Inspection system and inspection unit

Abstract

To provide an inspection system allowing for situation detection targeting a wide range with reduced battery consumption of a device.SOLUTION: The inspection system includes an inspection unit and a server. The inspection unit includes an automatically patrolling vehicle, an autonomously movable device, a cradle pulled by the vehicle with the device thereon, a detection unit which detects peripheral situations, a communication unit which communicates with the server, and a loading / unloading unit which causes the device to be loaded / unloaded. The server includes an instruction unit which instructs the inspection unit to start the device on the basis of information detected by the detection unit.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to an inspection system and inspection unit To and is related thereto.

Background Art

[0002] Devices such as robots having an inspection function for detecting abnormal situations such as gas leakage and high temperature and a countermeasure function for such abnormalities have been proposed in various fields (for example, Patent Document 1). Many devices are developed according to specific applications, and some have moving means. The moving means is often provided for the purpose of approaching an object existing at a short distance.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When a plant situation is detected by a device capable of autonomous movement in a plant such as an oil refinery, it is necessary to have the device patrol a vast site. For example, the moving distance of the device may reach several hundred meters to several kilometers from the storage location. If the device patrol is performed using the moving means of each device, the battery will be consumed, which may interfere with the situation detection function and the operation after detection.

[0005] and To inspection unit To Therefore, an object of this invention is to provide an inspection system

Means for Solving the Problems

[0006] According to one aspect of the present disclosure, an inspection system comprises an inspection unit and a server, the inspection unit comprising an automated patrol vehicle, an autonomously mobile device, a frame on which the device is mounted and towed by the vehicle, a detection unit for detecting the surrounding conditions, a communication unit for communicating with the server, and a launching / launching unit for launching and landing the device, the server comprising a command unit for commanding the inspection unit to launch the device based on information detected by the detection unit. The vehicle and the frame are physically connected and electrically connected by a coupler, and the frame has a connecting portion that connects to and holds the device, and an opening that is provided with a lifting portion for raising and lowering the device between the height of the frame and the ground.

[0007] According to one aspect of this disclosure, the inspection unit comprises a vehicle that performs automatic patrols, an autonomously mobile device, a frame on which the device is mounted and which is towed by the vehicle, a detection unit that detects the surrounding conditions, a command unit that commands the device to depart based on the information detected by the detection unit, and a departure / arrival unit that departs and returns the device. The vehicle and the frame are physically connected and electrically connected by a coupler, and the frame has a connecting portion that connects to and holds the device, and an opening that is provided with a lifting portion for raising and lowering the device between the height of the frame and the ground. [Effects of the Invention]

[0009] According to this disclosure, it is possible to perform situation detection over a wide area while suppressing battery consumption of the device. [Brief explanation of the drawing]

[0010] [Figure 1] This is a schematic diagram showing an example of an inspection system according to the first embodiment. [Figure 2] This is a schematic side view of the inspection unit according to the first embodiment. [Figure 3] This is a schematic plan view of the inspection unit according to the first embodiment. [Figure 4] This is a functional block diagram showing an example of an inspection system according to the first embodiment. [Figure 5] This is a functional block diagram showing an example of an inspection unit according to the first embodiment. [Figure 6] This is a first flowchart showing an example of the operation of the inspection system according to the first embodiment. [Figure 7] This is a second flowchart showing an example of the operation of the inspection system according to the first embodiment. [Figure 8] This is a third flowchart showing an example of the operation of the inspection system according to the first embodiment. [Figure 9] This is a fourth flowchart showing an example of the operation of the inspection system according to the first embodiment. [Figure 10] This is a functional block diagram showing an example of an inspection system according to the second embodiment. [Figure 11] This is a functional block diagram showing an example of an inspection unit according to the second embodiment. [Modes for carrying out the invention]

[0011] <First Embodiment> (System Configuration) Hereinafter, an inspection system according to the first embodiment of this disclosure will be described with reference to Figures 1 to 9. Figure 1 is a schematic diagram showing an example of an inspection system according to the first embodiment. The inspection system 1 includes an inspection unit 10, wireless communication devices 5a to 5c, a network (NW), a server 20, and a terminal device 30. The inspection system 1 may further include an external storage device 40. The inspection unit 10 is connected to the network (NW) via the wireless communication device 5a. The server 20 and the external storage device 40 are connected to the network (NW) via the wireless communication device 5b. The terminal device 30 is connected to the network (NW) via the wireless communication device 5c. As a result, the inspection unit 10, the server 20, the terminal device 30, and the external storage device 40 are connected in a communicative manner via the network (NW). The wireless communication devices 5a to 5c include, for example, access points (APs) and routers, and may be installed in various locations within the facility G in addition to those shown in the figures. In the inspection system 1, the inspection unit 10 detects the surrounding conditions at various locations within a facility G, such as a plant or factory, by automatically patrolling a designated route R within the facility G. Alternatively, the inspection unit 10 may detect the surrounding conditions by traveling back and forth between two predetermined points within the facility G or by moving between multiple inspection targets, in addition to patrolling the designated route R. The inspection unit 10 may also be operated remotely by an operator. The server 20 collects information detected by the inspection unit 10 (referred to as detection information) and monitors for the occurrence of abnormalities. When an abnormality occurs, the server 20 notifies terminal devices 30, etc., of an alert. The external storage device 40 can be used to store the detection information detected by the inspection unit 10.

[0012] As shown in Figure 2, the inspection unit 10 has a vehicle 11 and frames 12a to 12c. Vehicle 11 and frame 12a are connected by a coupler 14a, frame 12a and frame 12b are connected by a coupler 14b, and frame 12b and frame 12c are connected by a coupler 14c, and frames 12a to 12c travel following the vehicle 11 or frames 12a to 12b in front. Power lines and communication lines (or power line carrier communication lines) are laid on the couplers 14a to 14c, so that vehicle 11 and frames 12a to 12c are not only physically connected but also electrically connected. Vehicle 11 has the function of automatically patrolling a predetermined patrol route R within facility G and the function of towing frames 12a to 12c. Vehicle 11 automatically patrols the route while charging at the hangar 60 or at stations 50 located along the patrol route R. For example, an automated guided vehicle (AGV) or automated guided forklift (AGF) can be used as vehicle 11.

[0013] For the gantries 12a to 12c towed by the vehicle 11, general gantries used in the logistics field can be employed. The gantries 12a to 12c are equipped with the inspection device 13. The inspection device 13 is a robot equipped with sensors, manipulators, moving means, batteries, etc. The inspection device 13 is stored in the storage 60 of FIG. 1 and is mounted on the gantries 12a to 12c when the inspection unit 10 makes a circuit. For the moving means of the inspection device 13, there are caterpillar systems, tire systems (such as those equipped with large-diameter tires capable of overcoming some level differences or small tires capable of fine movement), two-legged or four-legged walking systems, flight systems, etc. In the example of FIG. 2, the gantry 12a is equipped with the inspection device 13a having a working arm and a tire-based moving means, the gantry 12b is equipped with the inspection device 13b having a four-legged walking moving means, and the gantry 12c is empty. Referring to the gantry 12c, the gantry 12c has a port 121c, a rail 122c for the port 121c, and a lift 123c. The gantry 12a also has a port 121a, a rail 122a, and a lift 123a. The same applies to the gantry 12b. Hereinafter, when there is no need to distinguish between the gantries 12a to 12c, they may simply be described as the gantry 12. The port 121c, the rail 122c, and the lift 1q3c may also be simply described as the port 121, the rail 122, and the lift 123. The inspection devices 13a to 13b may also be described as the inspection device 13. The same applies to the functional parts (the device connection part 120a, the lifting part 124a, the detection part 131a, the storage part 13za, the communication part 133a, the loading and unloading part 134a, the power supply part 135a, which will be described later) of the gantry 12 and the inspection device 13. Note that FIG. 2 illustrates a configuration in which three gantries 12 are connected, but the number of gantries 12 and the number of inspection devices 13 may be arbitrary. Hereinafter, the functions and configurations of the gantry 12 will be described using the empty gantry 12c as an example.

[0014] Port 121c physically and electrically connects the inspection device 13 mounted on the frame 12c to the frame 12c. For example, port 121c is provided with a charging port and a data transfer port. Alternatively, it may be provided with a power line communication port capable of both charging and data transfer, such as a PLC (Power Line Communications) port. These ports are connected to power lines and communication lines laid on the coupler 14b, etc., respectively, and by connecting the inspection device 13 to port 121c, data transfer becomes possible between the inspection device 13 and the vehicle 11. Regarding power, by connecting the vehicle 11 to the station 50 while the inspection device 13 is connected to port 121c, it becomes possible to supply power from the station 50 to the inspection device 13. The charging port is, for example, a 2-pole or 3-pole contact type (preferably a 3-pole contact type). The charging port may also be a contactless type. Port 121c is equipped with a magnet that utilizes magnetic force to position and fix the contacts, guiding the connection port on the inspection device 13 (not shown) (the connection port is equipped with connection ports for charging and data transfer) so that the male and female contacts are correctly connected, thereby connecting port 121c and the connection port of the inspection device 13. The magnet provided on port 121c may be a neodymium magnet, or it may be an electromagnet that generates magnetic force only when necessary (preferably an electromagnet). Port 121c is supported by rail 122c so as to be movable in the left-right direction of the paper as indicated by arrow 2Y in Figure 2. This allows the position of port 121c to be flexibly adjusted according to the loading position of the inspection device 13 and the position of the connection port on the inspection device 13. It can also accommodate when the position of the inspection device 13 is displaced due to shocks such as shaking during the vehicle 11's patrol. Port 121c and rail 122c are provided to match the height of the connection port of the inspection device 13, but the height position of port 121c and rail 122c may be adjustable.

[0015] The inspection device 13, which moves on the ground, uses the lifting platform 123c to move from the front to the back of the page in Figure 2, enters the stand 12c, and is held on the stand 12c by connecting to port 121c. The inspection device 13 is programmed to detect port 121c and move its connection port towards port 121c, and connects to port 121c by moving autonomously according to this program. When the inspection device 13 starts from this state, it moves in the front direction of the page in Figure 2, descends to the ground using the lifting platform 123c, and moves to the destination. Next, refer to Figure 3. The arrow 3Y in Figure 3 indicates the direction of movement of the inspection device 13 when it starts and stops. It is desirable that port 121c be located on the wall 125c opposite the lifting opening 124c of the stand 12c so that the inspection device 13 can start and stop by moving only in the direction indicated by arrow 3Y. To accommodate the takeoff and landing of so-called drones and other flying inspection devices 13, a configuration similar to that of ports 121c and rails 122c may be provided on the floor surface of the mount 12c (not shown).

[0016] The lift table 123c assists in loading and unloading the inspection device 13 onto the loading platform. For example, the lift table 123c is stored under the floor of the gantry 12c or forms the wall on the side of the lift opening 124c in situations other than when the inspection device 13 arrives and departs. During lifting and lowering, it may slide from under the floor to the outside of the gantry 12c (in the case of under-floor storage) or rotate outside the gantry 12c with the bottom edge of the wall as a fulcrum until the surface forming the inside of the wall becomes horizontal with the ground (in the case of forming the wall), and it may be a lifting device that provides a pedestal for mounting the inspection device 13 and raises and lowers the pedestal with the inspection device 13 mounted from the floor level of the gantry 12c to the ground level. Alternatively, the lift table 123c is stored under the floor of the gantry 12c or forms the wall on the side of the lift opening 124c in situations other than when the inspection device 13 arrives and departs. During lifting and lowering, it may be slid from under the floor to the outside of the side surface of the gantry 12c and its tip is installed on the ground (in the case of under-floor storage) or rotated outside the gantry 12c with the bottom edge of the wall as a fulcrum and the upper edge of the wall is installed on the ground, and it may be a slope that bridges the floor surface of the gantry 12c and the ground. The inspection device 13 enters and exits the gantry 12c by being lifted and lowered using the lift table 123c.

[0017] Figure 3 shows the inspection unit 10 arriving at station 50 and connected to the connection section 51 of station 50. The vehicle 11 is programmed to automatically connect its connection port (not shown) to the connection section 51 and stop, and autonomously positions itself to stop at station 50 according to this program. The connection port of the vehicle 11 is located on the side of the vehicle and is connected to the connection section 51 of station 50. Station 50 has a power supply unit 52 and a communication unit 53 (Figure 4), and power is supplied from the power supply unit 52 to the vehicle 11. This power supply charges the battery of the vehicle 11. In addition, ports 121a to 121c are connected to the vehicle 11 by power lines and communication lines (or power line carrier communication lines), and the power supplied from station 50 is supplied to the inspection device 13 through the power lines connecting the vehicle 11 and port 121. This charges the battery of the inspection device 13. Alternatively, the station 50 may be provided with a charging port for the inspection device 13, and the inspection device 13 may be connected to this charging port to supply power from the power supply unit 52 to the inspection device 13, thereby enabling the battery of the inspection device 13 to be charged.

[0018] Next, we will refer to Figures 4 and 5 to further explain the functions of inspection system 1. Figure 4 is a functional block diagram showing an example of an inspection system according to the first embodiment. In Figure 4, the wireless communication devices 5a to 5c are omitted from the description. The inspection unit 10 includes a vehicle 11, a frame 12, and an inspection device 13. Here, an example of the functions and configuration of the vehicle 11, frame 12, and inspection device 13 will be described with reference to Figure 5.

[0019] Figure 5 is a block diagram showing an example of an inspection unit according to the first embodiment. The vehicle 11 includes a detection unit 111 and a storage unit 112, It has a communication unit 113 and a station connection unit 114.

[0020] The detection unit 111 includes a position information acquisition unit 1111, a temperature information acquisition unit 1112, an acoustic information acquisition unit 1113, and a three-dimensional information acquisition unit 1114. The detection unit 111 detects the surrounding conditions of the inspection unit 10 using the position information acquisition unit 1111, the temperature information acquisition unit 1112, the acoustic information acquisition unit 1113, and the three-dimensional information acquisition unit 1114.

[0021] The location information acquisition unit 1111 includes, for example, a GNSS (Global Navigation Satellite System) receiver and acquires the location information of the vehicle 11. The location information acquisition unit 1111 may also acquire the location information of the vehicle 11 by receiving information from RFID (Radio Frequency Identifier) ​​tags installed at various locations in the facility G. Alternatively, if the vehicle 11 moves by tracing a line laid along a patrol route R, location-specific marks may be placed on the line, and the location information acquisition unit 1111 may acquire the location information of the vehicle 11 by reading these marks. If the vehicle 11 is autonomously driving using the SLAM (Simultaneous Localization and Mapping) function, trigger points may be set in the map information created by SLAM, and when the vehicle reaches a trigger point, the location information acquisition unit 1111 may acquire the location information of the trigger point. The location information acquisition unit 1111 records the acquired location information in the storage unit 112 and outputs it to the communication unit 113.

[0022] The temperature information acquisition unit 1112 includes, for example, a temperature sensor and an infrared camera, and acquires the temperature measured by these sensors. The temperature information acquisition unit 1112 may acquire the ambient temperature moment by moment, or it may acquire the ambient temperature of a predetermined location when it reaches a trigger point, such as a location where an RFID is installed or a location where a mark is placed on a line for line tracing, as triggered by the location information acquisition unit 1111. The temperature information acquisition unit 1112 records the acquired temperature information in the storage unit 112 and outputs it to the communication unit 113.

[0023] The acoustic information acquisition unit 1113 includes, for example, a microphone. The acoustic information acquisition unit 1113 may collect ambient sounds moment by moment, or it may collect ambient sounds triggered by the detection of arrival at a predetermined location by the location information acquisition unit 1111. The acoustic information acquisition unit 1113 records the acquired acoustic information in the storage unit 112 and outputs it to the communication unit 113.

[0024] The 3D information acquisition unit 1114 may include a laser measuring instrument or a camera and acquire 3D information of the surroundings using LiDAR (Light Detection and Ranging) or photogrammetry. The 3D information acquisition unit 1114 acquires 3D information of the surroundings when the position information acquisition unit 1111 detects that it has reached a predetermined position. The 3D information acquisition unit 1114 records the measured 3D information in the storage unit 112 and outputs it to the communication unit 113. Acquiring 3D information involves a computational load, but by defining the acquisition position of the 3D information, processing can be carried out within a realistic range of computational load.

[0025] The storage unit 112 is composed of non-volatile memory and stores the detection information detected by the detection unit 111. The communication unit 113 includes a Wi-Fi® or Bluetooth® communication module and transmits detection information from the detection unit 111 to the server 20. The communication unit 113 also receives command information from the server 20 instructing which inspection device 13 to activate. The communication unit 113 performs data transfer with the inspection device 13 connected to the stand 12 via a PLC or communication line. For example, if the inspection device 13 is connected to the stand 12, the communication unit 113 can receive detection information detected by the inspection device 13. The communication unit 113 may record the information received from the inspection device 13 in the storage unit 112 or transmit it to the server 20. When the vehicle 11 stops at the station 50, the communication unit 113 performs data transfer with the station 50 via a PLC or communication line. For example, the communication unit 113 transmits the information recorded in the storage unit 112 to the station 50.

[0026] The station connection unit 114 includes a connection port (not shown) that connects to the connection unit 51 of the station 50. The connection port is provided with a power line connection port for supplying power to the vehicle 11's battery and the device 13, and a communication line connection port for data transfer with the vehicle 11 and the inspection device 13. The power line connects the connection port to the vehicle 11's battery and to the port 121 of the mounting base 12. The station connection unit 114 receives power from the station 50 via the power line and supplies power to the inspection device 13 via the port 121. The communication line connects the connection port to the communication unit 113 of the vehicle 11 and to the port 121 of the mounting base 12. The station connection unit 114 transfers detection information transmitted by the communication unit 113 to the station 50 via the communication line. The station connection unit 114 also transfers detection information transmitted by the communication unit 133 of the inspection device 13 to the station 50 via the communication line.

[0027] The frame 12a has a device connection section 120a and a lifting section 124a. The device connection section 120a includes a port 121a and a rail 122a, and connects the inspection device 13a and the support frame 12a. Furthermore, when connecting the inspection device 13 to the port 121a, the device connection section 120a adjusts the horizontal position of the port 121a on the rail 122a according to the position of the inspection device 13. The lifting unit 124a includes a lifting platform 123a and controls the raising and lowering of the lifting platform 123a in response to the arrival and departure of the inspection device 13a. For example, the lifting unit 124a is connected to the communication unit 113 of the vehicle 11, and when the communication unit 113 receives command information from the server 20 instructing it to launch the inspection device 13a, it outputs that command information to the lifting unit 124a. Based on the command information from the communication unit 113, the lifting unit 124a controls the lifting platform 123a so that the inspection device 13a can be launched.

[0028] The functions and configurations of the mounting frames 12b and 12c are the same as those of mounting frame 12a. Although not shown in the diagram, the function of the vehicle detection unit 111 may be provided in any of the mounting frames 12a to 12c.

[0029] The inspection device 13a includes a detection unit 131a, a storage unit 132a, a communication unit 133a, a sending / receiving unit 134a, and a power supply unit 135a. The detection unit 131a includes various sensors mounted according to the purpose of the inspection device 13a and detects the conditions around the inspection device 13a. The detection unit 131a may have the same functions as the location information acquisition unit 1111, temperature information acquisition unit 1112, acoustic information acquisition unit 1113, and 3D information acquisition unit 1114 of the detection unit 111 of the vehicle 11, or it may have functions to detect other things such as pressure, flow rate, vibration, and the presence or absence of fire or smoke. The detection unit 131a records the detected information in the storage unit 132a and outputs it to the communication unit 133a. The storage unit 132a is composed of non-volatile memory and stores the detection information detected by the detection unit 131a. The communication unit 133a includes a Wi-Fi® or Bluetooth® communication module and transmits detection information detected by the detection unit 131a to the server 20. The communication unit 133a transfers data with the communication unit 113 of the vehicle 11 via a PLC or communication line. For example, the communication unit 133a transfers information detected by the detection unit 131a to the communication unit 113 of the vehicle 11. When the inspection device 13 is connected to the stand 12, the detection information detected by the detection unit 131a can be transmitted from the vehicle 11 to the server 20 via the communication unit 133a and the communication unit 113. Alternatively, even when the inspection device 13 is connected to the stand 12, the communication unit 133a may transmit the detection information detected by the detection unit 131a to the server 20. For example, if the communication between the communication unit 113 and the server 20 is unstable, the communication unit 133a may send detection information to the server 20. If there are no problems with communication between the communication unit 113 and the server 20, the communication unit 113 may send detection information to the server 20 in order to conserve the battery of the inspection device 13. The system may be configured to select the appropriate communication method depending on the conditions of the radio waves. The launching / deploying unit 134a includes a means for moving the inspection device 13a, and by controlling the means for moving the inspection device 13a, it launches the inspection device 13a from the stand 12a, returns it to the stand 12a, and connects the connection port of the inspection device 13 to port 121a. The power supply unit 135a includes a battery and a charging device, and serves as the power source for the inspection device 13a. When the vehicle 11 is connected to the connection unit 51 at the station 50, the charging device charges the battery. The power supply unit 135a also transmits the battery charging status to the server 20 via the communication unit 133a. The functions and configurations of inspection devices 13b and 13c are the same as those of inspection device 13a.

[0030] The configuration illustrated in Figure 4 is just one example. For example, the inspection unit 10 transmits detection information such as location information, temperature information, acoustic information, and 3D information to the server 20. This detection information may be detected by the detection unit 111 of the vehicle 11, or by the detection unit 131 of the inspection device 13. If the detection is performed by the detection unit 131, the vehicle 11 can be configured without the detection unit 111. In this configuration, the manufacturing cost of the vehicle 11 can be reduced, and a simpler configuration can be achieved. If the vehicle 11 acquires detection information using the detection unit 111 and does not use the detection unit 131 of the inspection device 13, the battery consumption of the inspection device 13 can be suppressed. It is also possible to provide the same function as the detection unit 111 on the stand 12. In this case as well, the vehicle 11 can be configured without the detection unit 111. Furthermore, the vehicle 11 can be configured to acquire location information and temperature information using the detection unit 111 of the detection unit 111, and acquire other detection information using the detection unit provided on the inspection device 13 or the stand 12. Furthermore, location information, temperature information, acoustic information, and 3D information are not all mandatory as detection information; for example, an embodiment consisting only of location information and temperature information, or an embodiment consisting only of location information, temperature information, and acoustic information, is also acceptable.

[0031] The transmission of detection information acquired by the inspection unit 10 to the server 20 can also be configured in various ways. For example, the detection unit 111 of the vehicle 11 may acquire the detection information and the communication unit 113 may transmit it, or the detection unit 131 of the inspection device 13 may acquire the detection information and the communication unit 133 may transmit it. In the former case, battery consumption of the inspection device 13 can be suppressed. In the latter case, the vehicle 11 can be configured to consist only of a station connection unit 114, simplifying the configuration. Alternatively, the detection unit 131 may acquire the detection information and the communication unit 113 of the vehicle 11 may transmit it, or the detection unit 111 and the communication unit 113 may be mounted on the frame 12, and the detection information may be transmitted from the frame 12. In these configurations as well, battery consumption of the inspection device 13 can be suppressed. Similarly, the battery charge status of the inspection device 13 may also be transferred to the vehicle 11 via port 121 and transmitted from the communication unit 113 of the vehicle 11.

[0032] The transmission of detection information from the inspection unit 10 to the server 20 is performed not only during patrols but also while the unit is stopped at station 50. The inspection unit 10 records the detection information in the storage unit 112 or storage unit 132, and when it arrives at station 50 and connects its connection port to the connection unit 51, it transmits the detection information recorded in the storage unit 112 or storage unit 132 to the server 20 via station 50. This ensures that detection information that could not be transmitted due to poor communication conditions during patrols is transmitted without fail. In addition, the detection information transmitted during patrols may be limited to the minimum necessary information (e.g., location information, temperature information, acoustic information, 3D information), while information detected by other sensors or more detailed information may be transmitted when transmitting via station 50.

[0033] The server 20 comprises a receiving unit 21, an analysis / determination unit 22, a command unit 23, a notification unit 24, an output unit 25, a storage unit 26, and a communication unit 27. In Figure 4, one server 20 is shown to have all of these functional units, but some or all of each functional unit may be distributed and implemented across multiple servers. For example, the analysis / determination unit 22 may be implemented on another server 20' (not shown). The receiving unit 21 receives detection information transmitted by the inspection unit 10 via the communication unit 27 and records this information, along with the reception time, in the storage unit 26. The detection information includes location information, temperature information, acoustic information, 3D information, and identification information of the detection means (for example, identification information to distinguish whether the detection information was acquired by the detection unit 111 of the vehicle 11 or by the detection unit 131 of the inspection device 13).

[0034] The analysis and determination unit 22 determines whether an abnormality has occurred around the inspection unit 10 based on the detection information received by the receiving unit 21. For example, if the receiving unit 21 receives temperature information, the analysis and determination unit 22 compares it with temperature information previously acquired at the same location and determines that an abnormality has occurred in temperature if the difference between the two is greater than a predetermined threshold. For example, if the receiving unit 21 receives acoustic information, the analysis and determination unit 22 compares it with acoustic information previously acquired at the same location and determines that an abnormal sound has occurred if the difference between the two is greater than a predetermined threshold. For example, the analysis and determination unit 22 determines that an abnormal sound has occurred if the intensity of a specific frequency in the acoustic information is stronger than a threshold. Furthermore, if the analysis and determination unit 22 determines that an abnormal sound has occurred based on the acoustic information, it may estimate the location where the abnormal sound originated. For example, if the sound pressure of a specific frequency is high based on the frequency waveform of past acoustic information, it may acquire three locations where acoustic information that can be determined to be abnormal based on the identified frequency can be obtained, and estimate the location where the abnormal sound originated using the three-point positioning method. Here, the three-point positioning method is a known algorithm that estimates the location of a terminal or other device emitting radio waves based on the radio wave strength measured by three wireless LAN access points. By replacing the radio wave strength in this algorithm with sound pressure, the location of the abnormal sound can be estimated. Also, for example, when the receiving unit 21 receives three-dimensional information, the analysis and determination unit 22 detects foreign objects by comparing it with three-dimensional information acquired at the same location in the past, and if a foreign object is detected, it determines that an abnormality has occurred. The analysis and determination unit 22 may also determine the occurrence of an abnormality using a determination model constructed by learning detection information from past normal conditions. Furthermore, the analysis and determination unit 22 may make an abnormality determination based on detection information other than temperature information, acoustic information, and three-dimensional information detected by the detection unit 131 of the inspection device 13. When the analysis and determination unit 22 determines an abnormality, it outputs, for example, the type of abnormality (for example, the type of detection information that was determined to be abnormal (temperature information, etc.)) and the location information where the abnormality was detected to the command unit 23, notification unit 24, and output unit 25. Furthermore, the analysis and determination unit 22 determines, based on the location information received by the receiving unit 21, whether the inspection unit 10 has reached the location where inspection should be performed using the inspection device 13.

[0035] When the analysis and determination unit 22 determines that an abnormality has occurred, the command unit 23 selects an appropriate inspection device 13 from among the inspection devices 13 mounted on the frame 12, based on the type of abnormality and the location information where the abnormality was detected. The command unit 23 transmits command information to the inspection unit 10 via the communication unit 27, instructing it to start the selected inspection device 13. For example, if an abnormality is determined based on temperature information, the type of abnormality may differ depending on the detected temperature, and the inspection device 13 required to deal with each abnormality may differ. Also, if the location information where the abnormality was detected differs, the type of abnormality may differ, or even if the abnormality is similar, the response may differ. Based on the temperature information and location information, the command unit 23 selects an inspection device 13 that has the function to perform work to deal with the abnormality expected from that temperature information and location information, or the function to perform a detailed investigation of that abnormality. The command unit 23 transmits command information, including the identification information of the selected inspection device 13 and a start instruction, to the vehicle 11. There may be multiple inspection devices 13 selected by the command unit 23.

[0036] When the analysis and determination unit 22 determines that an abnormality has occurred, the notification unit 24 notifies the terminal device 30 of the occurrence of the abnormality via the communication unit 27. The notification unit 24 may also search for past cases based on the type and location information of the abnormality determined by the analysis and determination unit 22, and notify the terminal device 30 of the details of the abnormality in past cases and how to deal with it. The worker can then take action against the abnormality by referring to the information notified to the terminal device 30.

[0037] The output unit 25 outputs the moment-by-moment location information of the inspection unit 10 to the display device based on the location information received by the receiving unit 21. The output unit 25 also outputs the type of inspection device 13 mounted on the inspection unit 10, the battery charge status, etc., to the display device. Furthermore, if an abnormality is determined by the analysis and judgment unit 22, the output unit 25 may output the occurrence of the abnormality and the location of the abnormality to the display device along with map information of facility G as exemplified in Figure 1.

[0038] The memory unit 26 stores detection information received by the receiving unit 21, information on past anomaly cases (for example, the nature of the anomaly and how it was dealt with), and detection information from past normal conditions (temperature information for each location, acoustic information, 3D information), etc. The communication unit 27 includes a communication module and communicates with other devices.

[0039] Terminal device 30 is a portable device carried by the worker, such as a smartphone or tablet. Terminal device 30 may also be a PC (Personal Computer) used by the worker.

[0040] The external storage device 40 is a storage device located outside the server 20. The external storage device 40 may be located in a so-called cloud computing system. The server 20 and the external storage device 40 can communicate via a network (NW), and the server 20 can record data in the external storage device 40 and read data from the external storage device 40. In the inspection system 1, the external storage device 40 can be used instead of the storage unit 26. For example, the receiving unit 21 of the server 20 may record various received data in the external storage device 40. In the following description, the storage unit 26 is used as the recording destination for various data as an example, but the external storage device 40 can be used instead of the storage unit 26.

[0041] Station 50 includes a connection unit 51, a power supply unit 52, and a communication unit 53. The connection unit 51 connects to the vehicle 11 and supplies power supplied by the power supply unit 52 to the vehicle 11. The connection unit 51 receives detection information and charging status transferred from the vehicle 11 and the inspection device 13, and transmits the detection information and other data to the server 20 via the communication unit 133. The power supply unit 52 is connected to, for example, a commercial AC power supply and converts the AC power to DC power to supply to the vehicle 11. The communication unit 53 includes a communication module such as a wired or wireless LAN, and transmits data transferred from the inspection unit 10 to the server 20. The communication unit 53 may also receive data from the server 20 and transfer the received data to the inspection unit 10.

[0042] (operation) Next, the operation of the inspection system 1 will be explained with reference to Figures 6 to 10. Figure 6 shows the processing flow by the inspection unit 10 during its rounds. The inspection unit 10 acquires detection information (step S1). Detection information includes, for example, location information, temperature information, acoustic information, and 3D information. The acquisition of detection information may be performed by the detection unit 111 or the detection unit 131. Alternatively, a detection unit may be provided on the stand 12, and the detection information may be acquired by the detection unit on the stand 12. Next, the inspection unit 10 transmits the detection information to the server 20 (step S2). The transmission of the detection information may be performed by the communication unit 113 or the communication unit 133. Alternatively, a communication unit may be provided on the stand 12, and the detection information may be transmitted by the communication unit on the stand 12. Next, the inspection unit 10 stores the detection information (step S3). The inspection unit 10 stores the detection information so that it can be transferred to the station 50 when it stops at the station 50. For example, the detection unit 111 records the temperature information, acoustic information, and 3D information in the storage unit 112, associating them with the location information and time information of the location where the detection information was acquired. The detection information may be stored in the memory unit 112 or in the memory unit 132. Alternatively, a memory unit may be provided in the frame 12, and the detection information may be stored in the memory unit of the frame 12.

[0043] Figure 7 shows the processing flow when the inspection unit 10 is parked at station 50. Assume that the station connection unit 114 of vehicle 11 is connected to the connection unit 51 of station 50. The inspection unit 10 receives power from station 50 and charges the battery of vehicle 11 and the battery of inspection device 13 (step S11). The inspection unit 10 transfers detection information acquired during patrol to station 50 (step S12). For example, the communication unit 113 of vehicle 11 reads time-series detection information from the storage unit 112 and transmits it to station 50 through the station connection unit 114. At station 50, the communication unit 53 receives the transferred detection information through the connection unit 51. Next, station 50 transmits the detection information transferred from inspection unit 10 to server 20 (step S13). The communication unit 53 transmits the detection information received from inspection unit 10 to server 20.

[0044] Next, the operation of server 20 will be explained with reference to Figures 8 and 9. Figure 8 shows the processing flow when the inspection device 13 is launched based on the position information of the inspection unit 10. The receiving unit 21 receives location information transmitted from the inspection unit 10 during its rounds via the communication unit 27 (step S21). The receiving unit 21 records the location information in the storage unit 26 or external storage device 40 and outputs it to the analysis / determination unit 22. The analysis / determination unit 22 determines whether the location indicated by the location information received in step S21 is a predetermined location (step S22). A predetermined location is, for example, a location where periodic inspections using the inspection device 13 are required. If it is not a predetermined location (step S22; No), the process shown in Figure 8 is terminated. If it is a predetermined location (step S22; Yes), the analysis / determination unit 22 instructs the command unit 23 to launch the inspection device. The command unit 23 identifies the inspection device corresponding to the location (step S23). For example, the storage unit 26 stores setting information that associates the location with the inspection device 13, and the command unit 23 identifies the inspection device 13 based on this setting information. Next, the command unit 23 transmits command information to the inspection unit 10 via the communication unit 27, instructing the identified inspection device 13 to start (step S24). In the inspection unit 10, for example, the communication unit 113 receives the command information. Upon receiving the command information, the vehicle 11 stops until the inspection device 13 starts moving from the stand 12. The communication unit 113 also notifies the identified inspection device 13 of the command information via port 121c. In the inspection device 13, the launch / destination unit 134 drives the means of moving the inspection device 13 to start moving the inspection device 13. The communication unit 113 also notifies the lifting unit 124 of the stand 12 on which the identified inspection device 13 is mounted of the command information. The lifting unit 124 controls the lifting platform 123 to lower the inspection device 13 to the ground. The inspection device 13 performs the necessary inspections and returns to the stand 12. When the inspection device 13 is connected to port 121, the vehicle 11 resumes its patrol.

[0045] In the determination in step S22, in addition to the position information, it may be determined to launch the inspection device if a predetermined amount of time has elapsed since the last inspection device 13 was used. Alternatively, it may be determined to launch the inspection device each time the inspection unit 10 reaches a predetermined position, for example, once every three times. Furthermore, even when launching the inspection device 13 each time the inspection unit 10 reaches a predetermined position, it may be possible to launch three different types of inspection devices 13 alternately, for example, at a frequency of once every three times each.

[0046] Figure 9 shows the processing flow when the inspection device 13 is activated based on the abnormality determination result of the detection information. The receiving unit 21 receives detection information transmitted from the inspection unit 10 on patrol or the station 50 where the inspection unit 10 is parked via the communication unit 27 (step S31). The receiving unit 21 records the detection information in the storage unit 26 or external storage device 40 and outputs it to the analysis / determination unit 22. The analysis / determination unit 22 determines whether an abnormality has occurred based on the detection information received in step S31 (step S32). For example, if the detection information is temperature information, the analysis / determination unit 22 compares the temperature information received in step S31 with the temperature obtained under normal conditions in the past. If the difference between the two is greater than or equal to a threshold, the analysis / determination unit 22 determines that an abnormality has occurred in the vicinity of the location where the temperature information was obtained. If the difference between the two is less than the threshold, the analysis / determination unit 22 determines that no abnormality has occurred at that location. If it is determined that no abnormality has occurred (step S32; No), the process shown in Figure 9 ends. If it is determined that an abnormality has occurred (step S32; Yes), the analysis / determination unit 22 instructs the command unit 23 to start the inspection device. The command unit 23 identifies the inspection device 13 according to its location (step S33). For example, the storage unit 26 stores setting information that associates the type of abnormality (temperature in this example) with the inspection device 13, and the command unit 23 identifies the inspection device 13 based on this setting information. Next, the command unit 23 sends command information to the inspection unit 10 via the communication unit 27 to instruct the identified inspection device 13 to be activated (step S34). In the inspection unit 10, for example, the communication unit 113 receives the command information, and the inspection device 13 is activated through a process similar to that described in Figure 8. Next, the notification unit 24 notifies the terminal device 30 of the occurrence of an abnormality and how to deal with it via the communication unit 27 (step S35).

[0047] In step S33, the inspection device 13 may be identified by considering location information in addition to detection information. For example, the storage unit 26 may store setting information that associates the type and location of an anomaly with the inspection device 13, and the command unit 23 may identify the inspection device 13 based on this setting information.

[0048] As described above, according to the inspection system 1 of this embodiment, by having a vehicle 11 towing a frame equipped with the inspection device 13 automatically patrol the facility G, it is possible to detect abnormalities over a wide area while suppressing battery consumption of the device. Furthermore, detailed inspections using the inspection device 13 and countermeasures against abnormalities can be performed as needed.

[0049] <Second Embodiment> Hereinafter, an inspection system 1A according to a second embodiment of the present invention will be described with reference to Figures 10 to 11. Among the components of the second embodiment, those having the same function as the functional components constituting the inspection system 1 according to the first embodiment are denoted by the same reference numerals and their description is omitted.

[0050] Figure 10 is a functional block diagram showing an example of an inspection system according to the second embodiment. As shown in Figure 10, in the inspection system 1A, the inspection unit 10A has an analysis / determination unit 22A, a command unit 23A, and a notification unit 24A, which are functions equivalent to the analysis / determination unit 22, command unit 23, and notification unit 24 that the server 20 has in the first embodiment. Figure 11 shows an example of the configuration of the inspection unit 10A according to the second embodiment. As shown in Figure 11, the vehicle 11A has a detection unit 111, a storage unit 112, a communication unit 113, an analysis / determination unit 22A, a command unit 23A, and a notification unit 24A. The analysis / determination unit 22A determines the occurrence of an abnormality based on detection information acquired by the detection unit 111 or the detection unit 131. Alternatively, the analysis / determination unit 22A determines whether the inspection unit 10 has reached a predetermined location based on location information acquired by the detection unit 111 or the detection unit 131. When the analysis / determination unit 22A determines that an abnormality has occurred or that a predetermined position has been reached, the command unit 23A identifies an inspection device 13 appropriate to the situation and sends command information via port 121 to the identified inspection device 13 to initiate movement. The command unit 23A also sends command information to the lifting unit 124 of the frame 12 on which the identified inspection device 13 is mounted. When the analysis / determination unit 22A determines that an abnormality has occurred, the notification unit 24A notifies the terminal device 30 via the communication unit 113 of the occurrence of the abnormality and how to deal with it.

[0051] According to the second embodiment, the same effects as the first embodiment can be obtained. Furthermore, according to the second embodiment, abnormalities around the inspection unit 10A can be detected and the inspection device 13 can be activated without transmitting detection information to the server 20. Since the detection information acquired during patrol is valuable data, in the second embodiment as well, when the inspection unit 10A stops at station 50, the detection data recorded during patrol can be transmitted to the server 20 or external storage device 40 via station 50, and the detection information can be stored. The stored detection information can be used as training data for the judgment model used by the analysis and judgment unit 22A for abnormality judgment.

[0052] Each process in the vehicles 11, 11A, the stand 12, the inspection devices 13, 13A, and the server 20 can be realized by the execution of a program by a processor such as a CPU (Central Processing Unit) in each device. The program executed by the vehicles 11, 11A, the stand 12, the inspection devices 13, 13A, and the server 20 may be recorded on a computer-readable recording medium, and the program recorded on this recording medium may be read and executed. The vehicles 11, 11A, the stand 12, the inspection devices 13, 13A, and the server 20 include hardware such as an OS (Operating System) and peripheral devices. The computer-readable recording medium is, for example, a portable medium such as a flexible disk, magneto-optical disk, ROM (Read Only Memory), CD-ROM (Compact Disk Read Only Memory), or a storage device such as a hard disk built into the vehicles 11, 11A, the stand 12, the inspection devices 13, 13A, and the server 20. Furthermore, computer-readable recording media may include those that dynamically hold programs for a short period of time, such as communication lines used when transmitting programs via networks such as the Internet or communication lines such as telephone lines, as well as those that hold programs for a fixed period of time, such as volatile memory within the computer system acting as a server or client in such cases. Moreover, the above-mentioned programs may be for the purpose of realizing some of the functions described above, and may also be able to realize the above-mentioned functions in combination with programs already recorded in the computer system.

[0053] <Note> The inspection system, inspection unit, and server described in each embodiment can be understood, for example, as follows:

[0054] (Note 1) The inspection system (1) comprises an inspection unit (10) and a server (20). The inspection unit (10) comprises a vehicle (11), an autonomously mobile device (inspection device 13), a frame (12) on which the device is mounted and towed by the vehicle (11), detection units (111, 131) for detecting the surrounding conditions, communication units (113, 133) for communicating with the server (20), and a launching / launching unit (134) for launching and landing the device (13). The server (20) comprises a command unit (23) that commands the inspection unit (10) to launch the device (13) based on information detected by the detection units (111, 131). This allows for wide-area patrols to detect and inspect for anomalies while suppressing battery drain on the device.

[0055] (Note 2) The inspection system (1) is the inspection system (1) described in Appendix 1, wherein the server (20) has a determination unit (analysis / determination unit 22) that determines an abnormality based on information received from the inspection unit (10), and the command unit (23) commands the device (13) to start up according to the determination result of the determination unit (22). This allows the device to be launched depending on the surrounding conditions.

[0056] (Note 3) The inspection system (1) is the inspection system (1) described in appendices 1 to 2, wherein the detection unit (111, 131) has the function of detecting at least one of the following: location information, temperature information, acoustic information, and three-dimensional information. This allows for the detection of anomalies in the surroundings based on location, temperature, acoustics, and 3D information.

[0057] (Note 4) The inspection system (1) is the inspection system (1) described in appendices 1 to 3, wherein the vehicle (11) and the frame (12) are physically connected and electrically connected by a coupler (14), and the frame (12) has a connection part (device connection part 120) that connects to and holds the device (13), and an access opening provided at a position opposite to the connection part (120), The aforementioned access opening is provided with a lifting mechanism (124) for raising and lowering the device (13) between the height of the frame and the ground. This allows the inspection device 13 to be electrically connected to the stand 12 while it remains stored inside the stand 12 (enabling power supply and data transfer). Furthermore, by having a lifting section 124 positioned opposite the connection section 120, the inspection device 13 can be smoothly launched and stored in the stand 12.

[0058] (Note 5) The inspection system (1) is the inspection system (1) described in Appendix 4, wherein the connection part (120) has a power supply function and a data transfer function, and when the vehicle (11) is connected to the power supply (52), power is supplied to the device (13) via the connection part (120), and data is transferred from the device to the vehicle. This allows for charging and data transfer while the device is stored inside.

[0059] (Note 6) The inspection system (1) is the inspection system (1) described in appendices 2 to 5, wherein the server (20) further includes a notification unit (24) that notifies other devices (30) of the occurrence of an abnormality when it determines that an abnormal situation has occurred. This allows other devices to be notified when an anomaly is detected.

[0060] (Note 7) The inspection system (1) is the inspection system (1) described in appendices 1 to 6, wherein the detection unit is provided on the vehicle (11) or the frame (12). This allows the surrounding environment of the inspection unit 10 to be detected without draining the device's battery.

[0061] (Note 8) The inspection system (1) is the inspection system (1) described in appendices 1 to 7, wherein the detection unit is provided on the device (13). This allows the surrounding conditions of the inspection unit 10 to be detected without installing sensors or other devices on the vehicle.

[0062] (Note 9) The inspection system (1) is the inspection system (1) described in appendices 1 to 8, and the server (20) commands the device to depart when the position information detected by the detection unit indicates a predetermined position. This allows the device to be activated and detailed inspections to be performed once it reaches a predetermined position (trigger point).

[0063] (Note 10) The inspection unit (10A) includes an automated patrol vehicle (11A), an autonomously mobile device (13), a frame (12) on which the device is mounted and towed by the vehicle, detection units (111, 131) for detecting the surrounding conditions, a command unit 23A for commanding the device (13) to depart based on the information detected by the detection units, and a departure / arrival unit 134 for launching and landing the device. This allows for wide-area patrols and anomaly detection / inspection while suppressing battery consumption of the inspection device 13. Furthermore, since detection information does not need to be transmitted to a server, battery consumption of the vehicle 11 or inspection device 13 required for communication can be suppressed.

[0064] (Note 11) The server includes an acquisition unit that acquires detection information indicating the surrounding conditions of a vehicle equipped with an autonomously mobile device that performs automatic patrols, and a command unit that commands the vehicle to launch the device based on the detection information. This allows the system to assess the surrounding conditions of the automatically patrolling vehicle and, based on that assessment, control the activation of the devices installed in the vehicle.

[0065] Furthermore, it is possible to replace the components in the above-described embodiments with well-known components as appropriate, without departing from the spirit of the present invention. Also, the technical scope of this invention is not limited to the above-described embodiments, and various modifications can be made without departing from the spirit of the present invention. [Explanation of Symbols]

[0066] 1. Inspection System 10. Inspection Unit 5a~5c...Wireless communication device 11...vehicles 111...Detection unit 1111...Location information acquisition unit 1112...Temperature information acquisition section 1113...Acoustic information acquisition section 1114...3D information acquisition unit 112...Storage section 113... Communications Department 114... Station connection section 12a~12c... Mounting frame 120...Device connection section 121...port 122... Rail 123... Lifting platform 124... Lifting section 13a~13b... Testing devices 131...Detection unit 132...Storage section 133... Communications Department 134... Departure / Arrival Section 135...Power supply section 14a~14c...Coupler 20... Server 21... Receiver 22...Analysis / judgment section 23...Instruction section 24... Notification Department 25. Output section 26...Storage section 27. Communications Department 30. Terminal device 40...External storage device 50... Station 51...Connection part 52...Power supply section 53. Communications Department NW... Network

Claims

1. It has an inspection unit and a server, The aforementioned inspection unit is Automated patrol vehicles and Autonomous mobile devices and A frame on which the aforementioned device is mounted and towed by the vehicle, A detection unit that detects the surrounding environment, A communication unit that communicates with the aforementioned server, It has a launching / deploying unit for launching and deploying the aforementioned device, The server has a command unit that commands the inspection unit to launch the device based on the information detected by the detection unit. The vehicle and the frame are physically connected and electrically connected by a coupler. The frame has a connecting portion that connects to and holds the device, and an opening that is provided with a lifting portion for raising and lowering the device between the height of the frame and the ground. Inspection system.

2. The server has a determination unit that determines an abnormality based on the information received from the inspection unit. The command unit commands the device to start according to the determination result of the determination unit. The inspection system according to claim 1.

3. The detection unit has the function of detecting at least one of the following: location information, temperature information, acoustic information, and three-dimensional information. The inspection system according to claim 1 or claim 2.

4. The entrance is provided at a position opposite to the connection part, The inspection system according to claim 1 or claim 2.

5. The aforementioned connection unit has a power supply function and a data transfer function. The vehicle is connected to a power source, thereby supplying power to the device via the connection point, and data is transferred from the device to the vehicle. The inspection system according to claim 1 or claim 2.

6. The server has a notification unit that, when it determines that an abnormality has occurred, notifies other devices of the occurrence of the abnormality. The inspection system according to claim 2, further comprising:

7. The detection unit is provided on the vehicle or the frame. The inspection system according to claim 1 or claim 2.

8. The detection unit is provided in the device, The inspection system according to claim 1 or claim 2.

9. Automated patrol vehicles and Autonomous mobile devices and A frame on which the aforementioned device is mounted and towed by the aforementioned vehicle, A detection unit that detects the surrounding environment, A command unit commands the device to start based on the information detected by the detection unit, A launching / deploying unit for launching and deploying the aforementioned device, It has, The vehicle and the frame are physically connected and electrically connected by a coupler. The frame has a connecting portion that connects to and holds the device, and an opening that is provided with a lifting portion for raising and lowering the device between the height of the frame and the ground. Inspection unit.

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