Inspection system, inspection method, and inspection program

Abstract

To image an inspection object by a camera device to realize an inspection equivalent to a short-range visual observation.SOLUTION: One aspect of the present disclosure is an inspection system that includes: an imaging data acquisition unit that acquires imaging data of an inspection object by a camera device including an imaging element; a degradation detection unit that detects a degraded area in the imaging data where the inspection object is degraded; an actual position calculation unit that calculates an actual position of the degraded area on the basis of the position of the degraded area in the imaging data, installation position information of the camera device, and rotation control information of the camera device; an actual size calculation unit that calculates the actual size of the degraded area on the basis of the distance from the installation position information of the camera device to the actual position of the degraded area, the size of the imaging element, and zoom control information of the camera device; and an output unit that outputs information including the actual position of the degraded area calculated by the actual position calculation unit and the actual size calculated by the actual size calculation unit.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an inspection system, an inspection method, and an inspection program. [Background technology]

[0002] In the past, road and facility inspections were required to be performed with close-up visual inspections every five years, but due to the declining population, it is predicted that it will become difficult to continue with close-up visual inspections, and there is a need to streamline inspection work. Furthermore, in order to improve the efficiency of infrastructure repair and renewal, there is a need to increase the frequency of inspections so that repairs and renewals can be carried out at the appropriate time. In order to make inspection work more efficient, the Ministry of Land, Infrastructure, Transport and Tourism's "Guidelines for Regular Inspection of Road Tunnels" states that "The understanding of the condition that serves as the basis for diagnosing the condition shall basically be carried out by close visual inspection," while a note of caution for implementing the law states that "Those conducting regular inspections must understand the current condition of road tunnels that will serve as the basis for diagnosing the condition by close visual inspection, or by a method that they determine will provide information that will enable them to diagnose the condition equivalent to that achieved by their own close visual inspection," supporting the use of new inspection methods other than close visual inspection to make inspection work more efficient.

[0003] The data collection and judgment system described in Patent Document 1 realizes a data collection device using an unmanned aerial vehicle such as a drone, transmits captured images to a judgment device, receives and outputs judgment results for the target object from the judgment device, and inputs confirmation results indicating an evaluation of the judgment results in response to operations by the reviewer. Patent Document 2 describes a method for identifying the shooting position of the range captured by a high-altitude camera used in firefighting and disaster prevention from the camera control information of a rotating zoom, and displaying the location on a map where the image is being captured. This allows the user to confirm where on the map an event such as a disaster confirmed by the camera image is occurring. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2021-144518 A [Patent Document 2] Japanese Patent Application Publication No. 08-065551 Summary of the Invention [Problem to be solved by the invention]

[0005] Even if the drone described in Patent Document 1 or a special vehicle equipped with an inspection camera device is used to efficiently inspect roads, etc., it is difficult to inspect frequently. When using a drone, traffic restrictions are required to fly over the roads, and there are also cases where the drone cannot fly depending on the weather. When using a special vehicle, the number of vehicles is limited, making it difficult to inspect the road network that spreads across the country frequently.

[0006] The system described in Patent Document 2 can be used to confirm the location of a disaster, etc., but cannot be used to detect deterioration of roads, etc. In addition, even if the size of an object is calculated according to the shooting range of the high-altitude camera, the size of the object in the image cannot be accurately detected.

[0007] The present disclosure has been made in consideration of the above circumstances, and aims to provide an inspection system, an inspection method, and an inspection program that can photograph the inspection target using a camera device to achieve an inspection equivalent to close-up visual inspection. [Means for solving the problem]

[0008] The present disclosure has been made to solve the above-mentioned problems, and one aspect of the present disclosure is an inspection system comprising: an imaging data acquisition unit that acquires imaging data of an inspection object captured by a camera device including an imaging element; a degradation detection unit that detects a degraded area in the imaging data where the inspection object is degraded; an actual position calculation unit that calculates an actual position of the degraded area based on the position of the degraded area in the imaging data, installation position information of the camera device, and rotation control information of the camera device; an actual size calculation unit that calculates an actual size of the degraded area based on the distance from the installation position information of the camera device to the actual position of the degraded area, the size of the imaging element, and zoom control information of the camera device; and an output unit that outputs information including the actual position of the degraded area calculated by the actual position calculation unit and the actual size calculated by the actual size calculation unit.

[0009] Another aspect of the present disclosure is an inspection method including the steps of: an information processing device acquiring shooting data of an inspection target captured by a camera device including an image sensor; the information processing device detecting a degraded area in the shooting data where the inspection target is degraded; the information processing device calculating an actual position of the degraded area based on a position of the degraded area in the shooting data, installation position information of the camera device, and rotation control information of the camera device; the information processing device calculating an actual size of the degraded area based on a distance from installation position information of the camera device to the actual position of the degraded area, the size of the image sensor, and zoom control information of the camera device; and the information processing device outputting information including the actual position and actual size of the degraded area.

[0010] Another aspect of the present disclosure is a program that causes a computer of an information processing device to execute the steps of acquiring imaging data of an inspection object captured by a camera device including an imaging element, detecting a degraded area in the imaging data where the inspection object is degraded, calculating an actual position of the degraded area based on the position of the degraded area in the imaging data, installation position information of the camera device, and rotation control information of the camera device, calculating an actual size of the degraded area based on the distance from installation position information of the camera device to the actual position of the degraded area, the size of the imaging element, and zoom control information of the camera device, and outputting information including the actual position and actual size of the degraded area. Effect of the Invention

[0011] According to one aspect of the present invention, an inspection equivalent to close-up visual inspection can be realized by photographing an inspection target with a camera device. [Brief description of the drawings]

[0012] [Figure 1] 1 is a block diagram showing an example of an inspection system 1 according to a first embodiment. [Diagram 2] 1 is a diagram showing an example of a camera device 200 and an inspection target according to a first embodiment. [Diagram 3] 5A and 5B are side views showing an example of the operation of an actual position calculation section 106 and an actual size calculation section 108 in the first embodiment, and FIG. 5C is a top view. [Figure 4] FIG. 1 is a diagram illustrating a camera device 200 according to a first embodiment. [Diagram 5] FIG. 13 is a diagram showing a deteriorated area within a shooting range. [Figure 6] FIG. 11 is a block diagram showing an example of an inspection system 1A according to a second embodiment. [Figure 7] FIG. 13 is a diagram illustrating a case where the inspection target has height. [Figure 8] FIG. 11 is a diagram illustrating an example of the operation of an actual position calculation section 106 and an actual size calculation section 108 in the second embodiment. [Figure 9] 13A to 13C are diagrams illustrating distance measurement in the second embodiment. [Figure 10] FIG. 11 is a block diagram showing another example of the inspection system 1A according to the second embodiment. [Figure 11] FIG. 13 is a block diagram showing an example of an inspection system 1B according to a third embodiment. [Figure 12] FIG. 13 is a diagram illustrating an example of processing by the deterioration detection device 100 in the third embodiment. [Figure 13] FIG. 13 is a diagram illustrating an example of processing by the deterioration detection device 100 in the third embodiment. [Figure 14] FIG. 13 is a block diagram showing an example of an inspection system 1C according to a fourth embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] An inspection system, an inspection method, and an inspection program to which the present invention is applied will be described below with reference to the drawings.

[0014] (First embodiment) 1 is a block diagram showing an example of an inspection system 1 according to a first embodiment. The inspection system 1 photographs an inspection target using a camera device 200 to realize an inspection equivalent to close-up visual inspection. In the embodiment, the inspection target is mainly a structure such as an infrastructure facility, such as a road, a tunnel, a bridge, or a building, but is not limited thereto, and may be any structure that requires periodic inspection, diagnosis, and maintenance of soundness.

[0015] The inspection system 1 includes, for example, a deterioration detection device 100, a plurality of camera devices 200, and an administrator device 300. The deterioration detection device 100, the camera device 200, and the administrator device 300 are connected to a communication network NW. The deterioration detection device 100, the camera device 200, and the administrator device 300 each have a communication interface (not shown) such as a NIC (Network Interface Card) or a wireless communication module for connecting to a network such as the Internet. The communication network NW may include, for example, a general-purpose network such as the Internet, and a private network such as local 5G or WiFi (registered trademark).

[0016] The deterioration detection device 100 is an information processing device that communicates with other devices and performs various processes. The deterioration detection device 100 includes, for example, a shooting data acquisition unit 102, a deterioration detection unit 104, a real position calculation unit 106, a real size calculation unit 108, a control unit 110, an output unit 112, and a storage unit 114. The deterioration detection unit 104, the real position calculation unit 106, the real size calculation unit 108, the control unit 110, and the output unit 112 are realized by, for example, a computer such as a CPU (Central Processing Unit) executing a program stored in a program memory.

[0017] The photographing data acquisition unit 102 acquires photographing data obtained by photographing an inspection target by a camera device 200 including an image sensor. The deterioration detection unit 104 detects a deteriorated area in the photographing data where the inspection target is deteriorated. The real position calculation unit 106 calculates the real position of the deteriorated area based on the position of the deteriorated area in the photographing data, the installation position information of the camera device 200, and the rotation control information of the camera device 200. The real size calculation unit 108 calculates the real size of the deteriorated area based on the distance from the installation position information of the camera device 200 to the real position of the deteriorated area, the size of the image sensor, and the zoom control information of the camera device 200. The rotation control information includes pan control information and tilt control information. The pan control information is information indicating a pan angle. The tilt control information is information indicating a tilt angle. The zoom control information is information indicating a zoom magnification or a focal length.

[0018] The control unit 110 controls the operation of the camera device 200. The control unit 110 outputs a shooting start command and an end command, zoom control information, pan control information, and tilt control information to the camera device 200. The output unit 112 outputs information including the actual position of the deteriorated area calculated by the actual position calculation unit 106 and the actual size calculated by the actual size calculation unit 108. The output unit 112 may output information to the administrator device 300, or may output information to a display device (not shown) connected to the deterioration detection device 100.

[0019] The storage unit 114 stores control information, installation position information, and report information. The control information is information including a control history of the start and end of shooting, zoom, pan, and tilt of the camera device 200. The installation position information is information including the installation position of the camera device 200. The report information is, for example, inspection history information including the deterioration detection result by the deterioration detection unit 104 for each inspection timing, information including the actual position and actual size of the deteriorated area, deterioration type information, and recorded shooting data.

[0020] The functional units of the deterioration detection device 100 are integrated in one device, but are not limited to this and may be distributed across multiple devices. The deterioration detection device 100 is connected to the camera device 200 via a communication network NW, but are not limited to this and may be built into the camera device 200, and some of the functional units of the deterioration detection device 100 may be built into the camera device 200 or the administrator device 300.

[0021] The camera device 200 is a camera device installed near an inspection target. An inspection area is set for each of the multiple camera devices 200. The camera device 200 includes a lens, an image sensor, a pan mechanism, a tilt mechanism, and a zoom mechanism. The camera device 200 performs a zoom operation, a pan operation, and a tilt operation based on zoom control information, pan control information, and tilt control information. The camera device 200 transmits captured image data generated by capturing an image to the deterioration detection device 100 via the communication network NW.

[0022] The resolution of the data captured by the camera device 200 in this embodiment, the zoom function of the camera device 200, and the performance of the degradation detection unit 104 are assumed to be sufficient to achieve sufficient detection accuracy for detecting degradation equivalent to close-up visual inspection.

[0023] The administrator device 300 is an information processing device operated by an administrator who manages the inspection target. The administrator device 300 can acquire report information from the deterioration detection device 100 based on the operation of the administrator, and display images of deteriorated parts and inspection targets based on the report information.

[0024] 2 is a diagram showing an example of the camera device 200 and an inspection target in the first embodiment. The camera device 200 is attached to the upper end of an installation pole, for example, and captures images of the road and structures around the road. If the difference in elevation of the road is not taken into consideration and the inspection target does not include a three-dimensional structure, the control unit 110 transmits zoom control information, pan control information, and tilt control information to the camera device 200, and the shooting data acquisition unit 102 acquires shooting data from the camera device 200. The deterioration detection unit 104 performs image processing on the photographed data to determine whether the inspection target included in the photographed data is deteriorated, and if deterioration is present, determines the type of deterioration. Examples of the deterioration types include cracks on the road, peeling of the road, disappearance of white lines, and the like. The deterioration detection unit 104 may create a diagnosis result for the inspection target based on the degree of deterioration. The diagnosis result for the inspection target may be, for example, the soundness of the inspection target. The soundness of the inspection target is classified into, for example, (1) a state in which the functions of all structures are not impaired, (2) a preventive maintenance stage (a state in which the functions of the structures are not impaired, but it is desirable to take measures from the viewpoint of preventive maintenance), (3) an early action stage (a state in which the functions of the structures may be impaired and measures should be taken early), and (4) an emergency action stage (a state in which the functions of the structures are impaired or are highly likely to be impaired and measures should be taken urgently).

[0025] 3A and 3B are side views and FIG. 3C is a top view showing an example of the operation of the real position calculation unit 106 and the real size calculation unit 108 in the first embodiment. The real position calculation unit 106 and the real size calculation unit 108 perform the following processes (1) to (4). (1) The installation height H of camera device 200 is known from the installation position information. The tilt angle θh is obtained from the tilt control information. The distance Rd from camera device 200 to the shooting position (X, Y) and the distance Rp on the plane between the installation position of camera device 200 and the shooting position (X, Y) are calculated by the following formulas. Rd = H × secθh Rp = H × tan θh (2) When the rotation angle θp of the camera device 200 is acquired from the pan control information, the position (X, Y) of the degraded area is calculated by the following formula. X=Rp×cosθp Y = Rp × sinθp (3) Fig. 4 is a diagram illustrating camera device 200 in the first embodiment. Fig. 5 is a diagram illustrating a degraded area within a shooting range. The X-direction size Xccd and Y-direction size Yccd of the image sensor 200a are known from the specifications of the camera device 200, and the focal length d from the image sensor 200a to the lens 200b is obtained from the camera control information (zoom magnification), and the size of the shooting range (Xs, Ys) is calculated by the following formula. Xs=Rd×Xccd / d Ys=Rd×Yccd / d (4) The directional proportions Xc', Yc' of the deteriorated area relative to the shooting range (Xs, Ys) are detected by the deterioration detection unit 104, and the actual size (Xc, Yc) of the deteriorated area is calculated by the following formula. Xc = Xs × Xc' Yc = Ys × Yc' This enables the deterioration detection device 100 to generate report information including the position (X, Y) of the deteriorated area, the size (Xc, Yc) of the deteriorated area, the type of deterioration, and the detection date and time.

[0026] The control unit 110 may adjust the pan control information and tilt control information so that the center position of the imaging range of the camera device 200 approaches the center position of the deteriorated area, and control the camera device 200 based on the adjusted pan control information and tilt control information, as shown in FIG. 5, for example. The actual position calculation unit 106 recalculates the position of the deteriorated area based on the adjusted pan control information and tilt control information. Specifically, the control unit 110 generates zoom control information, pan control information, and tilt control information so that the intersection of a line that divides the directional proportion Xc' of the deteriorated area in half and a line that divides the directional proportion Yc' of the deteriorated area in half is the center of the imaging range. The camera device 200 performs a zoom operation, a pan operation, and a tilt operation according to the zoom control information, pan control information, and tilt control information transmitted from the deterioration detection device 100, and transmits the imaging data to the deterioration detection device 100. As a result, the actual position calculation unit 106 recalculates the position (X, Y) of the degraded area using the acquired shooting data, zoom control information, pan control information, and tilt control information, thereby making it possible to calculate the position of the degraded area with high accuracy.

[0027] The installation position information (x, y, H) of the camera device 200 is global information such as latitude and longitude, but is not limited to this and may be local information set in the inspection system 1. When the installation position information (x, y, H) is local information, information on the position and size of the deteriorated area is also represented by the local information.

[0028] As described above, according to the inspection system 1 of the first embodiment, the actual position of the deteriorated area can be calculated based on the position of the deteriorated area in the shooting data, the installation position information of the camera device 200, and the rotation control information of the camera device 200, and the actual size of the deteriorated area can be calculated based on the distance from the installation position information of the camera device 200 to the actual position of the deteriorated area, the size of the image sensor 200a, and the zoom control information of the camera device 200. As a result, according to the inspection system 1 of the first embodiment, the inspection target can be photographed by the camera device 200 having a rotation function and a zoom function, thereby achieving an inspection equivalent to close-up visual inspection.

[0029] (Second embodiment) Fig. 6 is a block diagram showing an example of an inspection system 1A according to the second embodiment. Fig. 7 is a diagram illustrating a case where the inspection target has height. When the inspection target has an elevation difference, if the process (1) in the first embodiment is performed based on the installation height H of the camera device 200 as a reference, the distances Rd and Rp will be calculated erroneously as shown in Fig. 7, and the accurate position and size of the deteriorated area cannot be calculated. That is, even if the shooting range is calculated based on the control information of the camera device 200 installed on the ground where there is an elevation difference, such as near a road or facility as the inspection target, there is a problem that the error in the shooting range will be large due to the effect of the elevation difference near the road or facility.

[0030] Therefore, the inspection system 1A of the second embodiment includes a height information acquisition unit 116 that acquires height information (Zh) of the actual position (X, Y) of the deteriorated area based on the structure data of the inspection target. The structure data is three-dimensional data that associates the position information and height information of the inspection target, and is stored in the storage unit 114. The structure data may be, for example, polygon data, point cloud data, or CAD data. The actual size calculation unit 108 calculates the distance from the installation position information (x, y, H) of the camera device 200 to the actual position (X, Y, Zh) of the deteriorated area based on the height information (Zh) acquired by the height information acquisition unit 116, and calculates the actual size (Xc, Yc) of the deteriorated area based on the calculated distance.

[0031] FIG. 8 is a diagram showing an example of the operation of the actual position calculation section 106 and the actual size calculation section 108 in the second embodiment. The real position calculation unit 106 performs, for example, 3D modeling analysis, draws a half line from the installation position (x, y, H) of the camera device 200 in the shooting direction, and obtains the coordinates (X, Y, Zh) of the point of contact between the half line and the inspection target. The real position calculation unit 106 obtains the distances Rd and Rp from the camera device 200 to the coordinates (X, Y, Zh) of the inspection target using the following calculation formula. Rp = √(X 2 +Y 2 ) Rd = √{(H-Hz) 2 +Rp 2} The actual size calculation unit 108 uses Rp and Rd obtained by the actual position calculation unit 106 to calculate the size of the shooting range (Xs, Ys) according to the following formula. Xs=Rd×Xc / d Ys = Rd x Yc / d The actual size calculation unit 108 calculates the actual size (Xc, Yc) of the degraded area based on the directional ratios Xc', Yc' of the degraded area to the shooting range (Xs, Ys) by the following formula. Xc = Xs × Xc' Yc = Ys × Yc'

[0032] Fig. 9 is a diagram for explaining distance measurement in the second embodiment. Fig. 10 is a block diagram showing another example of the inspection system 1A of the second embodiment. The camera device 200 includes a radar unit 210. The camera device 200 transmits imaging data and radar information to the deterioration detection device 100. The radar information is information indicating the distance from the camera device 200 to the structure, measured in synchronization with the imaging data. Instead of storing structural data (height information), the deterioration detection device 100 includes a distance acquisition unit 118. The distance acquisition unit 118 acquires the distance from the camera device 200 to the inspection target based on the imaging data and radar information acquired from the camera device 200.

[0033] The actual position calculation unit 106 uses the distance Rd acquired by the distance acquisition unit 118 to obtain the distance Rp. Rp = Rd × sinθh The actual size calculation unit 108 uses the obtained Rp and Rd to calculate the size of the shooting range (Xs, Ys) according to the following formula. Xs=Rd×Xc / d Ys = Rd x Yc / d The actual size calculation unit 108 calculates the actual size (Xc, Yc) of the degraded area based on the directional proportions Xc', Yc' of the degraded area relative to the shooting range (Xs, Ys) by the following formula. Xc = Xs × Xc' Yc = Ys × Yc'

[0034] According to the inspection system 1A of the second embodiment, even if there is a difference in elevation in the inspection target, the height of the inspection target can be acquired based on the structural data, and the inspection target can be photographed by the camera device 200 having a rotation and zoom function, thereby realizing an inspection equivalent to close-up visual inspection. Also, according to the inspection system 1A of the second embodiment, even if there is a difference in elevation in the inspection target, the radar unit 210 mounted on the deterioration detection device 100 can be used to acquire the distance between the camera device 200 and the inspection target, and the inspection target can be photographed by the camera device 200 having a rotation and zoom function, thereby realizing an inspection equivalent to close-up visual inspection.

[0035] According to the inspection system 1A of the second embodiment, by using structure data corresponding to position information, it is possible to calculate pan control information, tilt control information, and zoom control information of the camera device 200 so as to thoroughly inspect the inspection area of ​​the camera device 200. Such pan control information, tilt control information, and zoom control information may be stored in advance when the camera device 200 is installed, or may be calculated from structure data around the camera device 200.

[0036] (Third embodiment) FIG. 11 is a block diagram showing an example of an inspection system 1B according to the third embodiment. The inspection system 1B of the third embodiment includes a storage unit 114 that stores control preset information including rotation control information and zoom control information of the camera device 200, and a control unit 110 that controls the rotation and zoom of the camera device 200 based on the rotation control information and zoom control information stored in the storage unit 114. The inspection system 1B of the third embodiment automatically performs inspection based on the control preset information.

[0037] The control unit 110 transmits rotation control information and zoom control information to the camera device 200 based on the control preset information stored in the storage unit 114, and causes the camera device 200 to capture an image. The image capture data acquisition unit 102 acquires image capture data based on the control preset information, and the actual position calculation unit 106 and the actual size calculation unit 108 calculate the actual position and actual size of the inspection target based on the control preset information and the image capture data.

[0038] The control preset information may be information in which date and time information is associated with pan control information, tilt control information, and zoom control information in order to automatically perform inspection. The pan control information, tilt control information, and zoom control information are information indicating a pan angle, a tilt angle, and a zoom magnification for photographing a specific position within the photographing range of the camera device 200. This allows the control unit 110 to transmit the pan control information, tilt control information, and zoom control information to the camera device 200 so as to photograph a specific position on the date and time indicated by the date and time information. In addition, the administrator device 300 can cause the inspection designated by the administrator to be performed by storing information designating the date and time and the specific position in the storage unit 114 as control preset information.

[0039] When the position information and the structure data are linked, the administrator device 300 may specify the position to be inspected on the structure data. The deterioration detection device 100 acquires information indicating the specified position on the structure data from the administrator device 300, and transmits pan control information, tilt control information, and zoom control information for photographing the inspection target at the position corresponding to the specified position to the camera device 200. This allows the deterioration detection device 100 to detect deterioration based on the photographed data of the specified position.

[0040] The deterioration detection device 100 may store deterioration part data in the storage unit 114. The deterioration part data includes the position of the deterioration part, the size, the type of deterioration, pan control information, tilt control information, and zoom control information. The control unit 110 refers to the deterioration part data and transmits the pan control information, tilt control information, and zoom control information to the camera device 200, thereby acquiring the shooting data of the position where deterioration was previously detected, and performing the deterioration detection process again.

[0041] The deterioration detection device 100 may store, as control preset information, position information of a deteriorated portion acquired from an inspection result by a system other than the inspection system 1B or a manual visual inspection result in the storage unit 114. The deterioration detection device 100 transmits pan control information, tilt control information, and zoom control information for photographing the position of the position information of the deteriorated portion stored in the storage unit 114 to the camera device 200. This allows the deterioration detection device 100 to detect deterioration based on the photographed data.

[0042] FIG. 12 is a diagram illustrating an example of processing by the deterioration detection device 100 in the third embodiment. The control preset information includes zoom control information for controlling the zoom magnification to a certain value, and rotation control information for inspecting each divided area obtained by dividing the inspection area in a shooting range according to the certain zoom magnification. The control unit 110 controls the camera device 200 based on the control preset information, and the deterioration detection unit 104 detects a deteriorated area for each divided area. There is a zoom magnification (shooting range) suitable for detecting deterioration by the deterioration detection unit 104, but there are cases where the deteriorated part is not a part (point) of the shooting range, but is in an area wider than one shooting range. In this case, the deterioration detection device 100 divides the wide area into multiple shooting ranges (1) to (6) and performs an inspection for each shooting range (divided area) without lowering the zoom magnification. For this purpose, the storage unit 114 stores pan control information, tilt control information, and zoom control information for each of the multiple shooting ranges as control preset information. This allows the deterioration detection device 100 to inspect a wide area by repeating multiple shootings.

[0043] The control unit 110 specifically performs the following processes (a) to (k) in order to detect degradation in a degraded area wider than the fixed imaging range at a fixed zoom magnification (fixed imaging range). (a) The deterioration detection unit 104 detects deterioration of the shooting range (1). (b) The control unit 110 detects that the degraded area has reached the end of the shooting range (1), and detects the presence of the degraded area at the boundary vertical 1 and boundary horizontal 1. (c) The control unit 110 controls the camera device 200 to obtain image capture data of the image capture range (2), and the deterioration detection unit 104 detects deterioration of the image capture range (2). (d) The control unit 110 detects that the degraded area has reached the end of the shooting range (2), and detects the presence of the degraded area at boundary vertical 1, boundary vertical 2, and boundary horizontal 2. By detecting boundary line 1 for both shooting ranges (1) and (2), the control unit 110 recognizes that there is one degraded area that is continuous between shooting ranges (1) and (2). (e) The control unit 110 controls the camera device 200 to obtain shooting data of the shooting range (3), and the deterioration detection unit 104 detects deterioration of the shooting range (3). (f) The control unit 110 detects that the degraded area has reached the end of the shooting range (3), and detects the presence of a degraded area at the vertical boundary 2 and the horizontal boundary 3. By detecting the horizontal boundary 3 for both shooting ranges (2) and (2), the control unit 110 recognizes that there is one degraded area that is continuous between the shooting ranges (2) and (3), and further recognizes that there is one degraded area that is continuous between the shooting ranges (1), (2), and (3). (g) The control unit 110 controls the camera device 200 to obtain photographic data of the photographic range (4), and the deterioration detection unit 104 detects deterioration of the photographic range (4). (h) The control unit 110 detects that the degraded area has reached the end of the shooting range (4), and detects the presence of a degraded area at the vertical boundary 3 and the horizontal boundary 3. By detecting the horizontal boundary 3 for both shooting ranges (3) and (4), the control unit 110 recognizes that there is one degraded area that is continuous between the shooting ranges (3) and (4), and further recognizes that there is one degraded area that is continuous between the shooting ranges (1), (2), (3), and (4). (i) In the same manner as the above-described processing, the control unit 110 controls the camera device 200 to acquire shooting data of the shooting ranges (5) and (6), and the deterioration detection unit 104 detects deterioration of the shooting ranges (5) and (6). (j) The control unit 110 detects that the degraded area has reached the ends of the shooting ranges (5) and (6) and recognizes that there is one degraded area that is continuous with the shooting ranges (1), (2), (3), (4), (5), and (6). (k) The control unit 110 calculates the size of one degraded area by adding up the sizes of the degraded areas detected in each of the shooting ranges (1), (2), (3), (4), (5), and (6).

[0044] FIG. 13 is a diagram illustrating an example of processing by the deterioration detection device 100 in the third embodiment. The control preset information may include zoom control information for controlling the zoom ratio to a constant, and rotation control information for moving the shooting range according to the constant zoom ratio within the inspection area. The control unit 110 controls the camera device 200 based on the control preset information, and the deterioration detection unit 104 detects a deteriorated area in the shooting data shot in the moving shooting range. When a deteriorated part exists in an area wider than one shooting range, the shooting data of the wider area may be acquired while moving the shooting range narrower than the wider area. In this case, the control preset information includes a period during which the shooting range is moved at a speed that allows inspection, constant zoom control information, and pan control information and tilt control information that change during the period. The control unit 110 can photograph the entire wide area by changing the pan angle and tilt angle while keeping the zoom magnification constant during the inspection period. The deterioration detection unit 104 may detect one deteriorated area wider than the shooting range by detecting the deteriorated area in synchronization with the movement of the shooting range, and may detect one deteriorated area wider than the shooting range from the shooting data including the entire inspection area.

[0045] The control unit 110 may determine the zoom magnification in accordance with the size of the degraded area calculated by the actual size calculation unit 108 and the distance between the camera device 200 and the degraded area. For example, when detecting a degraded area with a width of X cm or more, the image processing performance of the degradation detection device 100 determines how large an image of a degraded area of ​​X cm in size should be captured. Therefore, when inspecting a wide area, the control unit 110 changes the zoom magnification in accordance with the distance to the inspection target. This allows for efficient inspection by capturing an image of a wider range in the vicinity than in the distance.

[0046] The control unit 110 may set the zoom magnification based on the farthest point of the inspection area and perform the inspection with the zoom magnification fixed. In this case, the control unit 110 can eliminate the need for zoom control of the camera device 200. As a result, the zoom control can be simplified and the load on the zoom mechanism of the camera device 200 can be reduced.

[0047] The control unit 110 may change the zoom magnification stepwise from a set distance, rather than linearly changing the zoom magnification according to the distance to the inspection target. This can simplify the zoom control, reduce the load on the zoom mechanism, and improve the efficiency of inspection.

[0048] The control preset information may include information for periodically carrying out inspection. The control preset information includes, for example, inspection date and time information, rotation control information, and zoom control information for periodically carrying out inspection. In response to the arrival of the inspection date and time based on the inspection date and time information, the control unit 110 controls the camera device 200 based on the rotation control information and zoom control information included in the control preset information, and causes deterioration to be detected based on the shooting data. The control unit 110 includes information including the inspection result, pan control information, tilt control information, and zoom control information in the deterioration location data in association with the inspection date and time in the storage unit 114. This allows the deterioration detection device 100 to report changes in the deterioration type, size of the deteriorated area, shooting data, etc. in chronological order. In addition, by storing past shooting data in association with the pan control information, tilt control information, and zoom control information, when a newly deteriorated area is detected, it is possible to compare and report the area before the deterioration detection and the newly detected deteriorated area.

[0049] (Fourth embodiment) FIG. 14 is a block diagram showing an example of an inspection system 1C according to the fourth embodiment. The inspection system 1C of the fourth embodiment includes a traffic information providing device 400, a weather information providing device 410, and a timing determination unit 120. The traffic information providing device 400 is a server device that transmits traffic information corresponding to the location information to the deterioration detection device 100 in response to a request including the location information from the deterioration detection device 100. The traffic information is an example of obstacle information around the inspection target. The weather information providing device 410 is a server device that transmits weather information corresponding to the location information to the deterioration detection device 100 in response to a request including the location information from the deterioration detection device 100. The weather information is an example of environmental information around the inspection target.

[0050] The timing determination unit 120 is a functional unit that is realized, for example, by the CPU executing an inspection program. The timing determination unit 120 determines the timing (hereinafter, referred to as inspection timing) for causing the camera device 200 to capture image data based on environmental information or obstacle information about the inspection target. The timing determination unit 120 determines that it is time to inspect, for example, when the traffic volume around the inspection target is less than a reference value or when no congestion is occurring, based on the traffic information corresponding to the position of the camera device 200. The timing determination unit 120 is not limited to using the traffic information acquired from the traffic information providing device 400, and may obtain the vehicle traffic volume included in the captured data by image processing.

[0051] When the timing determination unit 120 determines that it is raining or snowing around the inspection target based on the weather information, it does not determine that it is time to inspect, and when it determines that it is sunny around the inspection target, it determines that it is time to inspect. The timing determination unit 120 is not limited to using weather information acquired from the weather information providing device 410, and may cause the camera device 200 to capture images of the sky and determine the inspection timing according to the weather based on the captured image data. The output unit 112 may include weather information as the conditions for acquiring the captured image data in the report information.

[0052] In addition to automatically controlling the pan angle, tilt angle, and zoom magnification, the control unit 110 can also determine the inspection timing based on a calendar function using the timing determination unit 120, thereby making it possible to schedule inspections and perform periodic regular inspections.

[0053] When determining the inspection timing based on the calendar, the timing determination unit 120 may start the inspection depending on whether other conditions are satisfied, even if the inspection timing based on the calendar arrives. For example, if a reservation date and time is registered and the reservation date and time arrives, the timing determination unit 120 may not determine that it is the inspection timing if there is heavy traffic, rain, or strong winds, but may determine that the inspection timing has arrived because the traffic volume is light and the weather has improved. The timing determination unit 120 may determine that the inspection timing has arrived by combining the date and time based on the calendar function and other conditions with AND conditions or OR conditions.

[0054] The timing determination unit 120 may use a clock function to determine the inspection timing. One of the conditions suitable for inspection is the visibility of the inspection target, and the visibility of the inspection target changes depending on the position of the sun. For this reason, the timing determination unit 120 may start the inspection unconditionally when the designated time arrives. The timing determination unit 120 may set the inspection timing based on other conditions such as traffic information and weather information in addition to the designated time. In this case, the timing determination unit 120 may set a designated time period instead of the designated time, and determine that the inspection timing has arrived when other conditions are satisfied during the designated time period.

[0055] (Other embodiments) Other embodiments will be described below, but the following embodiments are applicable to the above-mentioned embodiments.

[0056] It is desirable for the control unit 110 to set the zoom magnification low so that the shooting range is such that the minimum size of deterioration can be detected in order to thoroughly detect the deteriorated areas in the inspection area, but it is desirable to set the zoom magnification high in order to determine the presence or absence of deterioration with high accuracy. Therefore, the control unit 110 may set the zoom magnification so that the shooting range is suitable for determining the type and size of deterioration. In this case, it is desirable for the control unit 110 to perform pan control and tilt control so that the deteriorated area is in the center of the shooting range.

[0057] When the deterioration detection unit 104 detects a deteriorated area whose size exceeds the shooting range set for detecting the deteriorated area, the control unit 110 may lower the zoom magnification and widen the shooting range so as to include the entire deteriorated area, and cause the deterioration detection unit 104 to detect deterioration using the shooting data of the widened shooting range.

[0058] When the deterioration detection unit 104 detects a deteriorated area whose size exceeds the shooting range set for detecting the deteriorated area, the deteriorated area is detected in each of the multiple shooting ranges. The control unit 110 may include multiple detection results obtained by dividing one deteriorated area in the report information as one detection result.

[0059] When automatic inspection cannot be performed (error occurs), the deterioration detection device 100 may perform the following process. When inspecting an inspection area while rotating the camera device 200 without traffic restrictions, it is conceivable that inspection may be prevented by the shadow of a passing vehicle or the like. In such a case, the control unit 110 detects uninspected areas among the inspection areas that cannot be inspected, and stores information indicating the uninspected areas in the memory unit 114. The control unit 110 recognizes the areas among the inspection areas that have been inspected as inspected areas, and stores information indicating the uninspected areas in the memory unit 114. The control unit 110 repeats the turning operation until all areas among the inspection areas are recognized as inspected areas. This allows the control unit 110 to inspect all inspection areas without missing any.

[0060] When there is an area in the shooting range that cannot be inspected due to the presence of a vehicle, the control unit 110 may inspect the area in the shooting range that can be inspected and temporarily stop the turning operation. For example, the control unit 110 inspects the area that could not be inspected when the vehicle moves and it becomes possible to inspect the area, and resumes the turning operation when the inspection of all areas in the shooting range is completed. This allows the control unit 110 to inspect the shooting range without omission.

[0061] When there is an area within the shooting range that cannot be inspected due to the presence of a vehicle, the vehicle may not move even if the turning operation is temporarily stopped. In this case, the control unit 110 stores information indicating the area that cannot be inspected (non-inspection area) in the memory unit 114 in response to the lapse of a preset waiting time, and continues inspecting the inspection area. This allows the output unit 112 to report information indicating the area that cannot be inspected.

[0062] The output unit 112 may output the report information including the cause of the inability to inspect the area in addition to the information indicating the area that cannot be inspected. The cause of the inability to inspect the area may be, for example, a result of determining that the area is the influence of an obstacle based on image processing.

[0063] Although the embodiments and variants have been described above, these are merely examples and are not intended to be limiting. For example, any of the embodiments or variants, or a part of each embodiment or a part of each variant, may be combined with one or more other embodiments or one or more other variants to realize one aspect of the present invention. [Explanation of symbols]

[0064] 1, 1A, 1B, 1C... inspection system, 100... deterioration detection device, 102... shooting data acquisition unit, 104... deterioration detection unit, 106... actual position calculation unit, 108... actual size calculation unit, 110... control unit, 112... output unit, 114... memory unit, 116... information acquisition unit, 118... distance acquisition unit, 120... timing determination unit, 200... camera device, 200a... imaging element, 200b... lens, 210... radar unit, 300... administrator device, 400... traffic information providing device, 410... weather information providing device

Claims

1. an image data acquisition unit that acquires image data obtained by photographing an inspection target using a camera device including an image sensor; a deterioration detection unit that detects a deterioration area in which the inspection target is deteriorated within the photographed data; an actual position calculation unit that calculates an actual position of the degraded area based on a position of the degraded area in the shooting data, installation position information of the camera device, and rotation control information of the camera device; an actual size calculation unit that calculates an actual size of the degraded area based on a distance from installation position information of the camera device to an actual position of the degraded area, a size of the image sensor, and zoom control information of the camera device; an output unit that outputs information including the actual position of the degraded region calculated by the actual position calculation unit and the actual size calculated by the actual size calculation unit; An inspection system equipped with:

2. a control unit that adjusts rotation control information so that a center position of a shooting range of the camera device approaches a center position of the deterioration area, and controls the camera device based on the adjusted rotation control information; The inspection system according to claim 1 , wherein the actual position calculation unit recalculates the position of the deteriorated area based on the adjusted turning control information.

3. a height information acquisition unit that acquires height information of the inspection object based on structural data of the inspection object, the actual size calculation unit calculates a distance from installation position information of the camera device to an actual position of the degraded area based on the height information acquired by the height information acquisition unit, and calculates an actual size of the degraded area based on the calculated distance; The inspection system of claim 1 .

4. a distance acquisition unit that acquires a distance from the camera device to the deteriorated area, The actual size calculation unit calculates an actual size of the degraded region based on the distance acquired by the distance acquisition unit. The inspection system of claim 1 .

5. a storage unit for storing control preset information including rotation control information and zoom control information of the camera device; a control unit that controls the rotation and zoom of the camera device based on the rotation control information and zoom control information stored in the storage unit; The inspection system of claim 1 .

6. The control preset information includes zoom control information for controlling the zoom magnification to a constant value, and rotation control information for inspecting each divided area obtained by dividing an inspection area in a shooting range according to the constant zoom magnification, The control unit controls the camera device based on the control preset information, The deterioration detection unit detects a deteriorated area for each of the divided areas. The inspection system according to claim 5.

7. The control preset information includes zoom control information for controlling the zoom magnification to a constant value, and rotation control information for moving the photographing range according to the constant zoom magnification within an inspection area, The control unit controls the camera device based on the control preset information, The deterioration detection unit detects a deteriorated area in the photographed data photographed in a moving photographing range. The inspection system according to claim 5.

8. The inspection system according to claim 5 , wherein the control preset information includes zoom control information that sets a zoom magnification determined according to the actual size of the deteriorated area calculated by the actual size calculation unit and the distance between the camera device and the deteriorated area.

9. The control preset information includes inspection date and time information for performing periodic inspections, rotation control information, and zoom control information, The control unit controls the camera device based on the rotation control information and the zoom control information in response to the arrival of the inspection date and time based on the inspection date and time information, storing information including the inspection result, the pan control information, the tilt control information, and the zoom control information in a storage unit in association with the inspection date and time; The inspection system according to claim 5.

10. The inspection system according to claim 5 , wherein the control unit includes a timing determination unit that determines a timing for causing the camera device to capture the photographed data based on environmental information or obstacle information about a surrounding area of ​​an inspection target.

11. The inspection system according to claim 5, wherein when the control unit detects an uninspected area among the inspection areas that cannot be inspected, the control unit inspects the uninspected area when it becomes possible to inspect the area, and when the period during which the uninspected area cannot be inspected exceeds a waiting time, the control unit stores information indicating the area that cannot be inspected and continues inspecting the inspection area.

12. An information processing device acquires photographed data of an inspection target captured by a camera device including an image sensor; A step in which the information processing device detects a deteriorated area in which the inspection target is deteriorated within the photographed data; a step of the information processing device calculating an actual position of the deteriorated area based on a position of the deteriorated area in the shooting data, installation position information of the camera device, and rotation control information of the camera device; a step of the information processing device calculating an actual size of the degraded area based on a distance from installation position information of the camera device to an actual position of the degraded area, a size of the image sensor, and zoom control information of the camera device; a step of outputting information including an actual position and an actual size of the degraded region by the information processing device; An inspection method including:

13. The computer of the information processing device A step of acquiring photographic data of an inspection target by a camera device including an image sensor; detecting a deteriorated area in the photographed data where the inspection object is deteriorated; Calculating an actual position of the deteriorated area based on a position of the deteriorated area in the photographing data, installation position information of the camera device, and rotation control information of the camera device; calculating an actual size of the degraded area based on a distance from installation position information of the camera device to an actual position of the degraded area, a size of the image sensor, and zoom control information of the camera device; and outputting information including the actual position and actual size of the degraded area; A program to execute.

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