Information processing apparatus, mobile body, system, photographing control method, and program product

Abstract

The present invention aims to acquire a captured image in which the state of an object can be confirmed regardless of the captured environment. The present invention relates to an information processing apparatus (for example, a control apparatus 30) that controls a capturing process of a robot (10) (an example of a mobile body) that moves within a prescribed site and captures an object (for example, an inspection object), including a storage section (3000) (an example of a storage unit) that stores, in association with each other, a capturing condition of the object and a plurality of reference images of the object set within the site that are captured at specific capturing positions and in which the reflection states of the object are different, a capturing control section (36) (an example of a capturing control unit) that captures the object using the robot 10 that moves to the specific capturing position, and a capturing condition setting section (39) (an example of a capturing condition setting unit) that sets the capturing condition of the object based on a captured image of the object and the stored reference images, the capturing control section (36) capturing the object using the set capturing condition.

Description

Technical Field

[0001] This invention relates to information processing devices, mobile bodies, systems, shooting control methods, and program products. Background Technology

[0002] Robots are known to be installed at stations such as factories or warehouses and capable of moving autonomously within those stations. Such robots, for example, are used as inspection robots or service robots, and can replace operators in performing inspection tasks on equipment within the station. Patent Document 1 discloses a monitoring system that allows for the monitoring and inspection of equipment, instruments, pipes, etc., simply by an operator manipulating a moving body along an inspection path.

[0003] Furthermore, in inspection operations using robots, systems are known to take pictures of the object to be inspected while moving the robot. Here, as a method for automatically adjusting the shooting position of the object to be inspected, Patent Document 2 discloses that, while sequentially moving the camera to multiple inspection points set for the workpiece and inspecting the workpiece based on pictures taken at each inspection point, the positions of the multiple inspection points are taught using viewpoint information on a display screen.

[0004] Citation List

[0005] Patent documents

[0006] Patent Document 1: Japanese Patent Application Publication No. 11-64050

[0007] Patent Document 2: Japanese Patent Application Publication No. 2005-52926 Summary of the Invention

[0008] Technical issues

[0009] However, in conventional methods, even if the shooting conditions are taught in advance, the state of the object will be different depending on the shooting time or weather, even if the shooting is taken from the same shooting position. This poses a problem for administrators and others who need to identify the object, as they may obtain images that make it difficult to confirm the state of the object.

[0010] Solution to the problem

[0011] To address the aforementioned issues, technical solution 1 relates to an information processing apparatus for controlling the photographing process of a moving body that moves within a designated site and photographs an object. The apparatus comprises: a storage unit that stores, in association, each of a plurality of reference images of the object, photographed at a specific shooting position and positioned within the site, wherein the object's mapping state is different; a photographing control unit that photographs the object using the moving body moved to the specific shooting position; and a photographing condition setting unit that sets the photographing conditions of the object based on the photographed image and the stored reference images, wherein the photographing control unit photographs the object using the set photographing conditions.

[0012] Effects of the present invention

[0013] The effect obtained by the present invention is that it is possible to acquire images that allow confirmation of the state of an object, regardless of the shooting environment. Attached Figure Description

[0014] Figure 1 The diagram shown is an example of the overall structure of the camera system.

[0015] Figure 2 The diagram shown is a summary illustration of an example of a site where a robot is installed.

[0016] Figure 3 The diagram shown is a summary illustration of an example of a robot's movement path.

[0017] Figure 4 (A) and (B) are examples of the state of the object being inspected when the shooting position is different.

[0018] Figure 5 The diagram shown is an example of the general structure of a robot.

[0019] Figure 6 The diagram shown is an example of the general structure of a robot.

[0020] Figure 7 The diagram shown is an example of the general structure of a robot.

[0021] Figure 8 The diagram shown is an example of the hardware configuration of a robot.

[0022] Figure 9 The diagram shown is an example of the hardware configuration of the image management server and communication terminal.

[0023] Figure 10 The diagram shown is an example of the functional structure of a camera system.

[0024] Figure 11 The image shown is a conceptual diagram of an example of a regional information management table.

[0025] Figure 12 The image shown is a conceptual diagram of an example of a site location management table.

[0026] Figure 13 The image shown is a conceptual diagram of an example of a path information management table.

[0027] Figure 14 The image shown is a conceptual diagram of an example of an object management table.

[0028] Figure 15 The image shown is a conceptual diagram of an example of a schema management table.

[0029] Figure 16 The image shown is a conceptual diagram of an example of a shooting conditions management table.

[0030] Figure 17 The image shown is a conceptual diagram of an example of an image management table.

[0031] Figure 18 The diagram shown is a timing diagram of an example of object inspection and processing.

[0032] Figure 19 The diagram shown is a flowchart of an example of object inspection processing in a robot.

[0033] Figure 20 The diagram shown is a flowchart of an example of object photography and processing.

[0034] Figure 21 The diagram shown is a flowchart of an example of object photography and processing.

[0035] Figure 22 The diagram shown is a summary illustration of an example of using a robot to capture images in an inspection area.

[0036] Figure 23 Figures (A) to (C) are explanatory diagrams of an example of the shooting state of the test object.

[0037] Figure 24 Figures (A) and (B) show an example of a test object.

[0038] Figure 25 Figures (A) and (B) show an example of a test object.

[0039] Figure 26 The diagram shows an example of object shooting processing when shooting conditions are not registered.

[0040] Figure 27 The diagram shown is a timing diagram of an example of the registration process for shooting conditions in the shooting system.

[0041] Figure 28 The image shown is an example of the settings screen.

[0042] Figure 29 The image shown is an example of the settings screen.

[0043] Figure 30 The diagram shown is a timing diagram of an example of the registration process for shooting conditions in the shooting system.

[0044] Figure 31 The diagram shows an example of object shooting processing when shooting conditions are not registered.

[0045] Figure 32 The diagram shown is a timing diagram of an example of the registration process for shooting conditions in the shooting system.

[0046] Figure 33 The image shown is an example of an image selection screen.

[0047] Figure 34 The diagram shown is a timing diagram of an example of the registration process for shooting conditions in the shooting system.

[0048] Figure 35 The diagram shown is a summary illustration of other examples of using a robot for image processing in the inspection area.

[0049] Figure 36 (A) shows an example image taken from shooting point A3, and (B) shows an example image taken from shooting point A4. Detailed Implementation

[0050] Hereinafter, the method of carrying out the invention will be described with reference to the accompanying drawings. Furthermore, in the description of the drawings, the same reference numerals are used for the same elements and repeated descriptions are omitted.

[0051] ●Implementation Method●

[0052] ●System Composition

[0053] Figure 1 The diagram shown is an example of the overall structure of the camera system. Figure 1 The imaging system 1 shown is a system that uses a robot 10 to photograph the objects to be inspected at the object site and to check for any abnormalities.

[0054] The shooting system 1 includes a robot 10 located at a designated target site, an image management server 50, and a communication terminal 70. The robot 10, image management server 50, and communication terminal 70 constituting the shooting system 1 can communicate via a communication network 100. The communication network 100 is constructed from the Internet, mobile communication networks, local area networks (LANs), etc. Furthermore, the communication network 100 may include not only wired communication but also networks based on wireless communication technologies such as 3G, 4G, 5G, Wi-Fi (registered trademark), WiMAX (Worldwide Interoperability for Microwave Access), or LTE (Long Term Evolution).

[0055] Robot 10 is a mobile device that is set up at the target site and moves autonomously within the target site. While moving within the target site, robot 10 performs inspection tasks on the designated objects. Furthermore, robot 10 provides inspection result information (images, etc.) to the administrator of the target site using communication terminal 70 by transmitting images captured during the inspection tasks to the communication terminal 70.

[0056] Image management server 50 is a server computer used to manage images of the objects being inspected captured by robot 10. While storing and managing the images sent by robot 10, image management server 50 also provides the captured images to communication terminal 70 used by the administrator.

[0057] Furthermore, the image management server 50 can be constructed from a single computing unit or from multiple computing units whose components (functions or units) are arbitrarily allocated. Additionally, all or part of the functions of the image management server 50 can be implemented by a server computer residing in a cloud environment or a server computer residing in an on-site deployment environment.

[0058] The communication terminal 70 is a computer such as a laptop PC used by an administrator to manage the inspection objects or robot 10 set up at the inspection site. The administrator, at a management station such as an office, confirms the results of the inspection work by viewing images of the inspection objects taken by the robot 10. Furthermore, the administrator can remotely operate the robot 10 while viewing images of the inspection site displayed on the communication terminal 70. The communication terminal 70 is not limited to a laptop PC; it can also be a desktop PC, tablet, smartphone, or wearable device.

[0059] ●Overview

[0060] Here, using Figure 2 The site where robot 10 is installed is described. Figure 2 The diagram shown is a summary illustration of an example of an object site where robot 10 is installed. Figure 2 The examples shown are of large outdoor sites, such as factory workshops, which serve as the target sites. Figure 2 The site shown contains multiple items requiring routine or periodic inspections for maintenance and management. For example, if the site is a factory workshop, the items to be inspected include the measuring instruments (instrument 1, instrument 2) of the storage tanks, the storage tanks (tank 1, tank 2), the valves of the storage tanks (valve 1, valve 2, valve 3), and the oil tanks used for fluid transfer operations to the storage tanks.

[0061] The robot 10 moves autonomously within the target site and performs photographic processing on the object to be inspected at designated locations. Alternatively, the robot 10 can also move within the target site using techniques such as line tracking or remote operation from the communication terminal 70. Additionally, a test object 6, different from the object to be inspected, is set up at the target site. The test object 6 is a setup photographed to confirm the imaging status of the object to be photographed in the shooting environment before photographing the object to be inspected at the target site.

[0062] exist Figure 2 In this example, robot 10 photographs the test object 6 set at the target site and compares the obtained images with pre-stored reference images under different shooting environments. Based on the comparison results, robot 10 selects one shooting mode from multiple shooting modes and sets the shooting position and shooting direction of robot 10 corresponding to the selected shooting mode. Then, robot 10 photographs the inspection object within the target site from the set shooting position and shooting direction.

[0063] Figure 3 The diagram shown is a summary illustration of an example of the movement path of robot 10. The movement path of robot 10 represents a path to... Figure 3The route is defined from any point on the target site (P0, P1, P2, ...) to the specified destination. Each point on the target site is represented by its XY coordinates on the map data representing the overall target site.

[0064] in addition, Figure 3 The object site shown is divided into four areas (area 1 to area 4) based on the unit of inspection work. For example, when robot 10 is to move to area 1, the movement path is set as a path with the site position P8, which serves as the regional reference position of area 1, as the destination (P0→P1→P2→P3→P4→P8).

[0065] In factory workshops and similar locations, leaks of liquids or gases from pipelines can lead to major disasters. Therefore, routine inspections and operator checks include checking for even minor leaks in pipelines, pressure gauges, and the opening and closing status of valves. On the other hand, in large-scale factory workshops, such as areas exceeding 1 km in length, inspecting all pipelines and instruments within the site requires an extremely large amount of time. Therefore, methods using inspection robots that automatically or manually traverse the site while simultaneously photographing the objects being inspected are known to be effective in inspection operations.

[0066] However, traditional inspection robots photograph the object being inspected based on pre-set (taught) parameters, including the shooting position and direction. In this case, for example, when inspecting objects outdoors, environmental conditions such as weather or time of day can affect the amount of light received. Even with the same shooting position and direction, the degree of light reflection can result in images with low readability. For example, as... Figure 4 As shown, instrument 1, the object of inspection, is sometimes obscured by shadows due to reflections of external light, making it impossible to read the values ​​of the instrument being inspected. Figure 4 (A)). On the other hand, by changing the shooting angle, the external light illumination can be altered, thus allowing the instrument to read its value (A). Figure 4 (B)

[0067] Therefore, the imaging system 1 sets up test objects 6 in each inspection area of ​​the target site, capable of detecting changes in external light conditions such as the position or brightness of the sun, and before starting inspection in the inspection area, the mobile robot 10 photographs the test objects 6. Furthermore, based on the analysis results of the photographed images of the test objects 6, the imaging system 1 sets shooting conditions to display the shooting position and shooting direction of the inspected objects set in the inspection area. Then, the imaging system 1 moves the robot 10 to the set shooting position and photographs the inspected objects according to the set shooting direction. Thus, by using shooting conditions corresponding to the shooting environment such as external light conditions that change due to inspection time or weather, the imaging system 1 can reliably read the state of the inspected objects even in situations where it is difficult to read images under pre-taught shooting conditions.

[0068] Here, the target site where the robot 10 is installed is not limited to factory workshops; it can also be a business, construction site, substation, or other outdoor facility. For example, if workers need to spend a lot of time completing all the inspection work at a large site, or if multiple workers need to share the inspection work, the robot 10 installed at the target site can improve work efficiency by replacing workers in performing tasks previously done manually. Furthermore, the target site is not limited to outdoors; it can also be an indoor office, school, workshop, warehouse, commercial facility, or other facility—any site where there is a need for the robot 10 to perform tasks previously done manually.

[0069] ●The composition of a robot

[0070] Next, use Figures 5 to 7 This describes the specific composition of robot 10. Figures 5 to 7 The diagram shown is an example of the general structure of robot 10.

[0071] Figure 5 The robot 10 shown includes a frame 11, a crossbar 12, a camera device 13, a camera position adjustment device 14, a support component 15, a movement mechanism 16 (16a, 16b) for moving the robot 10, a GPS sensor 17, and an obstacle detection sensor 18. The frame 11 houses a control device 30 located in the torso of the robot 10, which controls the robot's actions and movements. The control device 30 is an example of an information processing device. The crossbar 12 is positioned on the frame 11 in front of the robot 10 in its direction of travel and serves as a buffer in case of collisions. Furthermore, the crossbar 12 can be positioned not only in front of the frame 11 but also on the side or rear.

[0072] The imaging device 13 captures images of subjects such as people, objects, or landscapes located at the site where the robot 10 is installed. The imaging device 13 is a digital camera (ordinary imaging device) capable of capturing planar images (detailed images), such as a digital SLR camera or a compact digital camera. The image data associated with the images captured by the imaging device 13 is sent to the communication terminal 70 via a communication session established through a server computer such as a communication management server.

[0073] The shooting position adjustment device 14 is a movable device used to adjust the shooting direction (orientation) of the shooting device 13. The shooting position adjustment device 14 adjusts the shooting direction of the shooting device 13 by rotational drive, while simultaneously adjusting the zoom level (magnification) of the shooting device 13. Alternatively, the shooting device 13 and the shooting position adjustment device 14 can be configured as a single device that enables the shooting device 13 to have a shooting position adjustment function.

[0074] Furthermore, the captured image obtained by the imaging device 13 can be a moving image, a still image, or both. Additionally, the captured image obtained by the imaging device 13 may include audio data along with the image data. Further, the imaging device 13 may be a wide-angle imaging device capable of acquiring a 360° panoramic image of the entire sky. For example, a wide-angle imaging device is a 360° panoramic imaging device that captures images of the subject to obtain two hemispherical images that form the basis of the 360° panoramic image. Further, a wide-angle imaging device may be a wide-angle camera or stereo camera capable of acquiring a wide-angle image with a field of view greater than a specified value. That is, a wide-angle imaging device is an imaging mechanism capable of acquiring images (360° images, wide-angle images) using a lens with a focal length shorter than a specified value. Additionally, the robot 10 may be configured to have multiple imaging devices 13. In this case, the robot 10, as an imaging device 13, may be a combination of a wide-angle imaging device and a conventional imaging device capable of capturing a portion of the subject captured by the wide-angle imaging device to obtain a detailed image (planar image).

[0075] Alternatively, the imaging device 13 may include a thermal imaging device for capturing far-infrared light (infrared light) or a special camera such as an infrared camera for capturing near-infrared light (infrared light). When the imaging device 13 is a thermal imaging device for capturing far-infrared light (infrared light), it can acquire an image (thermal imager) of the far-infrared light emitted by the object, and can identify the object based on the image. Furthermore, when the imaging device 13 is an infrared camera for capturing near-infrared light (infrared light), it can acquire an image (infrared image) of the object without being affected by interference light in the visible light band, and can identify the object based on the image.

[0076] The support component 15 is used to mount (fix) the shooting device 13 and the shooting position adjustment device 14 on the robot 10 (frame 11). The support component 15 can be a rod or the like fixed to the frame 11, or a base fixed to the frame 11.

[0077] The moving mechanism 16 is the unit that moves the robot 10, and it consists of wheels, a walking motor, a walking encoder, a steering motor, and a steering encoder. Regarding the movement control of the robot 10, since this is existing technology, detailed descriptions are omitted. However, the robot 10 receives walking commands from an operator (communication terminal 70), and the moving mechanism 16 moves the robot 10 based on these commands. Furthermore, the moving mechanism 16 can also be a bipedal legged mechanism or a single-wheeled mechanism. Additionally, the shape of the robot 10 is not limited to... Figure 4 The vehicle type shown can be, for example, a bipedal humanoid, a form that imitates a living organism, or a form that imitates a specific character.

[0078] GPS sensor 17 is a self-positioning mechanism that receives GPS signals from GPS satellites and detects the position of robot 10. Obstacle detection sensor 18 is a sensor that detects obstacles around the robot 10 as it moves. Obstacle detection sensor 18 can be, for example, an image sensor such as a stereo camera or a camera equipped with a region sensor with photoelectric conversion elements arranged in a planar manner, or a ranging sensor such as a time-of-flight (TOF) sensor, a light detection and ranging (LIDAR) sensor, or a radar sensor. In addition, the self-positioning mechanism is not limited to GPS sensor 17, and can be any method that can detect its own position in any way. For example, the self-positioning mechanism can also use Simultaneous Localization and Mapping (SLAM) using LIDAR or magnetic induction in environments where magnetic tape is laid on the path.

[0079] Here, use Figure 6 and Figure 7 A modified example of the configuration of robot 10 will be explained. Figure 6 The robot 10a shown has multiple camera devices 13a (13a1, 13a2, 13a3, 13a4, 13a5). The multiple camera devices 13a are arranged and mounted in the vertical direction of the support member 15. Additionally, as... Figure 7The robot 10b shown has a sliding device 14a that allows the shooting device 13 to slide in the vertical direction. By allowing the shooting device 13 to move along the sliding device 14a in the vertical direction, the robot 10b can adjust the shooting position (height).

[0080] In this way, the robot 10 can adjust the shooting position of the shooting device 13 (13a) by having multiple shooting devices 13a like the robot 10a, or by setting a sliding device 14a like the robot 10b that allows the shooting device 13 to slide in the vertical direction.

[0081] In addition to the above-mentioned components, robot 10 may also have various sensors capable of detecting information around robot 10. These sensors include, for example, barometers, thermometers, photometers, human body sensors, gas sensors, odor sensors, or illuminance meters. Furthermore, robot 10 may also have a movable arm capable of performing additional movements beyond mere locomotion.

[0082] ●Hardware Components

[0083] Next, use Figure 8 and Figure 9 The hardware configuration of the apparatus or terminal constituting the calendar login system according to the embodiments will be described. Additionally, Figure 8 and Figure 9 The hardware configuration of the device or terminal shown can be modified by adding or deleting components as needed.

[0084] ○Hardware Components of the Robot○

[0085] Figure 8 The diagram shown is an example of the hardware configuration of a robot. The robot 10 includes a control device 30 for controlling the processing or actions of the robot 10. As described above, the control device 30 is disposed inside the frame 11 of the robot 10. Alternatively, the control device 30 may be disposed outside the frame 11 of the robot 10, or it may be disposed as a separate device from the robot 10.

[0086] The control device 30 includes a CPU (Central Processing Unit) 301, a ROM (Read-Only Memory) 302, a RAM (Random Access Memory) 303, an HDD (Hard Disk Drive) 304, a media I / F (Interface) 305, an input / output I / F 306, a voice input / output I / F 307, a network I / F 308, a short-range communication circuit 309, an antenna 309a for the short-range communication circuit 309, an external device connection I / F 311, a timer 312, and a bus 310.

[0087] CPU 301 performs overall control of robot 10. CPU 301 is a computing device that reads programs or data stored in ROM 302 or HD (hard disk) 304a into RAM 303 and performs processing to realize the various functions of robot 10.

[0088] ROM 302 is a non-volatile memory that retains programs or data even when the power is turned off. RAM 303 is a volatile memory used as a working area for CPU 301, etc. HDD 304, under the control of CPU 301, controls the reading and writing of various data on HDD 304a. HDD 304a stores various data such as programs. Media I / F 305 controls the reading and writing (storage) of data on recording media 305a such as USB (Universal Serial Bus) memory, memory cards, optical discs, or flash memory.

[0089] Input / output I / O 306 is an interface used for inputting and outputting text, values, and various commands to various external machines. Input / output I / O 306 controls the display of various information such as cursor, menus, windows, characters, or images on a display 306a, such as an LCD (Liquid Crystal Display). Additionally, the display 306a can also be a touch panel display with input devices. Furthermore, besides the display 306a, the input / output I / O 306 can also connect to input devices such as a mouse or keyboard. Audio input / output I / O 307 is a circuit that processes the input and output of audio signals between a microphone 307a and a speaker 307b under the control of the CPU 301. The microphone 307a is a built-in audio collector that inputs audio signals under the control of the CPU 301. The speaker 307b is a playback device that outputs audio signals under the control of the CPU 301.

[0090] Network I / F 308 is a communication interface for communicating (connecting) with other devices or apparatuses via communication network 100. Network I / F 308 may be a wired or wireless LAN communication interface. Near Field Communication Circuit 309 is a communication circuit such as NFC (Near Field Communication) or Bluetooth (registered trademark). External Device Connection I / F 311 is an interface for connecting other devices to control device 30. Timer 312 is a measuring device with time measurement function. Timer 312 may be a software timer for a computer.

[0091] Bus 310 is an address bus or data bus used to electrically connect the above-mentioned components, and to transmit address signals, data signals, and various control signals. CPU 301, ROM 302, RAM 303, HDD 304, media I / F 305, input / output I / F 306, voice input / output I / F 307, network I / F 308, short-range communication circuit 309, external device connection I / F 311, and timer 312 are interconnected via bus 310.

[0092] Furthermore, via an external device I / F311, the control device 30 is connected to a drive motor 101, a transmission 102, an acceleration / orientation sensor 103, a shooting position adjustment device 14, a GPS (Global Positioning System) sensor 17, an obstacle detection sensor 18, and a battery 120.

[0093] Drive motor 101 rotates and drives moving mechanism 16 according to commands from CPU 301, causing robot 10 to move along the ground. Transmission device 102 deforms movable arm 19 according to commands from CPU 301. Movable arm 19 has motion means capable of performing additional actions besides the movement of robot 10. For example, a hand for grasping objects such as parts is provided at the front end of movable arm 19 as a motion means. Robot 10 can perform a specified task (action) by rotating or deforming movable arm 19. Acceleration / orientation sensor 103 is a sensor such as an electromagnetic compass, gyrocompass, and accelerometer that detects the Earth's magnetic field. Battery 120 is a unit that supplies the necessary power to robot 10 as a whole.

[0094] ○Hardware Components of the Image Management Server○

[0095] Figure 9 The diagram shown is an example of the hardware configuration of the image management server 50. The various hardware components of the image management server 50 are represented by symbols in the 500 series. The image management server 50 is constructed from a computing unit, such as... Figure 9 As shown, it includes a CPU 501, ROM 502, RAM 503, HD 504, HDD controller 505, display 506, external device connection I / F 508, network I / F 509, bus 510, keyboard 511, pointing device 512, DVD-RW (rewritable optical disc) drive 514, media I / F 516, and timer 517.

[0096] The CPU 501 controls the overall operation of the image management server 50. The ROM 502 stores programs such as the IPL (Initial Program Loader) that drive the CPU 501. The RAM 503 serves as the working area for the CPU 501. The HDD 504 stores various data such as programs. The HDD controller 505, under the control of the CPU 501, controls the reading and writing of various data to the HDD 504. The display 506 displays various information such as cursor, menu, window, text, or images. Alternatively, the display 506a can also be a touch panel display with input devices. The external device connection I / F 508 is an interface for connecting various external devices. In this case, the external device is, for example, a USB memory or printer. The network I / F 509 is an interface for data communication using the communication network 100. The bus 510 is used for electrical connections. Figure 9 The address bus or data bus of each component of the CPU501 shown.

[0097] In addition, the keyboard 511 is an input device with multiple keys for inputting characters, numbers, various instructions, etc. The pointer device 512 is an input device for selecting or executing various instructions, selecting processing objects, or moving the cursor. Furthermore, input devices can be not only keyboards 511 and pointer devices 512, but also touch panels or voice input devices. The DVD-RW drive 514 controls the reading or writing of various data to a rewritable optical disc (CD-ROM) 513, which is a removable storage medium. Furthermore, the removable recording medium is not limited to DVD-RW, but can also be DVD-R or Blu-ray Disc, etc. The media I / F 516 controls the reading or writing (storage) of data to a recording medium 515 such as flash memory. The timer 517 is a measuring device with time measurement functions. The timer 517 can be a computer software timer.

[0098] ○ Hardware composition of the communication terminal ○

[0099] Figure 9 The diagram shown is an example of the hardware configuration of the communication terminal 70. The various hardware components of the communication terminal 70 are represented by symbols in parentheses corresponding to the 700 number segment. The communication terminal 70 is constructed from a computing unit, such as... Figure 9As shown, it has the same configuration as the image management server 50, so the description of each hardware component is omitted. Furthermore, the display 706 is an example of a display unit. The display unit 706 can be an external device with display functionality connected to the communication terminal 70. In this case, the display unit can be, for example, an external display such as an IWB (Interactive White Board), or a projection area (e.g., the ceiling or wall of the management station) onto which an image is projected from a PJ (Projector) connected as an external device.

[0100] Furthermore, the aforementioned programs are installable or executable files, and can also be distributed on computer-readable recording media. Examples of recording media include CD-Rs (recordable optical discs), DVDs (digital versatile optical discs), Blu-ray Discs, SD cards, or USB storage devices. Additionally, the recording media can be supplied domestically or internationally as program products. For example, the control device 30 implements the shooting control method of the present invention by executing the program involved in this invention.

[0101] ●Functional Composition

[0102] Next, use Figures 10 to 17 The functional configuration of the imaging system 1 according to the implementation method will be described. Figure 10 The diagram shown is an example of the functional configuration of the imaging system 1. Additionally, Figure 10 What is shown is Figure 1 The configuration in the device or terminal shown that is associated with the processing or action described later.

[0103] ○ Functional Composition of a Robot (Control Device) ○

[0104] First, use Figure 10 The functional configuration of the control device 30 for controlling the processing or actions of the robot 10 will be described. The control device 30 includes a transceiver unit 31, a judgment unit 32, a position information acquisition unit 33, a destination setting unit 34, a movement control unit 35, a shooting control unit 36, an image comparison unit 37, a mode selection unit 38, a shooting condition setting unit 39, a registration unit 41, and a storage / reading unit 49. These units are connected via… Figure 8 Each of the constituent components shown can perform a function or function by being operated according to commands from the CPU 301 via a program deployed on RAM 303 by the control device. Furthermore, the control device 30 has a function implemented by... Figure 8 The storage unit 3000 is constructed from ROM 302, HD 304a or recording medium 305a as shown.

[0105] The transceiver unit 31 is mainly implemented by the CPU 301 processing the network I / F 308, and sends and receives various data or information with other devices or terminals through the communication network 100.

[0106] The judgment unit 32 is implemented through processing by the CPU 301 and performs various judgments. The position information acquisition unit 33 is mainly implemented through processing of the external device connection I / F 311 by the CPU 301 and acquires the position information indicating the current position of the robot 10 detected by the GPS sensor 17.

[0107] The mobile destination setting unit 34 is mainly implemented through the processing of the CPU 301, setting the mobile destination of the robot 10. For example, the mobile destination setting unit 34 sets the movement path for moving to an object area that is the target of a processing start request sent from the communication terminal 70 as the mobile destination of the robot 10. The mobile control unit 35 is mainly implemented through the processing of the external device connection I / F 311 by the CPU 301, controlling the movement of the robot 10 by driving the mobile mechanism 16. For example, the mobile control unit 35 causes the robot 10 to move towards the mobile destination set by the mobile destination setting unit 34.

[0108] The shooting control unit 36 ​​mainly controls the shooting process of the shooting device 13 by processing the external device connection I / F 311 through the CPU 301. For example, the shooting control unit 36 ​​issues instructions to the shooting device 13 to perform shooting processing. Additionally, the shooting control unit 36 ​​acquires, for example, the captured image obtained through the shooting processing of the shooting device 13.

[0109] The image comparison unit 37 is mainly implemented through processing by the CPU 301, and the pattern management DB 3005 (described later) is used for processing. Figure 15 The reference image and the captured image of the test object 6 acquired by the shooting control unit 36 ​​are subjected to image comparison processing. The reference image is an image of the test object 6 in a different imaging state. The reference image is an image of the test object 6 taken in past inspection operations, and the imaging state of the test object 6 is different due to different shooting environments such as shooting time or weather conditions.

[0110] The mode-specific unit 38 is mainly implemented through processing by the CPU 301, which specifies the shooting mode for the object to be inspected based on the comparison results from the image comparison unit 37. The shooting mode is a mode used to set different shooting conditions depending on the imaging state of the object to be inspected. The shooting condition setting unit 39 is mainly implemented through processing by the CPU 301 on the shooting position adjustment device 14, and sets the shooting conditions of the shooting control unit 36 ​​corresponding to the shooting mode specified by the mode-specific unit 38. The registration unit 41 is mainly implemented through processing by the CPU 301, and registers the shooting conditions for the object to be inspected corresponding to the shooting mode.

[0111] The storage / read unit 49 is mainly implemented through the processing of the CPU 301, storing various data (or information) in the storage unit 3000, or reading various data (or information) from the storage unit 3000.

[0112] ○Regional Information Management Table

[0113] Figure 11 The diagram shown is a conceptual representation of an example of a region information management table. A region information management table is used to manage region information representing the regions of object sites divided according to each inspection job. Within the storage unit 3000, a system is constructed using... Figure 11 The area information management table shown constitutes the area information management DB3001.

[0114] The area information management table manages area information associated with the area ID and area name of a defined area within an identified object site, as well as the reference position used for the location of that specific area. The reference position is the location information used by robot 10 for a specific area within the object site. The reference position is, for example, specified by the site positions of two points along the robot 10's walking path.

[0115] ○Site Location Management Table

[0116] Figure 12 The diagram shown is a conceptual representation of a site location management table. A site location management table is used to manage site location information representing specified site locations within an object site. In the storage unit 3000, a table is constructed using... Figure 12 The site location management table shown is part of the site location management DB3002.

[0117] The site location management table manages site location IDs that identify specified locations within an object site, as well as site location information that represents the object's site location. The site location management table stores multiple locations along the robot 10's walking path within the object site at specified intervals. The object's site location information is represented by XY coordinates displayed on a map representing the entire object site. The robot 10 moves towards its destination based on the movement path set using the location information shown in the site location information.

[0118] ○ Route Information Management Table

[0119] Figure 13 The diagram shown is a conceptual representation of a path information management table. This table manages path information representing the movement path of robot 10 within an object site. The storage unit 3000 contains a structure composed of… Figure 13 The path information management table shown is part of the path information management DB3003.

[0120] The path information management table manages path information that associates the path ID of the robot 10's movement path, the region ID of the region that is identified as the destination of the movement path used as the object, and the path data representing the specific content of the movement path. Specifically, the path data represents the movement path of the robot 10 with the object region as its destination as an order of station location IDs set at predetermined intervals.

[0121] ○Object Management Table

[0122] Figure 14 The diagram shown is a conceptual representation of an object management table. An object management table is used to manage information about objects within an object site. In the storage unit 3000, a table is constructed using... Figure 14 The object management table shown is part of the object management DB3004.

[0123] The object management table manages the identified objects by associating their object IDs and object names with the area IDs of the inspection areas within the identified object sites. Additionally, when the inspected object is test object 6 (object ID "S1"), the object management table manages the location information indicating the shooting location of test object 6 by associating it with the object ID and object name of test object 6.

[0124] ○ Pattern Management Table

[0125] Figure 15The diagram shown is a conceptual illustration of an example of a pattern management table. The pattern management table is used to manage the shooting patterns of the inspection object determined based on the captured images of the test object 6. The storage unit 3000 contains a table containing such... Figure 15 The schema management table shown is part of the schema management DB3005.

[0126] The pattern management table manages the pattern ID and pattern name that identify the shooting mode, as well as the reference image data corresponding to the shooting mode of the object. Whenever the test object 6 is photographed during an inspection operation, the robot 10 stores the photographed image of the test object 6 as reference image data, using the shooting mode corresponding to the shooting environment at the time of shooting.

[0127] ○ Shooting Conditions Management Table

[0128] Figure 16 The image shown is a conceptual diagram of an example of a shooting condition management table. The shooting condition management table is used to manage the shooting conditions of the object under inspection for each shooting mode. A table containing this table is constructed in the storage unit 3000. Figure 16 The shooting condition management table shown is part of the shooting condition management DB3006.

[0129] The shooting condition management table manages the identification mode ID, the object ID of the object being photographed, and the shooting condition information indicating the shooting conditions for the object being photographed, according to the area ID of each designated area within the identification site. The shooting condition information includes shooting position information indicating the shooting location of the object being photographed, and shooting direction information indicating the shooting direction of the shooting device 13.

[0130] The shooting position information indicates the stopping position of the robot 10 when shooting the object being inspected. The shooting position information includes shooting point information indicating the stopping position of the robot 10 or reference position distance information indicating the distance from the regional reference position of the object area. Similar to the stopping position information, the shooting point information is represented by XY coordinates displayed on map data representing the overall location of the object area. On the other hand, the reference position distance information is represented by the distance from the regional reference position on the robot 10's walking path. Furthermore, the shooting position information only needs to include either the shooting point information or the reference position distance information. In addition, the shooting condition information includes not only the shooting position information and shooting direction information, but may also include shooting parameters such as aperture (F-number), shutter speed, ISO sensitivity, or the presence or absence of a flash in the shooting device 13. Furthermore, the shooting condition information may also include shooting parameters specific to the type of shooting device 13, such as the aforementioned special camera.

[0131] In addition, the shooting direction information includes PTZ (all-around movement and zoom) parameters for the shooting direction of the specific shooting device 13. The shooting condition setting unit 39 sets the shooting conditions of the shooting device 13 by controlling the shooting position adjustment device 14, for example, based on the parameters shown in the shooting direction information. Then, the shooting control unit 36 ​​takes a picture of the object to be inspected according to the shooting conditions set by the shooting condition setting unit 39.

[0132] ○ Functional Components of the Image Management Server ○

[0133] Next, use Figure 10 This section describes the functional structure of the image management server 50. The image management server 50 includes a transceiver unit 51, a judgment unit 52, and a storage / read unit 59. These units are connected via... Figure 9 Each of the components shown can perform a function or function by acting according to commands from the CPU 501 of the image management server program deployed on RAM 503. Furthermore, the image management server 50 has a function implemented by... Figure 9 The storage unit 5000 is composed of ROM 502, HD 504 or recording medium 515 shown.

[0134] The transceiver unit 51 is mainly implemented through the processing of the network I / F 509 by the CPU 501, and performs various data or information transmission and reception with other devices or terminals. The judgment unit 52 is implemented through the processing of the CPU 501, and performs various judgments.

[0135] The storage / read unit 59 is mainly implemented through the processing of the CPU 501, storing various data (or information) in the storage unit 5000, or reading various data (or information) from the storage unit 5000.

[0136] ○Image Management Table

[0137] Figure 17 The diagram shown is a conceptual illustration of an example of an image capture management table. This table is used to manage images of the inspected object captured by the robot 10. The storage unit 5000 contains a table of images... Figure 17 The image management table shown is part of the captured image management DB5001.

[0138] The image management table manages the image data of the identified objects by associating the object ID and object name with the image data of the identified objects according to the area ID of the inspection area within the identification site.

[0139] ○ Functional Composition of Communication Terminals ○

[0140] Next, use Figure 10The functional structure of the communication terminal 70 is explained below. The communication terminal 70 includes a transceiver unit 71, a receiving unit 72, a display control unit 73, a judgment unit 74, and a storage / reading unit 79. These units are connected via... Figure 9 Each of the components shown can perform a function or function by acting according to commands from the CPU 701 of the communication terminal program deployed on RAM 703. Furthermore, the communication terminal 70 has a function implemented by... Figure 9 The storage unit 7000 is constructed from the ROM 702, HD 704, or recording medium 715 shown.

[0141] The transceiver unit 71 is mainly implemented by the CPU 701 processing the network I / F 708, and sends and receives various data or information with other devices or terminals through the communication network 100.

[0142] The receiving unit 72 is mainly implemented through the CPU 701 processing the keyboard 711 or the pointer device 712, and accepts various selections or inputs from the user. The display control unit 73 is mainly implemented through the CPU 701 processing, and displays various images on the display unit such as the display 706. The judgment unit 74 is implemented through the CPU 701 processing, and performs various judgments.

[0143] The storage / read unit 79 is mainly implemented through the processing of the CPU 701, storing various data (or information) in the storage unit 7000, or reading various data (or information) from the storage unit 7000.

[0144] ●The processing or actions of the implementation method

[0145] ○Object Photography Processing○

[0146] Next, use Figures 18 to 36 This will explain the processing or operation of the imaging system 1 involved in the implementation method. First, using... Figures 18 to 2 This explains how robot 10 is used to photograph the objects being inspected within the target area. Figure 18 The diagram shown is a timing diagram of an example of object inspection and processing.

[0147] First, through input operations performed by administrator A at the management station on the input device of communication terminal 70, the transceiver unit 71 of communication terminal 70 sends a processing start request (step S11) to image management server 50, indicating a request to begin the inspection operation of robot 10. This processing start request includes a region ID that identifies the object area of ​​the inspection operation. Consequently, the transceiver unit 51 of image management server 50 receives the processing start request sent from communication terminal 70.

[0148] Next, the transceiver unit 51 of the image management server 50 sends (transmits) a processing start request sent from the communication terminal 70 to the robot 10 (step S12). As a result, the transceiver unit 31 of the control device 30 of the robot 10 receives the processing start request sent (transmitted) from the image management server 50. Then, the robot 10 begins the inspection process of the object to be inspected based on the received processing start request (step S13). Here, using... Figures 19 to 25 This section details the inspection and processing of the object by robot 10. Figure 19 The diagram shown is a flowchart of an example of object inspection processing in robot 10.

[0149] First, the storage / reading unit 49 searches the area information management DB3001 (see [link to database]) using the area ID received in step S12 as the search keyword. Figure 11 The storage / read unit 49 reads the region information associated with the region ID that is the same as the received region ID (step S31). Additionally, the storage / read unit 49 searches the path information management DB3003 (see [link to storage / reading unit]) using the region ID received in step S12 as the search keyword. Figure 13 This allows the reading of path information associated with the same region ID as the received region ID (step S32). Further, the storage / read unit 49 reads the path information stored in the site location management DB3002 (refer to...). Figure 12 (Step S33) )

[0150] Next, the destination setting unit 34 sets the destination of the robot 10 based on the path information read in step S32 (step S34). Specifically, the destination setting unit 34 uses the location information indicating the current position of the robot 10 obtained by the location information acquisition unit 33 and the path data shown in the read path information to set a movement path that becomes the destination of the robot 10 according to the order of the station locations shown in the path data. For example, if the robot 10 is to be moved to area 1, the destination setting unit 34 sets a movement path (P0→P1→P2→P3→P4→P8) with station location P8, which is the area reference location of area 1, as the destination.

[0151] Next, the movement control unit 35 moves the robot 10 according to the movement path set by the movement destination setting unit 34 (step S35). Specifically, the movement control unit 35 moves the robot 10 sequentially according to the station positions shown on the set movement path. Then, when the robot 10 reaches the designated area (yes in step S36), the determination unit 32 switches the processing to step S36. Specifically, if the current position of the robot 10 indicated by the position information obtained by the position information acquisition unit 33 is consistent with or close to the area reference position shown by the area information read in step S31, the determination unit 32 determines that the robot 10 has reached the designated area. On the other hand, until the robot 10 reaches the designated area, the control device 30 moves the robot 10 via the movement control unit 35 (no in step S36).

[0152] Next, the control device 30 performs the imaging process of the object to be inspected in the designated area (step S37). Then, based on the area ID received in step S11, if the determination unit 32 determines that other designated areas exist ("Yes" in step S38), the control device 30 repeats the process that started in step S36, and repeats the movement to other designated areas and the imaging process. On the other hand, if the determination unit 32 determines that no other designated areas exist ("No" in step S38), the control device 30 ends the inspection process of the object to be inspected.

[0153] Here, using Figures 20 to 25 The photographic processing of the object to be inspected in step S37 is described in detail. Figure 20 and Figure 21 The diagram shows a flowchart of the object imaging process. Furthermore, after reaching the designated area in step S36, robot 10 continues to move along the movement path set by the movement destination setting unit 34.

[0154] First, the storage / read unit 49 uses the region ID of the designated area determined to have been reached in step S35 as the search keyword, and then searches the object management DB3004 (see reference). Figure 14 (Step S51) is used to read the object information associated with the same region ID as the object.

[0155] Subsequently, when it is determined that robot 10 has reached the test point (yes in step S36), the determination unit 32 switches the processing to step S53. The test point is the shooting position of the test object 6. Specifically, when the current position of robot 10, indicated by the position information acquired by the position information acquisition unit 33, is consistent with or close to the test point indicated by the object information read in step S51, the determination unit 32 determines that robot 10 has reached the test point. On the other hand, until robot 10 reaches the test point, the control device 30 moves robot 10 by means of the movement control unit 35 (no in step S52).

[0156] Next, upon reaching the test point, the motion control unit 35 stops the robot 10 (step S53). Then, the imaging control unit 36 ​​performs imaging processing on the test object 6 and acquires an image of the test object 6 (step S54).

[0157] Next, the image comparison unit 37 compares the images stored in the pattern management DB3005 (see reference). Figure 15 The reference image data in step S54 and the captured image of the test object 6 are subjected to image comparison processing (step S55). Specifically, the image comparison unit 37 calculates parameters such as the consistency or similarity between the stored multiple reference image data and the acquired captured image, and determines the reference image with the highest calculated parameters from the multiple reference image data. That is, the image comparison unit 37 uses the captured image of the test object 6 to determine the closest reference image based on the projection state of the test object 6 based on external light conditions, etc., at the time of capture.

[0158] Next, the pattern-specific unit 38 specifies the shooting pattern associated with the reference image determined in step S55 as the shooting pattern for the object to be inspected (step S56). Specifically, the pattern-specific unit 38 specifies the pattern ID of the shooting pattern associated with the reference image determined in step S55, for example, in the pattern management DB3005. The robot 10 stores multiple shooting patterns that are determined to be easily visible to the object to be inspected in each inspection area according to the shooting environment, and specifies the shooting pattern that is determined to be the easiest to see for the object to be inspected based on the imaging state of the test object 6 taken before the shooting of the object to be inspected begins.

[0159] Next, the storage / read unit 49 retrieves the shooting condition management DB3006 (see reference) by using the mode ID of the specific shooting mode in step S57 as the search keyword. Figure 16 Read out the shooting condition information associated with the same mode ID as the object (step S57).

[0160] Next, in Figure 21In step S57, the motion control unit 35 moves the robot 10 to the shooting position indicated by the shooting condition information read in step S57 (step S58). If the shooting position information included in the shooting condition information indicates a shooting point, the motion control unit 35 moves the robot 10 to the station position indicated by the shooting point information. Alternatively, if the shooting position information included in the shooting condition information indicates a reference position distance, the robot 10 moves only the distance indicated by the reference position distance information.

[0161] Then, when robot 10 reaches the shooting position (yes in step S59), the determination unit 32 switches the process to step S61. Specifically, if the current position of robot 10, indicated by the position information acquired by the position information acquisition unit 33, is the same as or close to the shooting position indicated by the shooting condition information read in step S57, the determination unit 32 determines that robot 10 has reached the shooting position. On the other hand, until robot 10 reaches the shooting position, the control device 30 moves robot 10 by means of the movement control unit 35 (no in step S59).

[0162] Next, the shooting condition setting unit 39 sets the shooting conditions corresponding to the arrived shooting position (step S60). Specifically, the shooting condition setting unit 39 sets the shooting conditions of the shooting device 13 by controlling the shooting position adjustment device 14 based on the shooting direction information indicated by the shooting condition information read in step S57. Then, the shooting control unit 36 ​​performs shooting processing on the inspection object that has become the shooting object in the current shooting position according to the shooting conditions set in step S60 (step S61).

[0163] Next, if there are other objects to be photographed (yes in step S62), the control device 30 repeats the process that began in step S59 and moves the robot 10 to the photographing position of the other objects. On the other hand, if the determination unit 32 determines that there are no other objects to be photographed (no in step S62), the process ends.

[0164] Here, using Figure 22 Brief description Figure 20 and Figure 21 The processing is explained in the text. Figure 22 The diagram shown is a summary illustration of an example of image processing using robot 10 in the inspection area.

[0165] When robot 10 arrives at the object area for inspection, it first moves to test point A0, which serves as the shooting location for test object 6. Then, robot 10 takes a picture of test object 6 at test point A0. Thus, robot 10 acquires a captured image of test object 6 within the current object site environment.

[0166] Next, robot 10 compares the captured image of test object 6 with the reference image stored in pattern management DB3005 and specifies the shooting mode for the object to be inspected in this inspection operation. Then, robot 10 sets the shooting conditions for the object to be inspected in the object area corresponding to the specified shooting mode.

[0167] Then, robot 10 moves to the shooting position indicated by the set shooting conditions to perform the shooting process of the object to be inspected. Figure 16 In the example shown, for instance, the shooting position of the object M1 being inspected is shooting position A1 in the case of pattern ID "P001" and shooting position A2 in the case of pattern ID "P002". Thus, the robot 10 uses the shooting conditions determined to be the easiest for the object to be seen to shoot the object according to the shooting environment at the time of shooting, thereby obtaining a captured image that can confirm the state of the object being inspected.

[0168] Additionally, using Figures 23 to 25 The test object 6, which is set in each inspection area of ​​the target site, is described. Figure 23 The diagram shown is an example of the shooting status of test object 6. Figure 23 The image shows the differences in the shooting state of test object 6 of the sphere according to the direction of sunlight.

[0169] like Figure 23 As shown in (A) to (C), the images of test subject 6 are captured in different ways due to the direction of the sunlight shining on test subject 6. Figure 23 (A) is an example where sunlight shines from the upper left. Test subject 6 is difficult to see because the left side is illuminated by sunlight, so it is easier to see from the slightly right side. Figure 23 (B) is an example of sunlight shining directly onto test subject 6. Because the central area of ​​test subject 6 is illuminated by sunlight, it becomes difficult to see. Therefore, it is easier to see when viewed at an angle from the left or right. Furthermore, Figure 23 (C) is an example of sunlight shining on test subject 6 from the upper right. Test subject 6 is difficult to see because the upper right is illuminated by sunlight, so it is easy to see when viewed from the upper left at a slight angle.

[0170] In this way, the imaging system 1 configures the test object 6 in the inspection area as a reference for setting the imaging conditions, and photographs the test object 6 before photographing the object to be inspected. The imaging conditions for the object to be inspected are set according to the different reflection states of the test object 6 caused by factors such as sunlight illumination. Thus, the imaging system 1 can acquire images that allow the robot 10 to more easily confirm the state of the object to be inspected.

[0171] Furthermore, such as Figure 24 and Figure 25 As shown, the test object 6 set on the object site is not limited to a circular object; it can be of various shapes. For example, test object 6 can be like... Figure 24 The cylindrical shape shown in (A) or as Figure 24 The polygonal object shown in (B).

[0172] In addition, such as Figure 25 As shown in (A), test object 6 can be, for example, a rod-shaped object, and the shadow of the rod-shaped object can be used to represent differences in specific shooting conditions. Further, as... Figure 25 As shown in (B), for example, test object 6 can also be an image including a color chart, and a specific shooting mode can be achieved by correcting the color temperature, such as adjusting the white balance, on the captured color chart.

[0173] Furthermore, this embodiment describes a scenario where the test object 6 and the inspection object are respectively set in each inspection area. However, the imaging system 1 may also be configured to treat one of the multiple inspection objects set in the inspection area as the test object 6. In this embodiment, the test object 6 is an example of a first object. Additionally, the inspection objects set in each inspection area of ​​the object station are examples of second objects.

[0174] Furthermore, the imaging system 1 can also set imaging conditions based on the captured image of the object to be inspected and the reference image, and then capture images of the same object to be inspected under the set imaging conditions. In this case, the object imaging process described above is omitted. Figure 21 In the processes shown in steps S58 and S59, the imaging system 1 performs step 61 imaging processing on the same inspection object as the inspection object photographed in step S54.

[0175] Return to Figure 18The transceiver unit 31 of the control device 30 sends the captured image data obtained through the inspection processing in step S13, and object information of the inspected object corresponding to the captured image data, to the image management server 50 (step S14). Thus, the transceiver unit 51 of the image management server 50 receives the captured image data and object information sent from the robot 10. Then, the storage / reading unit 59 of the image management server 50 stores the received captured image data in association with the area ID received in step S11 and the object ID and object name represented by the object information received in step S14 in the captured image management DB5001 (see reference). Figure 17 (Step S15).

[0176] The administrator of the management site can confirm the status of the inspected object by displaying the captured images obtained through the aforementioned object inspection process and stored in the image management server 50 on the communication terminal 70. The DB3006 (see above) is managed by the aforementioned shooting conditions. Figure 16 The shooting conditions managed are set to parameters that allow administrators to easily view and inspect the status of the captured images, confirming the images taken.

[0177] Furthermore, while performing the aforementioned image processing of the object to be inspected, robot 10 can also use image recognition and other methods to detect any abnormalities in the captured images. Thus, along with the captured images of the object, the administrator can confirm the detection results of any abnormalities detected by robot 10. At this time, the image capture condition management DB3006 (see reference...) Figure 16 The shooting conditions for management can also be parameters that are not used to obtain images of a state that are easily visible to the administrator, but rather parameters that are set to a range that allow the robot 10 to perform image recognition and other processing.

[0178] Login processing in shooting mode ○

[0179] ○ Online processing during robot 10's inspection operations

[0180] Next, use Figures 26 to 36 This section explains the process of registering the shooting mode used for photographing the object being inspected. The object inspection process described above explains the pre-registration of the shooting conditions management DB3006 (see reference). Figure 16 It stores examples of shooting conditions corresponding to different modes, but Figures 26 to 36 The example shown is a case where the shooting mode is not stored when photographing the object, but the administrator reviews the captured images of the object to be inspected to log the desired conditions. Furthermore, in the following description, the processing up to the time the robot 10 reaches the object's inspection area is similar to... Figure 18The processing shown is the same, so the explanation is omitted.

[0181] Figure 26 The diagram shows a flowchart illustrating the object shooting process when shooting conditions are not registered. Steps S101 to S104 are processed in accordance with... Figure 20 The processes in steps S51 to S54 are the same, so the explanation is omitted.

[0182] In step S105, the read / store unit 49 stores the image of the test object 6 captured in step S104 as a reference image data into the pattern management DB3005 (see...). Figure 15 At this time, the storage / reading unit 49 stores the captured image data of the test object 6 in association with the newly assigned pattern ID into a record in the pattern management table.

[0183] Next, the motion control unit 35 moves the robot 10 to any shooting position in the inspection area according to the motion path set by the motion destination setting unit 34 (step S106). Specifically, the motion destination setting unit 34 sets multiple station positions on the set motion path as arbitrary shooting positions. Then, the motion control unit 35 moves the robot 10 to the set arbitrary shooting position.

[0184] Next, if the robot 10 has reached the target's shooting position ("Yes" in step S107), the determination unit 32 switches the process to step S108. Specifically, if the current position of the robot 10, as indicated by the position information acquired by the position information acquisition unit 33, is the same as or close to the shooting position set in step S106, the determination unit 32 determines that the robot 10 has reached the target's shooting position. On the other hand, until the robot 10 reaches the target's shooting position, the control device 30 moves the robot 10 via the movement control unit 35 ("No" in step S107).

[0185] Next, the shooting control unit 36 ​​performs low-magnification shooting processing on the objects to be inspected (step S108). Specifically, the shooting condition setting unit 39 sets a low-magnification shooting condition with a low zoom (Z) at the reached shooting position to shoot multiple objects to be inspected in the inspection area at once. The shooting control unit 36 ​​performs low-magnification shooting processing based on the set shooting conditions. Then, the shooting control unit 36 ​​acquires a top-view image containing the multiple objects to be inspected in the inspection area.

[0186] Next, if the determination unit 32 determines that there is a next shooting position ("Yes" in step S109), the control device 30 repeats the process that started in step S106 and repeats the movement and shooting process to the next shooting position. On the other hand, if the determination unit 32 determines that there is no next shooting position ("No" in step S109), the control device 30 ends the shooting process of the object being inspected.

[0187] Therefore, robot 10 acquires multiple overhead images of the object to be inspected, each with a different projection method, by capturing images of the object from different shooting positions within the inspection area. Then, it uses... Figures 27 to 30 The process of using images acquired by robot 10 to log in and inspect the shooting conditions of the object is explained.

[0188] Figure 27 and Figure 30 The diagram shown is a timing diagram illustrating an example of the registration process for shooting conditions in the shooting system. The transceiver unit 31 of the control device 30 of the robot 10 sends the captured image data acquired in step S108 (step S121) to the image management server 50. The transceiver unit 51 of the image management server 50 sends (transmits) the captured image data sent from the robot 10 to the communication terminal 70 (step S122). Thus, the transceiver unit 71 of the communication terminal 70 receives the captured image data sent (transmitted) from the image management server 50.

[0189] Next, the display control unit 73 of the communication terminal 70 displays a setting screen 600 on the display 706 for setting the shooting conditions for the object to be inspected (step S123). Figure 28 The image shown is an example of a settings screen displayed in a communication terminal. Figure 28 The setup screen 600 shown is a display screen for logging the shooting conditions of the objects to be inspected within the inspection area using an overhead image of the entire inspection area. Administrator A uses the setup screen 600 to set the shooting conditions when shooting a specified area of ​​the displayed image.

[0190] The setting screen 600 includes a captured image display area 605 to display a captured image 610 corresponding to the captured image data received in step S122, and a specified range 620 to specify a defined area within the captured image 610 displayed in the captured image display area 605. Additionally, the setting screen 600 includes a "Shoot" button 631 pressed when requesting to capture an inspection object corresponding to the specified range 620, a "Range Specify" button 633 pressed when the specified range 620 is displayed, and a "Login" button 635 pressed when logging in the shooting conditions of the captured image displayed in the captured image display area 605 as a shooting mode. Further, the setting screen 600 includes an image switching button 641 for switching the captured image 610 displayed in the captured image display area 605, a login name input area 643 for inputting the mode name of the shooting mode to be logged in, and a file name input area 645 for inputting the file name of the captured image displayed in the captured image display area 605.

[0191] return Figure 27 When administrator A designates an area using the specified range 620 and presses the "Shoot" button 631, the receiving unit 72 of the communication terminal 70 accepts the shooting request for the specified area (step S124). Then, the transceiver unit 71 sends designated area information indicating the specified area within the captured image 610 specified in step S124 to the image management server 50 (step S125). The transceiver unit 51 of the image management server 50 sends (transmits) the designated area information sent from the communication terminal 70 to the robot 10. As a result, the transceiver unit 31 of the control device 30 of the robot 10 receives the designated area information sent (transmitted) from the image management server 50.

[0192] Next, the shooting condition setting unit 39 of the control device 30 sets the shooting conditions for the shooting process using the shooting device 13 based on the designated area information received in step S126 (step S127). Specifically, the shooting condition setting unit 39 specifies the shooting position and shooting direction of the object to be inspected based on the position and orientation of the object to be inspected in the area corresponding to the received designated area information. Then, the shooting condition setting unit 39 controls the shooting position adjustment device 14 to set the shooting conditions of the shooting device 13 by orienting it toward the specified shooting direction. In addition, the movement destination setting unit 34 sets the specified shooting position as the movement destination of the robot 10.

[0193] Next, the motion control unit 35 moves the robot 10 to the set shooting position (step S128). Then, upon reaching the set shooting position, the shooting control unit 36 ​​performs shooting processing on the object to be inspected based on the set shooting conditions (step S129). Then, the shooting control unit 36 ​​acquires a magnified image of the object to be inspected corresponding to the specified area.

[0194] The transceiver unit 31 sends the captured image data of the inspection object taken in step S128, as well as the object information of the captured inspection object, to the image management server 50 (step S130). The transceiver unit 51 of the image management server 50 sends (transmits) the captured image data and object information sent from the robot 10 to the communication terminal 70 (step S131). Thus, the transceiver unit 71 of the communication terminal 70 receives the captured image data and object information sent (transmitted) from the image management server 50.

[0195] Next, as Figure 29 As shown, the display control unit 73 of the communication terminal 70 displays the captured image 615 corresponding to the captured image data received in step S131 in the captured image display area 605 (step S132). Figure 29 In the settings screen 600 shown, it becomes Figure 28 The captured image 615, a magnified image of a specified range 620, is displayed in the captured image display area 605.

[0196] Next, in Figure 30 In the process of displaying the captured image 615 in the captured image display area 605, the administrator A presses the "Login" button 635, and the receiving unit 72 accepts the login request for the shooting conditions (step S133). Furthermore, if the administrator cannot confirm the status of the object to be inspected through the displayed captured image 615, they can select the specified range 620 again to change the shooting position of the robot 10. At this time, the shooting system 1 repeats the processing that began from step 124.

[0197] Next, the transceiver unit 71 sends a registration request to the image management server 50 regarding the shooting conditions of the captured image 615 displayed in the captured image display area 605 (step S134). This shooting condition registration request includes the area ID of the inspection area where the object to be inspected is set, the filename entered into the filename input area 645, the pattern name entered into the registration name input area 643, and the object ID shown in the object information received in step S131. Thus, the transceiver unit 51 of the image management server 50 receives the shooting condition registration request sent from the communication terminal 70.

[0198] Next, the storage / read unit 59 of the image management server 50 stores the captured image data received in step S131 in association with the region ID and object ID received in step S134 into the captured image management DB5001 (see reference). Figure 17 In step S135, the transceiver unit 51 of the image management server 50 then sends a shooting condition registration request to the robot 10 (step S136). This shooting condition registration request includes the mode name and object ID received in step S134. Thus, the transceiver unit 31 of the control device 30 of the robot 10 receives the shooting condition registration request sent from the image management server 50.

[0199] The registration unit 41 of the control device 30 registers the mode information, which associates the mode name received in step S136 with the reference image data stored in step S105, into the mode management DB3005 (see reference). Figure 15 (Step S137). Then, the registration unit 41 registers the shooting condition information representing the shooting conditions in step S129 with the object ID received in step S136 and the mode ID shown in the mode information registered in step S137 to the shooting condition management DB3006 (see reference). Figure 16 (Step S138).

[0200] In this way, the imaging system 1 can register the captured image of the test object 6 in association with the shooting conditions corresponding to the shooting environment when the object was photographed. In addition, by repeatedly performing the above-mentioned registration process under different shooting environments such as external light conditions, the imaging system 1 can register shooting conditions of the object to be inspected that are easily visible for each shooting environment.

[0201] ○ Offline processing after robot 10's inspection operation

[0202] Next, use Figures 31 to 34 This describes the process by which administrator A logs into the shooting mode using captured images after robot 10 completes its inspection task. Robot 10 uploads images of the inspected object captured during the inspection task to image management server 50. Then, administrator A checks the uploaded images to image management server 50 at the desired time while simultaneously logging into the shooting mode of the inspected object. A detailed explanation follows.

[0203] Figure 31 The diagram shown is an example of the object shooting process when shooting conditions are not logged in. Figure 31 The processing shown is the same as Figure 26The only difference between the shown process and the previous one is the processing in step S208. In step S208, the imaging control unit 36 ​​performs imaging processing for magnified images of the objects to be inspected. Specifically, the imaging condition setting unit 39 sets a high magnification shooting condition (Z) at the reached shooting position to capture magnified images of each object to be inspected in the inspection area. Based on the set shooting conditions, the imaging control unit 36 ​​performs imaging processing for the objects to be inspected existing in the inspection area of ​​the object. Then, the imaging control unit 36 ​​acquires magnified images, which are images of each object to be inspected in the inspection area. In addition, Figure 31 The other steps S201 to S207 and step S209 shown are respectively related to Figure 26 The processes of steps S101 to S107 and step S109 are the same, so the explanation is omitted.

[0204] Next, use Figures 32 to 34 This indicates that after the robot 10 completes its inspection work, it uses the captured images uploaded to the image management server 50 to log the processing of the shooting conditions of the inspected object. Figure 32 and Figure 34 The diagram shown is a timing diagram of an example of the registration process for shooting conditions in the shooting system 1. The transceiver unit 31 of the control device 30 of the robot 10 sends the captured image data acquired in step S208, as well as the area ID of the inspection area containing the inspection object and the object information of the inspection object captured in step S208 (step S221), to the image management server 50. As a result, the transceiver unit 51 of the image management server 50 receives the captured image data, area ID, and object information sent from the robot 10. Then, the storage / reading unit 59 of the image management server 50 stores the received captured image data in association with the area ID and object ID and object name represented by the object information received in step S221 in the captured image management DB5001 (see reference). Figure 17 (Step S222).

[0205] Next, through input operations performed by administrator A at the management site on the input device of communication terminal 70, the transceiver unit 71 of communication terminal 70 sends an image acquisition request to image management server 50, indicating a request to acquire an image containing the object to be inspected (step S223). This image acquisition request includes an object ID that identifies the object to be inspected. Consequently, the transceiver unit 51 of image management server 50 receives the image acquisition request sent from communication terminal 70.

[0206] Next, the storage / read unit 59 of the image management server 50 searches the captured image management DB 5001 using the object ID received in step S223 as the search keyword, and reads the captured image data associated with the object ID that is the same as the received object ID (step S224). Then, the transceiver unit 51 sends the captured image data read in step S224 to the communication terminal 70 of the requesting source. Thus, the transceiver unit 71 of the communication terminal 70 receives the captured image data sent from the image management server 50.

[0207] Next, the display control unit 73 of the communication terminal 70 displays the image selection screen 800 containing the captured image data received in step S224 on the display 706 (step S226). Figure 33 The image shown is an example of an image selection screen displayed in a communication terminal. Figure 29 The image selection screen 800 shown is a display screen for registering the shooting conditions of the object to be inspected, using multiple captured images of the object to be inspected, corresponding to the shooting environment.

[0208] The image selection screen 800 includes a captured image display area 810 for displaying multiple captured images 820 (820a, 820b) corresponding to the captured image data received in step S226, an image switching button 830 for switching between the captured images displayed in the captured image display area 810, a login name input area 840 for inputting the mode name of the desired login mode, and a "Login" button 850 pressed when logging in using the selected captured image's shooting conditions as the login mode. The captured image display area 810, for each displayed captured image, includes a selection area 825 (825a, 825b) for selecting the captured image. Figure 33 The example indicates that administrator A selected the state of capturing image 820a.

[0209] Next, in Figure 34 In the process, when administrator A inputs the selection area 825, the receiving unit 72 of the communication terminal 70 accepts the selection of the captured image (step S227). Figure 33 The example shows that administrator A selected the state of capturing image 820a. Then, when administrator A presses the "Login" button 850, the transceiver unit 71 sends a login request to the image management server 50 for the capturing conditions of image 820 selected in step S227 (step S228). This capturing condition login request includes the mode name entered in the login name input area 840, the object ID sent in step S223, and the captured image data selected in step S227. Thus, the transceiver unit 51 of the image management server 50 receives the capturing condition login request sent from the communication terminal 70.

[0210] Next, the storage / read unit 59 of the image management server 50 updates the captured image data stored in the captured image management DB 5001 with the captured image data received in step S228, associated with the object ID received in step S228 (step S229). Then, the transceiver unit 51 of the image management server 50 sends a shooting condition registration request to the robot 10 (step S230). This shooting condition registration request includes the pattern name and object ID received in step S227, as well as image recognition information such as the filename of the captured image data updated in step S229. As a result, the transceiver unit 31 of the control device 30 of the robot 10 receives the shooting condition registration request sent from the image management server 50.

[0211] The registration unit 41 of the control device 30 registers the mode information, which associates the mode name received in step S230 with the reference image data stored in step S205, into the mode management DB3005 (see reference). Figure 15 (Step S231). Then, the registration unit 41 registers the shooting condition information, which represents the shooting conditions at the time of shooting the captured image data corresponding to the image recognition information received in step S230, and associates it with the object ID received in step S230 and the pattern ID shown in the pattern information registered in step S231, into the shooting condition management DB3006 (see reference). Figure 16 (Step S231).

[0212] Thus, the imaging system 1 uploads images of the inspected object to the image management server 50 via the robot 10. After the robot 10 completes its inspection, the administrator can select the most easily visible image from the captured images, enabling offline processing such as logging in the shooting conditions corresponding to the shooting environment. Therefore, the imaging system 1 only requires the administrator to log in the shooting conditions of the inspected object once, and the robot 10 can automatically patrol its movement path while capturing images of the inspected object, thereby reducing the labor and time required for the administrator's logging in.

[0213] Additionally, the shooting system 1 can also be in Figures 26 to 30 In the online processing shown, images are captured and displayed as follows. Figure 33 The image shown is a captured image of the object being inspected, rather than a top-down view of the area being inspected. Additionally, the imaging system 1 can also be... Figures 31 to 34 In the offline processing shown, the image is captured and displayed. Figure 28 The overhead view of the inspection area is shown. At this time, the imaging system 1 registers the imaging conditions of the specified area in the overhead view as the imaging conditions of the inspection object contained within the specified area.

[0214] Furthermore, by repeatedly performing the above-described processing, the imaging system 1 can select different imaging conditions suitable for various external lighting conditions, thereby optimizing the imaging conditions. Specifically, the robot 10, for example, uses the imaging conditions set in step S127 and the mode name and object ID received in step S136 as input to update the imaging condition information managed by the imaging condition management DB3006. Alternatively, the robot 10, for example, uses the imaging conditions set in step S208 and the mode name, object ID, and image recognition information received in step S230 as input to update the imaging condition information managed by the imaging condition management DB3006. Then, based on the updated imaging conditions, the robot 10 outputs the imaging condition information read in step S57 to perform the imaging processing for inspecting the object. Thus, by using machine learning to update the data managed by the imaging condition management DB3006 in real time, the imaging system 1 can improve the imaging accuracy of inspected objects.

[0215] Here, the administrator can also view the captured images displayed on the communication terminal 70 while logging the shooting conditions based on factors other than external light conditions. Figure 35 The diagram shown is a summary illustration of another example of image processing using robot 10 in the inspection area. Figure 35 As shown, the object M3 can be seen from shooting points A2 and A3, but not from shooting point A4. Figure 36 Image (A) is an example of an image taken from shooting point A3. Figure 36 (B) is an example of an image taken from shooting point A4. Thus, the object being inspected is affected not only by external lighting conditions, but also by the shooting position, which causes it to be either a shadow of other structures within the object site or obscured by other structures. Therefore, the administrator can decide which images to register as shooting conditions, thus addressing not only external lighting conditions but also occlusion caused by shadows cast by other structures within the object site.

[0216] ●Effects of the implementation method

[0217] As explained above, the imaging system 1 sets up test objects 6 in each inspection area of ​​the target site, and the robot 10 photographs the test objects 6 before starting the inspection work in the inspection area. Furthermore, based on the analysis results of the photographed images of the test objects 6, the imaging system 1 sets shooting conditions to display the shooting position and shooting direction of the inspected objects set in the inspection area. Then, the imaging system 1 moves the robot 10 to the set shooting position and photographs the inspected objects according to the set shooting direction. Thus, by using shooting conditions corresponding to the shooting environment such as external light conditions that change due to inspection time or weather, the imaging system 1 can photograph the inspected objects, and even in cases where it is difficult to read images under pre-taught shooting conditions, it can acquire photographic images that allow for the reading of the state of the inspected objects.

[0218] Furthermore, this embodiment describes an example of using the control device 30 of the robot 10 to control the robot 10 to perform the shooting process. However, the image comparison processing, mode-specific processing, and shooting condition setting processing described above can also be performed by the image management server 50. In this case, the image management server 50 has the same configuration as the image comparison unit 37, mode-specific unit 38, shooting condition setting unit 39, and registration unit 41 of the control device 30. In addition, the storage unit 5000 of the image management server 50 stores the mode management DB 3005 and the shooting condition management DB 3006. In this case, the image management server 50 is an example of an information processing device.

[0219] ●Summary●

[0220] As explained above, one embodiment of the present invention relates to an information processing apparatus (e.g., a control device 30) that controls the photographing process of a robot (10) (an example of a moving body) moving within a designated site and photographing an object (e.g., inspecting an object). The apparatus includes a storage unit (3000) (an example of a storage unit) that stores in association each of a plurality of reference images of an object located within the site and photographed at a specific shooting position, wherein the object's mapping state is different; a photographing control unit (36) (an example of a photographing control unit) that uses the robot 10 moved to the specific shooting position to photograph the object; and a photographing condition setting unit (39) (an example of a photographing condition setting unit) that sets the photographing conditions of the object based on the photographed image of the object and the stored reference images. The photographing control unit (36) photographs the object using the set photographing conditions. Thus, the information processing apparatus can acquire photographed images that confirm the state of the object, independent of the shooting environment.

[0221] Furthermore, in one embodiment of the information processing apparatus according to the present invention, the objects include a test object 6 (an example of a first object) and an inspection object (an example of a second object). The information processing apparatus stores the shooting conditions of the inspection object in association with each of a plurality of reference images of the test object 6 located at a specific shooting position and positioned at a station, wherein the imaging state of the test object 6 is different, and uses a robot (10) (an example of a moving body) moved to the specific shooting position to shoot the test object (6). Then, the information processing apparatus sets the shooting conditions of the inspection object based on the shooting image of the test object 6 and the stored reference images, and uses the set shooting conditions to shoot the inspection object. Thus, by using shooting conditions corresponding to the shooting environment such as external light conditions that change due to the time of inspection or weather, the information processing apparatus can acquire shooting images that can confirm the state of the inspection object even in cases where it is difficult to read images under pre-taught shooting conditions.

[0222] Furthermore, one embodiment of the present invention relates to a shooting system 1 that includes a communication terminal 70 for displaying images captured by a robot 10 (an example of a mobile object). The communication terminal 70 has a display control unit 73 (an example of a display control unit) for displaying an image 610 (an example of a top-down view) of an inspection area (an example of a designated area) containing multiple inspection objects (an example of a second inspection object) captured by a shooting control unit 36 ​​(an example of a shooting control unit) on a display 706 (an example of a display unit), and a receiving unit 72 (an example of a receiving unit) for receiving the designation of the designated area of ​​the displayed image 610. Then, in the shooting system 1, the shooting control unit 36 ​​captures images of specific inspection objects contained within the designated area, and the storage unit 3000 (an example of a storage unit) stores the shooting conditions when capturing specific inspection objects in association with the image captured by the shooting control unit 36 ​​of the test object 6 (an example of a first inspection object). Therefore, the imaging system 1 can register the captured images of the test object 6 along with the shooting conditions corresponding to the shooting environment at which the object was photographed. Furthermore, by repeatedly registering shooting conditions for different dates and times under different shooting environments, the imaging system 1 can easily register the shooting conditions of the object corresponding to each shooting environment.

[0223] Furthermore, one embodiment of the present invention relates to a photographing system 1 that includes a communication terminal 70 for displaying photographed images taken by a robot 10 (an example of a mobile object). The communication terminal 70 includes a display control unit 73 (an example of a display control unit) for displaying multiple photographed images 820 of an inspection object (an example of a second object) taken by a photographing control unit 36 ​​(an example of a photographing control unit) on a display 706 (an example of a display unit), and a receiving unit 72 (an example of a receiving unit) for receiving selections of specific photographed images (e.g., photographed image 820a) from the multiple displayed photographed images 820. Then, in the photographing system 1, a storage unit 3000 (an example of a storage unit) stores the photographing conditions of a specific photographed image in association with the photographed image of the test object 6 (an example of a first object) taken by the photographing control unit 36 ​​(an example of a photographing control unit). Therefore, once the administrator logs in to check the shooting conditions of the object, the robot 10 can automatically patrol the moving path and take pictures of the object, thus reducing the labor and time required for the administrator to log in.

[0224] ●Supplementary Notes●

[0225] Each function of the embodiments described above can be implemented by one or more processing circuits. Here, "processing circuit" in this embodiment includes processors such as processors assembled from electronic circuits that are programmed to perform each function by software, ASICs (Application Specific Integrated Circuits), DSPs (Digital Signal Processors), FPGAs (Field Programmable Gate Arrays), SOCs (System on a Chip), GPUs (Graphics Processing Units), and conventional circuit modules, etc., designed to perform the above functions.

[0226] Furthermore, the various tables described in the above-described embodiments can be tables generated through the learning effects of machine learning, or tables that classify data of related items without using tables. Here, machine learning is a technique used to enable computers to acquire human-like learning abilities. It involves a computer autonomously generating algorithms for data recognition and other judgments from pre-loaded learning data and applying these algorithms to predict new data. The learning methods used for machine learning can be any of supervised learning, unsupervised learning, semi-supervised learning, reinforcement learning, and deep learning. Furthermore, it can also be learning methods that combine these methods; there are no restrictions on the learning methods used for machine learning.

[0227] This concludes the description of an information processing device, mobile body, shooting system, shooting control method, and program related to one embodiment of the present invention. The present invention is not limited to the above-described embodiment. Additions, modifications, or deletions to other embodiments can be made within the scope of what those skilled in the art can conceive of. Regardless of the method, as long as it achieves the function and effect of the present invention, it is within the scope of the present invention.

[0228] List of reference numerals

[0229] 1. Camera System

[0230] 6. Test Object (An example from the first object section)

[0231] 100 Communication Network

[0232] 10. Robot (an example of a moving object)

[0233] 30. Control device (an example of an information processing device)

[0234] 31. Receiving and Dispatch Department

[0235] 36. Camera Control Unit (An example of a camera control unit)

[0236] 37 Image Comparison Section (An example of an image comparison unit)

[0237] 38. Pattern-Specific Part (An Example of a Pattern-Specific Unit)

[0238] 39. Shooting Condition Setting Section (An example of a shooting condition setting unit)

[0239] 50. Image Management Server (An Example of an Information Processing Device)

[0240] 70 Communication Terminals

[0241] 72. Reception Department (An example of a reception unit)

[0242] 73 Display Control Unit (An example of a display control unit)

[0243] 706 Display (an example of a display unit)

[0244] 3000 Storage Unit (An example of a storage cell)

Claims

1. An information processing device for controlling the photographing and processing of a moving object that moves and photographs a target within a designated station, characterized in that, include: The storage unit stores each of a plurality of reference images of the test object, taken at a specific shooting location, which are located within the site and whose mapping state is different, in association with the shooting conditions of the test object. The shooting control unit uses the moving body, which is moved to the specific shooting position, to shoot the test object; The image comparison unit compares the captured image of the test object with the plurality of reference images stored in the storage unit to determine the reference image that is closest to the mapping state of the test object. The mode determination unit determines a shooting mode associated with a reference image determined by comparing the image, the shooting mode being a mode for setting different shooting conditions depending on the different imaging states of the object being inspected. as well as The shooting condition setting unit sets shooting conditions for each of the multiple objects to be inspected, which are associated with the determined shooting mode.

2. The information processing device according to claim 1, characterized in that: The shooting control unit uses the set shooting conditions to shoot the object under inspection.

3. The information processing apparatus according to claim 1 or 2, characterized in that: The storage unit stores multiple reference images of the test object taken under different external light conditions and the shooting conditions under the corresponding external light conditions associated with the reference images.

4. The information processing apparatus according to claim 1 or 2, characterized in that: The shooting conditions include the shooting position and shooting direction of the object being inspected.

5. A mobile body, characterized in that: The information processing apparatus includes any one of claims 1 to 4.

6. A shooting system comprising a moving body that moves within a designated station to shoot at an object, characterized in that, include: The storage unit stores each of a plurality of reference images of the test object, taken at a specific shooting location, which are located within the site and whose mapping state is different, in association with the shooting conditions of the test object. The shooting control unit uses the moving body, which is moved to the specific shooting position, to shoot the test object; The image comparison unit compares the captured image of the test object with the plurality of reference images stored in the storage unit to determine the reference image that is closest to the mapping state of the test object. The mode determination unit determines a shooting mode associated with a reference image determined by comparing the image, the shooting mode being a mode for setting different shooting conditions depending on the different imaging states of the object being inspected. as well as The shooting condition setting unit sets shooting conditions for each of the multiple objects to be inspected, which are associated with the determined shooting mode.

7. The shooting system according to claim 6, characterized in that: The shooting control unit uses the set shooting conditions to shoot the object under inspection.

8. The shooting system according to claim 6, characterized in that: It has a communication terminal that displays images captured by the moving body. The communication terminal includes: The display control unit, through the imaging control unit, displays a top-down image of a predetermined area containing multiple objects under inspection on a display unit, and The receiving unit accepts the designation of a specified area of ​​the displayed overhead image. The imaging control unit captures images of specific inspection objects contained within the designated area. The storage unit stores the shooting conditions when shooting the specific inspection object in association with the image of the test object captured by the shooting control unit.

9. The shooting system according to claim 6, characterized in that: It has a communication terminal that displays images captured by the moving body. The communication terminal includes: The display control unit, through the imaging control unit, displays multiple images of the object under inspection on the display unit. The receiving unit accepts the selection of a specific image from among the multiple images displayed. The storage unit stores the shooting conditions of the specific captured image in association with the captured image of the test object captured by the shooting control unit.

10. A shooting control method, executed by an information processing device for shooting a moving object that controls movement within a designated station to capture images, characterized in that: The information processing device has a storage unit that associates the shooting conditions of the object under inspection with each of a plurality of reference images of the test object located within the station and whose imaging state is different, taken at a specific shooting position. The specific shooting position is the location used to shoot the object to obtain the reference image or shooting conditions. The device then performs... The first shooting control step involves using the moving body, which has been moved to the specific shooting position, to shoot the test object. The image comparison step involves comparing the captured images of the test object with the plurality of reference images stored in the storage unit to determine the reference image that most closely matches the mapping state of the test object. A shooting mode determination step that determines a shooting mode associated with a reference image determined by comparison with the image, wherein the shooting mode is a mode for setting different shooting conditions depending on the imaging state of the object being inspected. as well as A shooting condition setting step, for each of a plurality of objects to be inspected, sets shooting conditions for the object to be inspected that are associated with the determined shooting mode.

11. The shooting control method according to claim 10, characterized in that: Perform the second shooting control step of shooting the object under inspection using the shooting conditions.

12. A program product that enables a computer to function as an information processing device for controlling the photographing of moving objects within a designated site, characterized in that: Make the computer execute Storage processing that associates the shooting conditions of the test object with each of a plurality of reference images of the test object set within the site and whose mapping state is different, taken at a specific shooting location, wherein the specific shooting location is the location used to shoot the test object in order to obtain the reference image or shooting conditions. The first shooting control process uses the moving body, which has been moved to the specific shooting position, to shoot the test object; The captured images of the test object and the stored multiple reference images are compared to determine the reference image that most closely matches the mapping state of the test object. A shooting mode determination process that determines a shooting mode associated with a reference image determined by comparing the image, wherein the shooting mode is a mode for setting different shooting conditions depending on the imaging state of the object being inspected. as well as For each of the multiple objects to be inspected, a shooting condition setting process is performed to set shooting conditions for the object to be inspected that are associated with the determined shooting mode.

Images