the image analysis technique is not particularly limited.

The analysis result by the image analysis section 33 is sent to the attention-calling target image extraction section 36. Information regarding the attention target is registered in advance in the attention target image extraction unit 36 .

The registered characteristic images that are subject to alerting are characteristic images that are necessary to ensure safety in the surroundings when the security personnel 11 (and inspection personnel 10) are moving, and are the characteristic images that are necessary for ensuring safety when the security personnel 11 (and inspection personnel 10) move. It can be classified into a second attention-seeking object and a second attention-seeking object whose position does not change.

Feature images classified as the first attention-seeking target include, for example, vehicles (automobiles, motorcycles, light vehicles, etc.) and pedestrians.

Further, the characteristic images classified as the second attention-seeking target include, for example, traffic lights, road signs, crosswalks, and road steps.

The attention-seeking target image extracting unit 36 is connected to the attention-seeking information reading unit 38, and sends out extracted feature images (first attention-seeking target, second attention-seeking target, etc.).

The alerting information reading unit 38 is connected to the alerting information database 40, reads out alerting information (message, etc.) from the alerting information database 40 based on the characteristic image, and sends it to the image superimposing unit 34.

Note that the alert information database 40 may not be installed in the movement support device 24, but may be cloud-based so that information can be acquired from outside using a communication function with the movement support device 24. .

Here, as an example of alerting information, for characteristic images classified as the first alerting target, it is determined whether the moving direction is approaching or away depending on the image being shot, and A message such as ``A vehicle is approaching from the front'' or ``A bicycle is coming from behind'' is read out for the characteristic image.

On the other hand, as an example of alerting information, regarding a feature image classified as the second alerting target, "The traffic light ahead is red. Messages such as 'Please stop', 'There is a crosswalk ahead', or 'There is a step in the road ahead' are read out.

The image superimposing unit 34 superimposes the image (video) captured by the photographing device 30 and the message based on the alert information read from the alert information reading unit 38 (the alert information image 52 shown in FIG. 4(B)). do.

The superimposed image is output to the tablet 32 held by the security personnel 11 via the output unit 42. As shown in FIG. 4(B), the display section 32A of the tablet 32 is provided with a photographed image range 50, and displays an image photographed by the photographing device 30, as well as an image on which an alert information image 52 is superimposed. Is displayed. Note that the communication between the output unit 42 and the tablet 32 may be either wired communication or wireless communication.

In other words, the security personnel 11 can grasp the surrounding (360°) environment from the image on the display section 32A while keeping their line of sight in the direction in which they are moving following the inspection personnel 10; Since the alerting information image 52 is superimposed and displayed as necessary, accurate alerting information can be presented (notified) to the inspection personnel 10. In this case, the attention-calling mark 54 (eg, "!" mark) may be directly superimposed and displayed on the attention-calling target on the photographed image in the photographed image range 50.

The image superimposition control routine of the movement support device 24 will be described below with reference to FIG.

In step 100, the photographing device 30 starts photographing, and then the process moves to step 102 to analyze the photographed image.

In the next step 104, a target for attention is extracted based on the analyzed image. As attention targets in the first embodiment, there are a first attention target whose position changes and a second attention target whose position does not change, and the corresponding attention target images are extracted for each of them. .

In the next step 106, the type of extracted image is specified. This type of identification includes whether the target is the first caution target or the second caution target described above, as well as (vehicles (automobiles, motorcycles, light vehicles), pedestrians, traffic lights, road signs, Identify more specific forms such as crosswalks and road steps.

In the next step 108, the alert information corresponding to the type specified in step 106 is read out, and then, in step 110, the superimposition position on the display section 32A of the alert information read out in step 106 is set.

In the next step 112, the superimposed image is displayed on the display section 32A. In displaying the superimposed image in the first embodiment, an attention-calling information image 52 is displayed on the display section 32A outside the photographed image range 50 (see FIG. 4B) in the display area, like a balloon image. In addition, an attention-calling mark 54 (“!” mark) is displayed that indicates the attention-seeking target in the photographed image range 50.

Note that although the alerting information image 52 is outside the photographed image range 50, if the display screen of the display unit 32A is defined as a single screen, both correspond to superimposed display. Note that the alert information image 52 may be displayed within the photographed image range 50.

In step 114, it is determined whether the processing has ended or not, and if the determination is negative, the process returns to step 102 and the above steps are repeated.

Further, if an affirmative determination is made in step 114, the process proceeds to step 116, where the photographing by the photographing device 30 is ended, and this routine ends.

(Gas leak inspection procedure)

Gas leak inspection is carried out by a team of two, consisting of inspection personnel 10 and security personnel 11.

The inspection personnel 10 pushes and rolls the cart-type gas detector 12 while walking on the road surface RS to perform a gas leak inspection (see FIG. 4(A)).

On the other hand, the security personnel 11 moves from behind the inspection personnel 10 who are conducting the inspection, following the inspection personnel 10 (see FIG. 4(A)).

Here, there may be pavement traces (here, repair grooves 48A), manholes 48B, etc. at the gas leak inspection site.

There is a high possibility of gas leakage around the repair groove 48A, manhole 48B, etc., so it is necessary to focus on inspecting the area. The inspection personnel 10 concentrate on the inspection so as not to overlook important inspection positions such as the repair groove 48A and the manhole 48B (visual observation of the real image in the visual field L in FIG. 4A).

When the inspection personnel 10 concentrate on the inspection, it is possible to avoid overlooking important inspection positions, but on the other hand, the inspection personnel 10 may be oblivious to changes in the surrounding environment.

Therefore, the security personnel 11 carries the mobility support device 24 and monitors the surrounding environment as well as the destination of the gas leak inspection (inspection destination) while viewing the image displayed on the display unit 32A of the mobility support device 24. , alerts the inspection personnel 10.

As shown in FIG. 4(B), the display section 32A of the tablet 32 held by the security personnel 11 displays an image (video) taken with the photographing device 30 and an alert information image 52 (as required, alert information image 52). An image on which a warning mark 54) indicating the object is superimposed is displayed.

That is, the inspection personnel 10, for example, holds a gas pipeline piping diagram in one hand and moves along the gas leakage inspection route while looking at the gas pipeline piping diagram, and the security personnel 11 follows the warning displayed on the display section 32A. The inspection personnel 10 are alerted while looking at the alert information image 52 and the like. As a specific example of the transmission for the security personnel 11 to alert the inspection personnel 10, transmission by transmitting and receiving sounds, vibrations, etc. using short-range wireless communication, etc. can be applied. In addition, if the security personnel 11 carries a loudspeaker, or if the security personnel 11 and the inspection personnel 10 are within a predetermined distance, the sound (that is, the physical communication between the security personnel 11 and the inspection personnel 10) may be used. It may also be possible to alert the driver by using air vibrations.

Therefore, the inspection personnel 10 can receive advice from the security personnel 11 who are equipped with the movement support device 24, so that they can concentrate on executing the gas leak inspection along the appropriate gas leak inspection route. .

FIG. 4(B) shows an image displayed on the display section 32A, in which a photographed image range 50 displaying an image photographed by the photographing device 30, a warning information image 52, and a warning mark 54 are shown. It is displayed superimposed.

The image displayed in the photographed image range 50 is an image captured through a hemispherical lens (so-called fisheye lens), and is slightly distorted, but at least corresponds to the human visual field (for example, the visual field shown in FIG. 4A). It is possible to check a wider range than L).

On the other hand, as the caution information image 52, the message "A vehicle is approaching from the front" is displayed as the first caution target, and the message "A vehicle is approaching from the front" is displayed as the second caution target.

The message ``There is a crosswalk ahead'' will be displayed.

Furthermore, in the first embodiment, a warning mark 54 (for example, a "!" mark) is superimposed and displayed on a warning target (car, crosswalk) in a photographed image within the photographed image range 50.

[Second embodiment]

A second embodiment of the present invention will be described below.

In the second embodiment, the same components as those in the first embodiment are given the same reference numerals, and the explanation of the structure will be omitted.

A feature of the second embodiment is that smart glasses 22 are used in place of the tablet 32 of the movement support device 24.

As shown in FIG. 5, the security personnel 11 wears smart glasses 22 and follows the inspection personnel 10.

As shown in FIG. 5, a pair of openings are provided in the frame 22F of the smart glasses 22 to match the positions of the eyes of the wearer (security personnel 11), and lenses 22L are attached to each opening.

The lens 22L functions as a display device 22A that displays information in response to instructions from the movement support device 24, in addition to its original function of allowing the security personnel 11 to visually observe the actual scene (real image) when worn by the security personnel 11. That is, in the second embodiment, the photographing device 30 photographs an image as a material for extracting the attention target, does not provide the photographed image to the security personnel 11, and the security personnel 11 does not provide the photographed image to the security personnel 11. Instead of the image taken in , a real image taken through the lens 22L is applied.

For this real image, the display device 22A of the smart glasses 22 displays a first attention target and a second attention target (for example, the attention information shown in FIG. 4(B)) by matching the coordinates of the real image. Image 52) is displayed in a superimposed manner.

According to the second embodiment, the security personnel 11 can superimpose and display the attention-calling information image 52 on the real image while viewing the real image through the lens 22L of the smart glasses 22. Comparison with the image 52 and risk determination become easy.

[Third embodiment]
In the second embodiment described above, the smart glasses 22 worn by the inspection personnel 10 are configured as a part of the movement support device 24, and the smart glasses 22 are configured as a part of the movement support device 24, and the smart glasses 22 are configured as a part of the movement support device 24, and the smart glasses 22 are configured as a part of the movement support device 24. An image in which a photographed image range 50 that takes into account the evocative object is superimposed is displayed while matching the relative position of the real image.

On the other hand, in the third embodiment, as shown in FIG. 6, VR goggles 55 are used instead of the smart glasses 22.

In the smart glasses 22, a real image (an image viewed by the inspection personnel 10 through the lens 22L of the smart glasses 22) is used, but in the VR goggles 55, the on-site image taken by the photographing device 30 is displayed on the monitor 56, and A warning information image 52 is superimposed.

By applying the VR goggles 55, not only the target of attention but also surrounding traffic information (presence of vehicles and pedestrians) can be extracted from the image taken with the photographing device 30 through image processing and notified to the inspection personnel 10. This makes it possible to ensure the safety of gas leak inspection.

Further, by applying the VR goggles 55, there is no need to perform matching processing on the relative positional relationship with the real image, so the burden of image processing can be reduced.

Note that the headphone 58 may be attached to the VR goggles 55, and alert information may be notified through the auditory sense.

(Modification 1)
In the first to third embodiments, a two-person team consisting of the inspection personnel 10 and the security personnel 11 was used, but the tablet 32 (see FIG. 4) and smart glasses 22 (see FIG. 5) , and in any case using the VR goggles 55 (see FIG. 6), the personnel system for the gas leakage inspection may be one person, the inspection personnel 10. In this case, by the inspection personnel 10 wearing the movement support device 24 himself/herself, the display device 22A of the smart glasses 22, which constitutes a part of the movement support device 24, displays information necessary for gas leakage inspection and monitoring of the surrounding environment. Get information at the same time.

For example, in the case of a single inspection staff 10 using the tablet 32, the image displayed on the tablet 32 is transferred to a monitor unit ( (not shown). In addition, in the case of a single inspection staff 10 using smart glasses 22, the movement support device 24 displays the alert information image 52 on the display device 22A of the smart glasses 22 during the work as the inspection staff 10 (gas leak inspection). Because it is displayed, it is possible to recognize the surrounding environment outside the field of view within the field of view for performing gas leakage inspection.

Note that an image showing the buried position of the gas conduit 14 and a gas leakage inspection route image that takes into consideration the areas that need to be inspected intensively may be further superimposed and displayed on the display device 22A of the smart glasses 22. The gas leakage inspection route image is an image showing a gas conduit to be inspected for gas leakage, and can be derived using a gas conduit position information database (not shown) or the like. Further, even in the case of a single inspection personnel 10 using the VR goggles 55, the same effects as in the case of a single inspection personnel 10 using the smart glasses 22 can be obtained.

By the way, in gas leakage inspection, it is necessary to focus on inspecting the vicinity of pavement joints (grooves with traces of repair) and the vicinity of manholes and the like. By superimposing an image of the gas leak inspection route along with objects to call attention to around the inspection area, including vehicles and pedestrians, it is possible to both understand the places to be inspected intensively and the objects to call attention to. That is, in a gas leak inspection performed by a single person (only 10 inspection personnel), it is possible to improve inspection accuracy, ensure safety, and improve work efficiency (reduce manpower).

[Fourth embodiment]

In the first to third embodiments, the inspection personnel 10 moves along the gas leak inspection route by walking while holding the handle 20 of the cart-type gas detector 12, and the security personnel 11 carries out the inspection. Walks following the personnel 10.

On the other hand, in the fourth embodiment, as shown in FIG. 7, the inspection personnel 10 and the security personnel 11 are configured to move on a traveling device 60.

The traveling device 60 may be able to select between a manual operation driving mode and an automatic operation driving mode. Further, it may be used exclusively for manual operation or for automatic operation.

The traveling device 60 is equipped with, for example, a drive device (not shown) for a motor that drives a pair of wheels 62, and can be steered at the will of the inspection personnel 10 and the security personnel 11. The security personnel 11 no longer need to walk.

Note that steering operation according to the intention of the inspection personnel 10 and the security personnel 11 means that a remote controller may be attached to the upper end of the handle part 66, or the driving speed and the driving method may be controlled by the center of gravity of the inspection personnel 10 and the security personnel 11. It may also have a changeable function.

The traveling device 60 may be made to automatically travel along the gas inspection route.

In addition, in the fourth embodiment, since the inspection personnel 10 can also serve as the security personnel 11, only the inspection personnel 10 (one person system) get on the traveling device 60 as in the first modification. Gas leak tests may be performed.

Note that in the first to fourth embodiments (including Modification 1), the output unit 42 as the notification unit is configured to visually notify the worker (inspection personnel 10 and/or security personnel 11). However, the output unit 42 may notify the worker through his/her hearing. Further, other senses among the five senses, such as the sense of smell and touch, may be used, or a plurality of senses may be used in combination to notify the operator.

RS Road surface 10 Inspection personnel 11 Security personnel 12 Cart-type gas detector 14 Gas pipe 16 Inspection device body 18 Wheels 20 Handle section 24 Mobility support device 26 Device body 28 Support column 30 Photography device (photography section)
32 Tablet (information department)
32A Display section (notification section)
33 Image analysis section 34 Image superimposition section 36 Attention target image extraction section (extraction section)
38 Alert information reading section (reading section)
40 Alert information database 42 Output section (notification section)
50 Captured image range 52 Alert information image 54 Alert mark

Claims (1)

A movement support device for supporting the movement of a worker when carrying out gas leak inspection work that uses a gas leak detector to inspect the presence or absence of gas leaks from gas pipes buried in the road surface,
a photography unit that photographs the surroundings of the worker;
an extraction unit that extracts a caution target set in advance in order to safely perform the gas leakage inspection work within a photographing area of the photographing unit;
a reading unit that reads the alerting information set for the alerting target extracted by the extracting unit;
a notification unit that notifies the alerting information read out by the reading unit;
A mobility support device with