Information collection system, remote image display system, information collection method, and remote image display method

Abstract

To efficiently collect appropriate information at construction sites.SOLUTION: A patrol robot includes: a drive unit that can move independently on a construction site; an imaging unit capable of taking an image; and a patrol processing unit that causes to move independently by the drive unit based on map information on the construction site and a predetermined patrol route including a node, which is a spot where state information indicating the state of a surrounding environment of the construction site is acquired, and when the node is reached, causes the imaging unit to take the image, and acquires the state information including at least the image.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention , love The present invention relates to an information collection system, a remote image display system, an information collection method, and a remote image display method. [Background technology]

[0002] In recent years, a technology for collecting measurement information showing the state of the surrounding environment of a construction site has become known (for example, see Patent Document 1). In the above-mentioned conventional technology, measurement information measured by sensor devices placed at predetermined locations on the construction site is collected using mobile terminals carried by construction workers who move around the construction site. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2014-146169 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the past, construction site staff patrolled the site to collect management information such as progress management, craftsmanship management, quality management, and safety management, or the above-mentioned technology collected some of the measurement information measured by sensor devices placed at specific locations on the construction site. Therefore, the conventional technology relied on the movement of construction-related personnel such as construction site staff, and therefore collection efficiency was sometimes low.

[0005] The present invention has been made to solve the above problems, and its object is to provide a method for efficiently collecting appropriate information at a construction site. Feelings The present invention provides an information collection system, a remote image display system, an information collection method, and a remote image display method. [Means for solving the problem]

[0007] Another aspect of the present invention is a patrol robot including a driving unit capable of autonomously moving within a construction site, an imaging unit capable of capturing images, and a patrol processing unit that causes the patrol robot to autonomously move using the driving unit based on a predetermined patrol route including map information of the construction site and a node that is a point at which status information showing the status of the surrounding environment of the construction site is acquired, and that causes the imaging unit to capture the image when the patrol robot reaches the node, thereby acquiring the status information including at least the image; and an information collection device that collects and stores the status information acquired by the patrol robot. a division processing unit that divides the image acquired by the patrol processing unit into partial images of a predetermined range; and a progress management unit that generates progress information indicating a progress status of work for each of the nodes based on the partial images divided by the division processing unit. The information collecting system is characterized by comprising:

[0008] Another aspect of the present invention is a remote image display system having a patrol robot and a head-mounted display device, the patrol robot having a drive unit capable of autonomously moving around a construction site, an imaging unit capable of capturing images of the construction site, map information of the construction site, A predetermined node including a point where status information indicating the status of the surrounding environment of the construction site is acquired The driving unit moves the robot independently based on a patrol route. When the node is reached, The image is captured by the imaging unit. and acquiring the status information including at least the image. a patrol processing unit for detecting a position of the patrol robot when the patrol robot detects a position of the patrol robot based on the position of the head mounted display device, a viewing angle information receiving unit for receiving viewing angle information transmitted from the head mounted display device, an extracting unit for extracting an image corresponding to the viewing angle information from a 360 degree image of the construction site captured by the imaging unit, and an image transmitting unit for transmitting the extracted image to the head mounted display device, the head mounted display device being mountable on a head of a user, and comprising: a posture detecting unit for detecting a posture of the head; a viewing angle calculating unit for determining viewing angle information representing a direction of a visual field corresponding to the detected posture; a transmitting unit for transmitting the determined viewing angle information to the patrol robot; an image receiving unit for receiving the extracted image; and a display unit for displaying the received extracted image, The remote image display system further includes an information collection device that collects and stores the state information acquired by the patrol robot, a division processing unit that divides the image acquired by the patrol processing unit into partial images of a predetermined range, and a progress management unit that generates progress information indicating a progress status of work for each of the nodes based on the partial images divided by the division processing unit. It is a remote image display system.

[0009] According to one aspect of the present invention, there is provided a method for controlling a patrol robot, the method comprising: a patrol robot including a drive unit capable of autonomously moving within a construction site and an imaging unit capable of capturing images; a patrol processing step in which the patrol robot is caused to autonomously move by the drive unit based on map information of the construction site and a predetermined patrol route including a node which is a point at which status information showing a status of an environment surrounding the construction site is acquired; and when the patrol robot reaches the node, the image is captured by the imaging unit to acquire the status information including at least the image; and a collection step in which an information collection device collects and stores the status information acquired by the patrol processing step. a division processing step in which a division processing unit divides the image captured in the cyclic processing step into partial images of a predetermined range; and a progress management step in which a progress management unit generates progress information indicating a progress status of work for each of the nodes based on the partial images divided in the division processing step. The information gathering method includes:

[0010] Another embodiment of the present invention is a mobile robot, a head-mounted display device that can be mounted on a user's head, An information collecting device, a division processing unit, and a progress management unit A remote image display method executed in a remote image display system having the following structure: the patrol robot is provided with a drive unit capable of autonomously moving around a construction site, and an imaging unit capable of capturing an image of the construction site, and map information of the construction site; A predetermined node including a point where status information indicating the status of the surrounding environment of the construction site is acquired The driving unit moves the robot independently based on a patrol route. When the node is reached, The image is captured by the imaging unit. and acquiring the status information including at least the image. a viewing angle information receiving step in which the patrol robot receives viewing angle information transmitted from the head-mounted display device and indicating a direction of a viewing angle according to the orientation of the head on which the head-mounted display device is mounted; an extraction step in which the patrol robot extracts an image corresponding to the viewing angle information from a 360° image of the construction site captured by the imaging unit, the extraction step in which the patrol robot transmits the extracted image to the head-mounted display device; an orientation detection step in which the head-mounted display device detects the orientation of the head; a viewing angle calculation step in which the head-mounted display device calculates viewing angle information indicating a direction of a viewing angle according to the detected orientation; a transmission step in which the head-mounted display device transmits the calculated viewing angle information to the patrol robot; an image receiving step in which the head-mounted display device receives the extracted image; and a display step in which the head-mounted display device displays the received extracted image. an information collecting step in which the information collecting device collects and stores the state information acquired by the patrol robot; a division processing step in which the division processing unit divides the image acquired by the patrol processing step into partial images of a predetermined range; and a progress management step in which the progress management unit generates progress information indicating a progress status of work for each of the nodes based on the partial images divided by the division processing step. A remote image display method comprising: Effect of the Invention

[0011] According to the present invention, appropriate information can be efficiently collected at a construction site. [Brief description of the drawings]

[0012] [Figure 1] 1 is a diagram illustrating an example of the configuration of a field support system according to a first embodiment. [Diagram 2] FIG. 2 is a diagram illustrating an example of installation of a smart station according to the first embodiment. [Diagram 3] 1 is a functional block diagram illustrating an example of a field support system according to a first embodiment. [Figure 4] FIG. 2 is a diagram showing an example of map information and a tour route in the first embodiment. [Diagram 5] FIG. 2 is a diagram showing an example of a 360-degree image in the first embodiment. [Figure 6] FIG. 2 is a diagram illustrating an example of an unfolded image according to the first embodiment. [Figure 7] FIG. 4 is a diagram showing an example of a progress management table in the first embodiment. [Figure 8] FIG. 4 is a diagram showing an example of a progress status map in the first embodiment. [Figure 9] 5 is a flowchart showing an example of information gathering processing of the patrol robot according to the first embodiment. [Figure 10] 5 is a flowchart showing an example of a progress management process of the field support system according to the first embodiment. [Figure 11] FIG. 11 is a functional block diagram illustrating an example of a field support system according to a second embodiment. [Figure 12] FIG. 11 is a functional block diagram showing an example of a field support system 1b according to a third embodiment. [Figure 13] 13 is a conceptual diagram for explaining a case where an extracted image is transmitted from the patrol robot 10a to the head-mounted display device 90. FIG. [Figure 14] 1A and 1B are diagrams showing an example of an image displayed on a head-mounted display device 90. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A patrol robot, a field support device, and a field support system according to an embodiment of the present invention will be described below with reference to the drawings.

[0014] [First embodiment] The on-site support system 1 according to the first embodiment is a system installed at a construction site, and is an information collection system that collects various information about the construction site, and also manages various information related to work at the construction site and displays it on a display unit 23. The on-site support system 1 is a support system that provides various information at the construction site to support construction work.

[0015] FIG. 1 is a diagram showing an example of the configuration of a field support system 1 according to this embodiment. As shown in FIG. 1, the on-site support system 1 includes a patrol robot 10, a smart station 20, smart distribution boards 30 (30-1, 30-2, 30-3, 30-4), a on-site server 40, and an external server 50.

[0016] In this embodiment, the smart distribution board 30-1, smart distribution board 30-2, smart distribution board 30-3, and smart distribution board 30-4 each have the same configuration, and when referring to any smart distribution board equipped in the field support system 1, or when no particular distinction is made, they will be described as smart distribution board 30.

[0017] The patrol robot 10 automatically patrols the construction site and collects status information indicating the status of the surrounding environment of the construction site. The status information is, for example, captured image data of the construction site and detection information from various sensors. The patrol robot 10 patrols periodically (for example, every two hours) to collect status information such as captured image data, and after patrol, connects to the smart station 20 and stores the collected status information. In addition, the patrol robot 10 performs inspection patrols and special patrols in response to instructions from the user to check and inspect various conditions.

[0018] In addition, when the patrol robot 10 is connected to the smart station 20, a battery (not shown) used as a power source for automatic patrol may be charged by the smart station 20.

[0019] The smart station 20 (an example of a site support device) is an information collection device that collects and stores status information acquired by the patrol robot 10. The smart station 20 is also connected to smart distribution boards 30 (30-1 to 30-4) that supply power to the construction site, and collects status information including at least the amount of power used by the smart distribution boards 30, captured image data collected by the patrol robot 10, and the like.

[0020] In addition, the smart station 20 acquires work information related to work at the construction site, including at least design drawings and work instructions, from the on-site server 40 or the external server 50. The smart station 20 displays management information based on status information and the work information acquired from the on-site server 40 or the external server 50 on the display unit 23.

[0021] The smart distribution board 30 (an example of a distribution board) is installed at a construction site and supplies power to the construction site, for example, to use power tools, lighting, and the like at the construction site. For example, a predetermined number of smart distribution boards 30 (e.g., four, etc.) are installed on each floor of a building under construction. The smart distribution board 30 has a function of detecting the amount of power used and a function of acquiring various status information using wireless communication such as wireless LAN.

[0022] The on-site server 40 is an information server device installed at the construction site, and provides various work information such as design drawings and work instructions to the smart station 20 via, for example, a local area network (LAN) established within the construction site. The on-site server 40 is installed, for example, in the on-site office OF1 of the construction site.

[0023] The external server 50 is a server device, such as a cloud server, installed outside the construction site. The external server 50 is connected to a public network NW1 (WAN: Wide Area Network) and provides various work information, such as design drawings and work instructions, to the smart station 20 via the site server 40.

[0024] FIG. 2 is a diagram showing an example of installation of the smart station 20 according to this embodiment. 2, a plurality of smart stations 20 are connected to the site server 40, and the plurality of smart stations 20 are arranged, for example, for each system (for example, for each system K1, for each system K2) on each floor of a building BLD under construction. In addition, the plurality of smart stations 20 are supplied with power from a cubicle 80 for each system (for example, for each system K1, for each system K2).

[0025] The cubicle 80 is a cubicle-type high-voltage power receiving and transforming facility, which is a power receiving facility that reduces the high-voltage electricity transmitted from a power plant through a substation to 100 V or 200 V. The cubicle 80 supplies power to the smart station 20 and the smart distribution board 30.

[0026] Next, with reference to FIG. 3, details of each component of the on-site support system 1 according to this embodiment will be described. FIG. 3 is a functional block diagram showing an example of the on-site support system 1 according to this embodiment.

[0027] As shown in FIG. 3, the on-site support system 1 includes a patrol robot 10, a smart station 20, a smart distribution board 30, a on-site server 40, an external server 50, a sensor unit 60, and a mobile terminal 70. The patrol robot 10 also includes a camera 11, a wireless communication unit 12, a drive unit 13, a memory unit 14, and a control unit 15.

[0028] The camera 11 (an example of an imaging unit) is, for example, a camera capable of capturing a 360-degree image, and is disposed at a position capable of capturing a 360-degree image (captured image data) around the patrol robot 10. For example, the camera 11 captures a 360-degree image when the patrol robot 10 patrols a construction site.

[0029] The wireless communication unit 12 communicates with, for example, the sensor unit 60, etc., by wireless communication such as wireless LAN, Bluetooth (registered trademark), specific low power radio, etc. The wireless communication unit 12 acquires, for example, various state information detected by the sensor unit 60 when the patrol robot 10 patrols a construction site.

[0030] The driving unit 13 is a driving device that enables the patrol robot 10 to move autonomously around a construction site, and includes, for example, a driving motor, a battery, and various sensors for detecting the position and obstacles.

[0031] The storage unit 14 stores various types of information used by the patrol robot 10. The storage unit 14 includes, for example, a map information storage unit 141, a patrol route storage unit 142, and a collected information storage unit 143.

[0032] The map information storage unit 141 stores map information of a construction site patrolled by the patrol robot 10. The map information storage unit 141 stores, for example, map information MAP as shown in FIG. FIG. 4 is a diagram showing an example of map information and a tour route in this embodiment. 4, the map information MAP indicates, for example, a map of a floor of a building under construction. That is, the map information storage unit 141 may store map information for each floor of a building under construction.

[0033] Returning to the explanation of Fig. 3, the patrol route storage unit 142 stores the patrol route along which the patrol robot 10 patrols. The patrol route storage unit 142 stores a predetermined patrol route RT including a plurality of nodes (nodes ND), for example, as shown in Fig. 4. Here, the node ND is a black circle on the patrol route RT shown in Fig. 4, and is a point where state information indicating the state of the surrounding environment of the construction site is acquired.

[0034] Returning to the explanation of Fig. 3, the collected information storage unit 143 stores, for each node, the status information collected by the patrol robot 10. The collected information storage unit 143 stores, as the status information, for example, 360-degree image data, various information collected from the sensor unit 60 and the mobile terminal 70, etc. The collected information storage unit 143 may store the status information for each node in association with acquired date and time information.

[0035] The control unit 15 is, for example, a processor including a CPU (Central Processing Unit) and the like, and performs overall control of the patrol robot 10. The control unit 15 includes, for example, a patrol processing unit 151 and a collection processing unit 152.

[0036] The patrol processing unit 151 moves the patrol robot 10 autonomously using the driving unit 13 based on the map information of the construction site and the patrol route, and when the patrol robot reaches a node, it captures a 360-degree image using the camera 11 to acquire status information including at least the 360-degree image. The patrol processing unit 151 periodically (for example, every two hours) moves the patrol robot 10 along the patrol route using the driving unit 13 based on, for example, the map information stored in the map information storage unit 141 and the patrol route stored in the patrol route storage unit 142. In addition, when making an inspection patrol or an emergency patrol, the patrol processing unit 151 performs patrol processing to move the patrol robot 10 along the instructed patrol route using the drive unit 13, for example, in accordance with instructions from a user received by the smart station 20.

[0037] When the patrol processing unit 151 reaches a node on the patrol route, it acquires 360-degree captured image data of each node, such as image G1 shown in Fig. 5, as status information by the camera 11. In addition, the patrol processing unit 151 acquires, via the wireless communication unit 12, detection information detected by the sensor unit 60 in the node, information from a mobile terminal carried by a worker in the vicinity of the node, and the like, as status information. Moreover, the patrol processing unit 151 stores the acquired state information for each node in the collected information storage unit 143 .

[0038] The collection processing unit 152 stores the status information acquired by the patrol processing unit 151 in the smart station 20. When the collection processing unit 152 completes a regular patrol and is connected to the smart station 20, the collection processing unit 152 transmits the status information stored in the collected information storage unit 143 to the smart station 20 and stores the status information in the collected information storage unit 242 of the smart station 20.

[0039] The site server 40 includes a deployment processing unit 41 , a progress management unit 42 , and a control instruction unit 43 . The unfolding processing unit 41 (an example of a division processing unit) divides the 360-degree image acquired by the patrol processing unit 151 into partial images of a predetermined range. The unfolding processing unit 41 generates unfolded image data (partial images) from the 360-degree image data, for example, as shown in Fig. 6. Here, the details of the generation process of unfolded image data by the unfolding processing unit 41 will be described with reference to Fig. 6.

[0040] FIG. 6 is a diagram illustrating an example of an unfolded image in this embodiment. The unfolding processing unit 41 acquires a 360-degree image from the collected information storage unit 242 of the smart station 20, and divides the 360-degree image into five parts, front, back, left, right, and top (ceiling), as shown in Fig. 6(a), to generate unfolded image data. The unfolding processing unit 41 generates, for example, unfolded images SG1 to SG4 and an unfolded image SG0 of the ceiling.

[0041] Fig. 6(b) shows an example in which the 360-degree image G1 shown in Fig. 5 is divided into five partial images, ie, expanded images SG0 to SG4. The expansion processing unit 41 additionally stores the generated (divided) expanded images SG0 to SG4 as status information for each node in a collected information storage unit 242 of the smart station 20, which will be described later.

[0042] Returning to the explanation of FIG. 3 again, the progress management unit 42 generates progress information indicating the progress of work at the construction site based on the captured image data acquired by the patrol robot 10. For example, the progress management unit 42 generates progress information indicating the progress of work for each node based on the unfolded image data (partial images) divided by the unfolding processing unit 41. The progress management unit 42 diagnoses the progress for each divided unfolded image data and generates the progress information. For example, the progress management unit 42 compares the unfolded image data for each node stored in the collected information storage unit 242 with the date and time indicated by the date and time information, and generates the progress information for each node. The progress management unit 42 stores the generated progress information in the management information storage unit 243 of the smart station 20.

[0043] The progress management unit 42 also generates progress information for each type of work, and generates a progress management table that lists the progress information for each type of work. The progress management unit 42 generates a progress management table, for example, as shown in FIG. FIG. 7 is a diagram showing an example of a progress management table in this embodiment. 7, the progress management unit 42 generates a progress management table in which the progress information corresponding to each work process is expressed as 0% to 100% and is summarized, for example, by floor number and room name of the construction site. The progress management unit 42 stores the generated progress management table in the management information storage unit 243 of the smart station 20.

[0044] Furthermore, the progress management unit 42 generates a progress status map in which the progress status of the work is visualized and superimposed on the map information based on the progress information. For example, the progress management unit 42 generates a progress status map as shown in FIG. FIG. 8 is a diagram showing an example of a progress status map in this embodiment.

[0045] 8, the progress management unit 42 generates a progress status map based on the progress information by visually distinguishing the map information MAP shown in FIG. 4 described above into "outside range", "up to 60%" (less than 60%), "up to 80%" (60% or more and less than 80%), and "up to 100%" (80% or more and 100% or less) according to the progress information. The progress management unit 42 stores the generated progress status map in the management information storage unit 243 of the smart station 20.

[0046] The control instruction unit 43 receives various instructions from the user of the on-site office OF1, transmits the various instructions to the smart station 20, and executes various controls. The control instruction unit 43 transmits an instruction to control the smart distribution board 30 from the on-site office OF1, such as remotely stopping the power supply, to the smart station 20, and causes the smart station 20 to execute the instruction.

[0047] The sensor unit 60 (an example of a detection unit) detects various types of status information. The sensor unit 60 detects, for example, temperature, humidity, wind speed information, noise information, and vibration information as the status information. The sensor unit 60 has, for example, a wireless communication function, and transmits the detected status information to the patrol robot 10 when the patrol robot 10 approaches the vicinity of the sensor unit 60.

[0048] The mobile terminal 70 is, for example, a mobile phone or smartphone carried by the worker, and when the patrol robot 10 approaches the vicinity of the sensor unit 60, it transmits information about the worker (for example, identification information that identifies the worker, the worker's vital signs information and work content, etc.) as status information to the patrol robot 10 via wireless communication.

[0049] In addition, the sensor unit 60 and the mobile terminal 70 may be connectable, for example, to an on-site network NW2, and status information may be transmitted to the smart station 20 via the on-site network NW2 and stored in the collected information memory unit 242 of the smart station 20.

[0050] The smart station 20 includes an NW (network) communication unit 21, an input unit 22, a display unit 23, a device storage unit 24, and a device control unit 25. The NW communication unit 21 is a communication unit that communicates, for example, via a wired LAN or a wireless LAN, and is connectable to a site server 40. The NW communication unit 21 is also connectable to a public network NW1 via the site server 40. The NW communication unit 21 receives work information from, for example, the site server 40 or an external server 50.

[0051] The input unit 22 is an input device such as a touch panel, and receives various inputs from a user. The display unit 23 is, for example, a display device such as a liquid crystal display, and displays management information based on status information collected by the smart station 20, work information acquired from the site server 40 or the external server 50, and the like.

[0052] The device storage unit 24 stores various information used by the smart station 20. The device storage unit 24 includes, for example, a work information storage unit 241, a collected information storage unit 242, and a management information storage unit 243.

[0053] The work information storage unit 241 stores work information related to work, such as design drawings and work instructions at a construction site. The work information storage unit 241 stores work information acquired by the information acquisition unit 252 described later.

[0054] The collected information storage unit 242 (an example of an information storage unit) stores status information collected by the patrol robot 10, the smart distribution board 30, the sensor unit 60, the mobile terminal 70, etc. The collected information storage unit 242 stores, for example, the status information collected by the patrol robot 10 in association with date and time information for each node.

[0055] The management information storage unit 243 stores various types of management information generated based on the collected state information. The management information includes, for example, progress information such as a progress management table and a progress status map, power monitoring information, and worker information.

[0056] The device control unit 25 is, for example, a processor including a CPU and the like, and performs overall control of the smart station 20. The device control unit 25 includes, for example, a collection processing unit 251, an information acquisition unit 252, a counting processing unit 253, a power monitoring unit 254, a worker management unit 255, an equipment and materials management unit 256, and a display control unit 257.

[0057] The collection processing unit 251 collects the above-mentioned state information and stores the collected state information in the information storage unit 242. The collection processing unit 251 stores, for example, state information acquired via the patrol robot 10 or the smart distribution board 30 in the collected information storage unit 242. The collection processing unit 251 stores, for example, state information collected by the patrol robot 10 (for example, 360-degree captured image data or expanded image data) in association with date and time information for each node in the collected information storage unit 242. In addition, the collection processing unit 251 collects, for example, the amount of power used by the smart distribution board 30 as status information, and stores the collected status information in the information storage unit 242.

[0058] The information acquisition unit 252 acquires work information related to work including at least design drawings and work instructions at the construction site. The work information is, for example, design drawings to be viewed at the construction site, work instructions, information on safety standards at the construction site, etc., and the information acquisition unit 252 acquires the work information from, for example, the site server 40 or the external server 50 via the NW communication unit 21. The information acquisition unit 252 stores the acquired work information in the work information storage unit 241.

[0059] The tallying processing unit 253 tally up the amount of power usage collected by the collection processing unit 251. The tallying processing unit 253 tally up the amount of power usage at a construction site collected from, for example, the smart distribution board 30, and stores the tallying result in the management information storage unit 243.

[0060] The power monitoring unit 254 monitors the power usage based on the tabulation results tabulated by the tabulation processing unit 253. The power monitoring unit 254 monitors the power usage, for example, by comparing the amount of power usage for each day and each hour with the planned power amount. When the amount of power usage exceeds the planned power amount or there is a possibility that it will exceed the planned power amount, the power monitoring unit 254 may display a message indicating a warning on the display unit 23 via the display control unit 257 described later. Furthermore, the power monitoring unit 254 stores, for example, a comparison result (for example, a graph, a table) between the tabulation result of the amount of power usage and the planned power amount in the management information storage unit 243.

[0061] The worker management unit 255 generates worker information indicating the work status of the worker (for example, whether the scheduled work is being performed, etc.) based on the unfolded image data (partial images) divided by the unfolding processing unit 41. The worker management unit 255 identifies the worker included in the unfolded image data and determines the work status of the worker, for example, by using an existing image recognition technology.

[0062] The worker management unit 255 may generate worker information indicating the work status of a worker from information (e.g., identification information of the worker) collected from the mobile terminal 70 carried by the worker. The worker information is, for example, information such as the number of workers and the work content, or management information in which the worker information is compiled in a table or graph. The worker management unit 255 stores the generated worker information in the management information storage unit 243.

[0063] The equipment and materials management unit 256 manages the quantities of equipment and materials used at the construction site. For example, the equipment and materials management unit 256 changes the equipment and materials management information stored in the management information storage unit 243 in response to the delivery of equipment and materials to the construction site and the use of equipment and materials.

[0064] The display control unit 257 causes the display unit 23 to display management information based on the state information collected by the collection processing unit 251 and the work information acquired by the information acquisition unit 252. The display control unit 257 switches the information to be displayed in accordance with operation information accepted by the input unit 22 through a user's operation, for example, and causes the display unit 23 to display the information.

[0065] The display control unit 257, for example, causes the display unit 23 to display the results of the power usage counted by the counting processing unit 253 and the monitoring results monitored by the power monitoring unit 254 as management information. In addition, the display control unit 257 also causes the display unit 23 to display, for example, progress information (for example, a progress management table or a progress status map) generated by the progress management unit 42 as management information.

[0066] Furthermore, the display control unit 257 causes the display unit 23 to display, for example, the worker information generated by the worker management unit 255 as management information. Furthermore, the display control unit 257 causes the display unit 23 to display, as management information, for example, the equipment and materials management information changed and managed by the equipment and materials management unit 256. In this way, the display control unit 257 selects the management information stored in the management information storage unit 243 in response to a user's operation, and causes the display unit 23 to display the management information.

[0067] The status information includes temperature, humidity, wind speed information, noise information, or vibration information, and the display control unit 257 causes the display unit 23 to display management information based on, for example, the temperature, humidity, wind speed information, noise information, or vibration information. Furthermore, the work information includes, for example, design drawings and work instructions for the construction site, information on safety standards at the construction site, etc., and the display control unit 257 selects, for example, design drawings and work instructions, and information on safety standards, etc. as work information in response to the user's operation, and displays them on the display unit 23. That is, the display control unit 257 selects work information stored in the work information storage unit 241 in response to the user's operation, and displays them on the display unit 23.

[0068] In addition to the above information, the display control unit 257 may be configured to display on the display unit 23 various information such as, in response to user operation, confirmation information on the lifting and operation status of the TC (tower crane) / ELV (elevator), digital signage information such as no entry, the status of the steel structure, vehicle entry and exit, inspection status, and worker entry and exit management information.

[0069] Next, the operation of the on-site support system 1 according to this embodiment will be described with reference to the drawings. 9 is a flowchart showing an example of information collection processing of the patrol robot 10 according to the present embodiment. It is assumed that the patrol robot 10 is normally placed at the position of the smart station 20 and is connected to the smart station 20.

[0070] As shown in FIG. 9, the patrol robot 10 first judges whether or not it is time to patrol (step S101). The patrol processing unit 151 of the patrol robot 10 judges whether or not it is time to patrol every two hours, for example. If it is time to patrol (step S101: YES), the patrol processing unit 151 advances the process to step S102, and the patrol robot 10 starts to move autonomously from the position of the smart station 20. If it is not time to patrol (step S101: NO), the patrol processing unit 151 returns the process to step S101. Note that in the example shown in FIG. 9, the patrol robot 10 patrols every two hours. In the case where the patrol robot 10 performs an inspection patrol or a special patrol in response to a user's instruction, the patrol processing unit 151 similarly advances the process to step S102.

[0071] In step S102, the patrol processing unit 151 moves the patrol robot 10 to the position of the node based on the map information and the patrol route. For example, the patrol processing unit 151 moves the patrol robot 10 to the position of the next node along the patrol route based on the map information stored in the map information storage unit 141 and the patrol route stored in the patrol route storage unit 142 using the drive unit 13.

[0072] Next, the patrol processing unit 151 captures a 360-degree image and acquires various state information (step S103). The patrol processing unit 151 causes the camera 11 to capture a 360-degree image at the node position, acquires the 360-degree image data, and acquires various state information (for example, temperature, humidity, wind speed information, noise information, or vibration information) from the sensor unit 60, for example. The patrol processing unit 151 collects and stores the various state information including the acquired 360-degree image data in the information storage unit 143.

[0073] Next, the patrol processing unit 151 determines whether the current node is the last node on the patrol route (step S104). If the current node is the last node (step S104: YES), the patrol processing unit 151 advances the process to step S105. If the current node is not the last node (step S104: NO), the patrol processing unit 151 returns the process to step S102 and moves the patrol robot 10 to the position of the next node.

[0074] In step S105, the patrol processing unit 151 returns to the position of the smart station and connects with the smart station 20. The patrol processing unit 151 uses the driving unit 13 to move the patrol robot 10 along the patrol route to the position of the smart station 20, and connects the patrol robot 10 with the smart station 20.

[0075] Next, the collection processing unit 152 of the patrol robot 10 transmits the status information to the smart station 20 for storage (step S106). The collection processing unit 152 transmits various status information stored in the collected information storage unit 143 to the smart station 20 and stores it in the collected information storage unit 242 of the smart station 20. After the process of step S106, the collection processing unit 152 returns the process to step S101 and causes the patrol robot 10 to wait at the position of the smart station 20 until the next patrol time.

[0076] Next, the progress management process of the on-site support system 1 according to this embodiment will be described with reference to FIG. FIG. 10 is a flowchart showing an example of progress management processing in the on-site support system 1 according to this embodiment.

[0077] As shown in Fig. 10, the smart station 20 of the on-site support system 1 first determines whether or not a storage request for status information has been received (step S201). The collection processing unit 251 of the smart station 20 is connected to the patrol robot 10 and determines whether or not a storage request for status information has been received from the collection processing unit 152 of the patrol robot 10. If the collection processing unit 251 has received a storage request (step S201: YES), the processing proceeds to step S202. If the collection processing unit 251 has not received a storage request (step S201: NO), the processing returns to step S201.

[0078] In step S202, the collection processing unit 251 collects status information and stores it in the information storage unit 242. The collection processing unit 251 receives status information (e.g., 360-degree image data) collected by the patrol robot 10 during patrol, and stores the status information in the information storage unit 242.

[0079] Next, the unfolding processing unit 41 of the on-site server 40 generates an unfolded image from the 360-degree image (step S203). The unfolding processing unit 41 divides the 360-degree image data in response to an instruction from the device control unit 25 to generate five unfolded images (e.g., images SG0 to SG4) as shown in Fig. 6. The unfolding processing unit 41 stores the generated unfolded image data in the collected information storage unit 242 of the smart station 20 as part of the status information.

[0080] Next, the progress management unit 42 of the site server 40 generates progress information from the state information (step S204). In response to an instruction from the device control unit 25, the progress management unit 42 generates progress information for each node by, for example, comparing the expanded image data for each node stored in the collected information storage unit 242 with the date and time indicated by the date and time information. The progress management unit 42 stores the generated progress information in the management information storage unit 243.

[0081] Next, the progress management unit 42 generates a progress management table and a progress status map from the progress information (step S205). Based on the generated progress information, the progress management unit 42 generates, for example, a progress management table as shown in Fig. 7 and a progress status map as shown in Fig. 8.

[0082] Next, the progress management unit 42 stores the progress management table and the progress status map in the management information storage unit 243 (step S206). After the process of step S206, the progress management unit 42 returns the process to step S201.

[0083] Next, a display process of various information of the smart station 20 according to this embodiment will be described. The display control unit 257 of the smart station 20 selects various information such as work information stored in the work information memory unit 241 and management information stored in the management information memory unit 243 in response to user operation via the input unit 22, and displays it on the display unit 23.

[0084] As described above, the patrol robot 10 according to this embodiment includes the driving unit 13 capable of autonomously moving within a construction site, the camera 11 (imaging unit) capable of capturing images (e.g., 360-degree images), and the patrol processing unit 151. The patrol processing unit 151 causes the patrol robot 10 to move autonomously using the driving unit 13 based on map information of the construction site (e.g., map information MAP in FIG. 4) and a predetermined patrol route (e.g., patrol route RT in FIG. 4) including nodes that are points at which status information indicating the status of the surrounding environment of the construction site is acquired. Furthermore, when the patrol robot 10 reaches a node, the patrol processing unit 151 causes the camera 11 to capture an image, and acquires status information including at least the image.

[0085] As a result, the patrol robot 10 according to the present embodiment patrols the construction site autonomously to collect status information, and can efficiently collect appropriate information without depending on the movement of construction personnel such as workers, for example. Therefore, the patrol robot 10 according to the present embodiment can improve convenience at the construction site.

[0086] The patrol robot 10 according to this embodiment also includes a collection processing unit 152 that stores the status information acquired by the patrol processing unit 151 in the smart station 20 (information collection device). This allows the patrol robot 10 according to this embodiment to automatically store the collected status information in the smart station 20 (information collection device), making it possible to collect appropriate information more efficiently at a construction site.

[0087] The patrol robot 10 according to this embodiment may also include an unfolding processing unit 41 (division processing unit) that divides an image (e.g., a 360-degree image) acquired by the patrol processing unit 151 into partial images (e.g., the unfolded image described above) of a predetermined range. In this case, the collection processing unit 152 includes the partial images (e.g., the unfolded image described above) in the state information and stores them in the smart station 20 for each node. As a result, the patrol robot 10 according to the present embodiment can efficiently determine, for example, the progress of a task by dividing an image (for example, a 360-degree image).

[0088] Moreover, the on-site support system 1 (information collection system) according to this embodiment includes the above-mentioned patrol robot 10 and a smart station 20 that collects and stores state information acquired by the patrol robot 10. As a result, the site support system 1 according to this embodiment has the same effects as the above-mentioned patrol robot 10, and can collect appropriate information more efficiently at a construction site.

[0089] The on-site support system 1 according to this embodiment also includes an unfolding processing unit 41 and a progress management unit 42. The unfolding processing unit 41 divides the 360-degree image acquired by the patrol processing unit 151 into partial images (for example, the unfolded image described above) of a predetermined range. The progress management unit 42 generates progress information indicating the progress of work for each node based on the partial images (for example, the unfolded image described above) divided by the unfolding processing unit 41.

[0090] As a result, the site support system 1 according to this embodiment can grasp progress information at the construction site, making it possible to appropriately manage the construction site and improve convenience.

[0091] Furthermore, in this embodiment, the progress management unit 42 generates progress information for each type of work, and generates a progress management table (see FIG. 7, for example) that lists the progress information for each type of work. As a result, the site support system 1 according to this embodiment can easily grasp the progress status for each type of work, making it possible to appropriately manage the construction site and improve convenience.

[0092] Furthermore, in this embodiment, the progress management unit 42 generates a progress status map based on the progress information, in which the progress status of the work is visualized and superimposed on map information. As a result, the site support system 1 according to this embodiment can visually grasp the progress of work by overlaying it on map information, thereby making it possible to appropriately manage the construction site and improve convenience.

[0093] The on-site support system 1 according to this embodiment also includes a worker management unit 255 that generates worker information indicating the working status of a worker based on the partial images (for example, the above-mentioned unfolded images) divided by the unfolding processing unit 41. As a result, the site support system 1 according to this embodiment can easily grasp the work status of the workers, making it possible to appropriately manage the construction site and improve convenience.

[0094] In the on-site support system 1 according to the present embodiment, the information collection device is, for example, a smart station 20. The smart station 20 is connected to a smart distribution board 30 (distribution board) that supplies power to a construction site, and includes a display unit 23, a collection processing unit 251, an information acquisition unit 252, and a display control unit 257. The collection processing unit 251 collects status information including at least the amount of power used by the smart distribution board 30, and stores the collected status information in an information storage unit 242 (information storage unit). The information acquisition unit 252 acquires work information related to work including at least design drawings and work instructions at the construction site. The display control unit 257 causes the display unit 23 to display the status information collected by the collection processing unit 251 and the work information acquired by the information acquisition unit 252.

[0095] As a result, in the on-site support system 1 of this embodiment, the smart station 20 can be used to integrate, collect, and centrally manage various information used at the construction site, thereby further improving efficiency and convenience.

[0096] The information collection method according to the present embodiment includes a patrol processing step and a collection step. In the patrol processing step, the above-mentioned patrol robot 10 is moved autonomously by the driving unit 13 based on map information of the construction site and a predetermined patrol route including a node that is a point where status information indicating the status of the surrounding environment of the construction site is acquired, and when the patrol robot 10 reaches the node, an image (e.g., a 360-degree image) is captured by the camera 11 to acquire status information including at least the image. Here, the patrol robot 10 includes the driving unit 13 capable of autonomously moving around the construction site and the camera 11 capable of capturing images. In the collection step, the smart station 20 (information collection device) collects and stores the status information acquired by the patrol processing step.

[0097] As a result, the information collection method according to the present embodiment has the same effects as the above-described patrol robot 10 and site support system 1 (information collection system), and can efficiently collect appropriate information at a construction site.

[0098] Moreover, the smart station 20 (on-site support device) according to this embodiment is a on-site support device connected to a smart distribution board 30 (distribution board) that supplies power to a construction site, and includes a display unit 23, a collection processing unit 251, an information acquisition unit 252, and a display control unit 257. The collection processing unit 251 collects status information indicating the state of the surrounding environment of the construction site, including at least the amount of power used by the smart distribution board 30, and stores the collected status information in an information storage unit 242 (information storage unit). The information acquisition unit 252 acquires work information related to work at the construction site, including at least design drawings and work instructions. The display control unit 257 displays management information based on the status information collected by the collection processing unit 251 and the work information acquired by the information acquisition unit 252 on the display unit 23.

[0099] As a result, the smart station 20 according to the present embodiment can integrate and collect and centrally manage various information used at the construction site (e.g., status information, management information based on the status information, work information, etc.). Therefore, the smart station 20 according to the present embodiment can improve convenience at the construction site.

[0100] The smart station 20 according to this embodiment has the following advantages, for example, and can improve convenience at a construction site. (1) The smart station 20 can manage power at a construction site. That is, the smart station 20 can manage electric leakage and power usage at a construction site. (2) The smart station 20 functions as a terminal for collecting information at a construction site. The smart station 20 can also function as a communication station for wireless LAN or the like. (3) The smart station 20 functions as a station for the patrol robot 10.

[0101] The smart station 20 according to this embodiment can be used, for example, to view work instructions, check drawings for workers, communicate and share various information during morning meetings and KY (hazard prediction) meetings at the construction site, and view and check various information at countermeasure meetings when a problem occurs at the construction site. The smart station 20 according to this embodiment can efficiently monitor, for example, the amount of electricity, monitor and manage the smart distribution board 30 (distribution board), manage people (workers), check for residual fire, and the like, thereby improving convenience.

[0102] Moreover, the smart station 20 according to this embodiment includes a counting processing unit 253 that counts the amount of power usage collected by the collection processing unit 251, and a power monitoring unit 254 that monitors the power usage based on the counting result collected by the counting processing unit 253. Then, a display control unit 257 causes the display unit 23 to display the counting result and the monitoring result monitored by the power monitoring unit 254 as management information.

[0103] As a result, the smart station 20 according to this embodiment displays the aggregated results of power usage and the monitoring results of power usage on the display unit 23, making it possible to properly grasp and manage the power usage in the smart distribution board 30 (distribution board) at the construction site, thereby further improving convenience.

[0104] The status information also includes captured image data capturing the status of the surrounding environment at the construction site. The display control unit 257 displays the progress information, which is generated based on the captured image data and indicates the progress of the work at the construction site, on the display unit 23 as management information. The smart station 20 may include a progress management unit 42 that generates progress information, which indicates the progress of the work at the construction site, based on the captured image data, and the display control unit 257 may display the progress information generated by the progress management unit 42 on the display unit 23 as management information.

[0105] As a result, the smart station 20 according to this embodiment displays progress information on the display unit 23, making it possible to properly grasp the progress of work at the construction site, thereby further improving convenience.

[0106] The smart station 20 according to this embodiment also includes a worker management unit 255 that generates worker information indicating the working status of the worker based on the captured image data. The display control unit 257 causes the display unit 23 to display the worker information generated by the worker management unit 255 as management information. As a result, the smart station 20 according to this embodiment can properly grasp the working status of the worker, and can further improve convenience at the construction site.

[0107] In the present embodiment, the status information includes temperature, humidity, wind speed information, noise information, or vibration information. The display control unit 257 displays management information based on the temperature, humidity, wind speed information, noise information, or vibration information on the display unit 23. Note that the status information may include heat index information (WBGT) indicating heat, instead of temperature and humidity. As a result, the smart station 20 according to the present embodiment can integrate and collect various state information and centrally manage it.

[0108] In this embodiment, the work information includes information about safety standards at the construction site. The display control unit 257 causes the display unit 23 to display the information about the safety standards. As a result, the smart station 20 according to the present embodiment can display various work information such as safety standards, thereby further improving convenience.

[0109] The on-site support system 1 according to this embodiment includes the above-mentioned smart station 20, the smart distribution board 30, and a sensor unit 60 (detection unit) that detects status information. The above-mentioned sensor unit 60, the mobile terminal 70, and the camera 11 are examples of the detection unit. As a result, the on-site support system 1 according to this embodiment has the same effect as the above-mentioned smart station 20, and can integrate, collect, and centrally manage various information used at the construction site.

[0110] [Second embodiment] Next, a field support system 1a according to a second embodiment will be described with reference to FIG. A field support system 1a according to the present embodiment is a modification of the first embodiment that does not include the patrol robot 10.

[0111] FIG. 11 is a functional block diagram showing an example of a field support system 1a according to the second embodiment. As shown in FIG. 11, the on-site support system 1a includes a smart station 20a, a smart distribution board 30, a on-site server 40a, an external server 50, a sensor unit 60, and a mobile terminal 70.

[0112] In this figure, the same components as those in FIG. 3 are given the same reference numerals and the description thereof will be omitted. The on-site support system 1a according to this embodiment has the same basic functions and processing as the on-site support system 1a according to the first embodiment, except that the on-site support system 1a does not include the patrol robot 10.

[0113] The on-site server 40a is an information server device installed at the construction site, and provides various work information such as design drawings and work instructions to the smart station 20a via, for example, a local area network established within the construction site. The on-site server 40a is installed, for example, in the on-site office OF1 at the construction site. In addition, the on-site server 40a accepts various instructions from the user of the on-site office OF1, transmits the various instructions to the smart station 20a, and causes the smart station 20 to execute various controls. The on-site server 40a transmits instructions to control the smart distribution board 30 from the on-site office OF1, such as remotely stopping the power supply, to the smart station 20a, and causes the smart station 20 to execute the instructions.

[0114] The smart station 20a (an example of a site support device) is an information collection device that is connected to smart distribution boards 30 (30-1 to 30-4) that supply power to a construction site, and collects and stores status information via a wireless network or the like of the smart distribution boards 30. The smart station 20a collects the amount of power used by the smart distribution boards 30.

[0115] In addition, the smart station 20a acquires work information related to work at the construction site, including at least design drawings and work instructions, from the on-site server 40a or the external server 50. The smart station 20a displays management information based on the status information and the work information acquired from the on-site server 40a or the external server 50 on the display unit 23.

[0116] The smart station 20a includes a NW communication unit 21, an input unit 22, a display unit 23, a device storage unit 24, and a device control unit 25a.

[0117] The device control unit 25a is, for example, a processor including a CPU and the like, and controls the smart station 20a in an integrated manner. The device control unit 25a includes, for example, a collection processing unit 251, an information acquisition unit 252, a counting processing unit 253, a power monitoring unit 254, a worker management unit 255a, a materials and equipment management unit 256, and a display control unit 257.

[0118] The worker management unit 255a generates worker information indicating the work status of the worker from information (e.g., identification information of the worker) collected from the mobile terminal 70 carried by the worker. The worker management unit 255a stores the generated worker information in the management information storage unit 243.

[0119] As described above, the smart station 20a according to this embodiment collects status information including the amount of power used via the smart distribution board 30 instead of the patrol robot 10. As a result, the smart station 20a according to this embodiment has the same effect as the smart station 20 according to the first embodiment described above, and can integrate and collect and centrally manage various information used at a construction site (e.g., status information, management information based on the status information, work information, etc.). Therefore, the smart station 20a according to this embodiment can improve convenience at a construction site.

[0120] [Third embodiment] Next, a field support system 1b according to a third embodiment will be described with reference to FIG. A field support system 1b according to this embodiment further includes a wireless router 81, a cloud server CS, a wireless router 85, and a head-mounted display device 90 in addition to the components of the first embodiment described above.

[0121] FIG. 12 is a functional block diagram showing an example of a field support system 1b according to the third embodiment. As shown in FIG. 12, the on-site support system 1b includes a patrol robot 10a, a smart station 20, a smart distribution board 30, a on-site server 40, an external server 50, a sensor unit 60, a mobile terminal 70, a wireless router 81, a cloud server CS, a wireless router 85, and a head-mounted display device 90.

[0122] In this figure, the same components as those in FIG. 3 are given the same reference numerals and the description thereof will be omitted. In the on-site support system 1b of this embodiment, the basic functions and processing are generally similar to those of the on-site support system 1 of the first embodiment, except that it is equipped with a wireless router 81, a cloud server CS, a wireless router 85, and a head-mounted display device 90.

[0123] In the patrol robot 10a, the camera 11a captures a 360-degree image (all-directional image) centered on the patrol robot 10a, as in the first embodiment. The image captured by the camera 11a can be either a still image or a video, but in this second embodiment, a case where a 360-degree video is captured will be described. The camera 11a also captures a celestial sphere image of a live image at a construction site.

[0124] The wireless communication unit 12a has the function of the wireless communication unit 12 in the first embodiment, and also has a function of communicating with the wireless router 81 wirelessly. The wireless communication unit 12a transmits the image captured by the camera 11a to the wireless router 81. When an omnidirectional camera is used as the camera 11a, the wireless communication unit 12a acquires captured image data of 360 degrees (all directions) centered on the camera 11 of the patrol robot 10a from the camera 11a and transmits it to the wireless router 81. Furthermore, when the resolution of the image captured by the camera 11a is the first resolution, the wireless communication unit 12a transmits the captured image data of the first resolution to the wireless router 81. The first resolution is, for example, 4K resolution, which is 3840×2160. The wireless communication unit 12a also has a viewing angle information receiving function for receiving viewing angle information transmitted from the head-mounted display device 90, the viewing angle information representing the direction of the field of view according to the posture of the head on which the head-mounted display device 90 is worn. Control unit 15 has extraction unit 153. Extraction unit 153 extracts an image corresponding to the viewing angle information from the omnidirectional image captured by camera 11a. When camera 11a captures a live image, extraction unit 153 extracts an image corresponding to the viewing angle information from the omnidirectional image that is the live image. The control unit 15 transmits the extracted image extracted by the extraction unit 153 to the head-mounted display device 90 via the wireless communication unit 12a. The wireless communication unit 12a has an image transmission function of transmitting the extracted image to the head-mounted display device 90.

[0125] The wireless router 81 is connected to the wireless communication unit 12a of the patrol robot 10a so as to be able to communicate wirelessly, and is also connected to the cloud server CS so as to be able to communicate wirelessly. The wireless router 81 can communicate at a communication speed capable of receiving captured image data of a first resolution from the wireless communication unit 12a. The wireless router 81 can communicate with the cloud server CS at a communication speed capable of transmitting captured image data of a first resolution. The wireless router 81 may be, for example, a WiFi (registered trademark) router. The wireless router 81 may be portable and attached to the patrol robot 10a. In this case, even when the patrol robot 10a moves along a patrol route, the patrol robot 10a can capture images of the surroundings as captured image data using the camera 11a while moving, and transmit the captured image data to the cloud server CS via the wireless router 81. In this figure, only one wireless router 81 is shown, but multiple wireless routers 81 may be provided at a distance from each other within the construction site. In this case, even when the patrol robot 10a moves within the construction site, the wireless communication unit 12a can continuously transmit captured image data to the cloud server CS by switching and connecting to a connectable wireless router 81 at the destination of the movement.

[0126] The cloud server CS is connected wirelessly to the wireless router 81 so as to be able to communicate with each other, and is also connected wirelessly to the wireless router 85 so as to be able to communicate with each other. The cloud server CS transmits captured image data received from the wireless router 81 to the wireless router 85. The cloud server CS may transmit captured image data of a first resolution received from the wireless router 81 to the wireless router 85 while keeping the first resolution, or may convert the captured image data of the first resolution into captured image data of a second resolution which is lower than the first resolution, and transmit the converted image data to the wireless router 85. The second resolution is, for example, a 2K resolution having a resolution of 1920×1080. When the cloud server CS converts the captured image data of a first resolution into captured image data of a second resolution before transmitting it to the wireless router 85, the communication delay between at least the cloud server CS and the wireless router 85 can be reduced. In addition, the cloud server CS can receive live images of the captured image data from the patrol robot 10 a via the wireless router 81 and distribute the images live to the head-mounted display device 90 via the wireless router 85 .

[0127] The wireless router 85 is wirelessly connected to the cloud server CS for communication, and is also wirelessly connected to the head-mounted display device 90 for communication. The wireless router 85 can communicate at a communication speed capable of receiving captured image data of the second resolution from the cloud server CS. The wireless router 85 can communicate at a communication speed capable of transmitting captured image data of the second resolution to the head-mounted display device 90. Here, the wireless router 85 may be capable of communicating at a communication speed capable of receiving captured image data of a first resolution from the cloud server CS, and may be capable of communicating at a communication speed capable of transmitting captured image data of the first resolution to the head-mounted display device 90. When the wireless router 85 receives captured image data of the second resolution from the cloud server CS and transmits it to the head mounted display device 90, it is possible to reduce communication delays compared to when the wireless router 85 receives captured image data of the first resolution from the cloud server CS and transmits it to the head mounted display device 90. Therefore, it is possible to reduce a difference between the time when the captured image data is captured by the camera 11a and the time when the captured image data is displayed on the head mounted display device 90. For example, a WiFi router can be used as the wireless router 85. The wireless router 85 may be portable. Although only one wireless router 85 is shown in this figure, multiple wireless routers may be provided.

[0128] The head-mounted display device 90 can be worn on the head of a user. As such a head-mounted display device 90, for example, a head-mounted display can be used. The head-mounted display device 90 includes an orientation detection unit 91 , a viewing angle calculation unit 92 , a communication unit 93 , and a display unit 94 . The posture detection unit 91 detects the posture of the head. The viewing angle calculation unit 92 obtains viewing angle information that indicates the direction of the viewing field according to the detected posture of the head. The communication unit 93 has a function of wirelessly connecting to the wireless router 85 so as to be able to communicate with the wireless router 85. The communication unit 93 also has a transmission function of transmitting the obtained viewing angle information that indicates the direction of the viewing field to the patrol robot, and an image receiving function of receiving an extracted image from the patrol robot 10a. The display unit 94 displays the extracted image received from the patrol robot 10a. The image displayed by the display unit 94 is an image of a region of the omnidirectional image captured by the camera 11a according to the head posture of the user wearing the head-mounted display device 90. The display unit 94 is, for example, a display panel for both eyes. do.

[0129] The head-mounted display device 90 receives the captured image data of the construction site captured by the camera 11a via the wireless router 81, the cloud server CS, and the wireless router 85, and displays the data on the display panel. Here, the captured image data that the head-mounted display device 90 receives from the cloud server CS is, for example, captured image data with a second resolution.

[0130] Here, a case where an extracted image is transmitted from the patrol robot 10a to the head-mounted display device 90 will be described with reference to the conceptual diagram of FIG. The orientation detection unit 91 of the head-mounted display device 90 detects the orientation of the head, thereby detecting the direction D in which the front side of the head faces. By detecting the direction D, it is possible to know in which direction the user is facing (upward, downward, rightward, downward, etc.). The viewing angle calculation unit 92 obtains viewing angle information indicating the viewing direction of the user based on the direction D detected by the orientation detection unit 91. Here, the direction D in the celestial sphere corresponds to the direction of the viewing field, and the viewing angle calculation unit 92 generates information indicating this direction D as viewing angle information. The communication unit 93 of the head-mounted display device 90 transmits the viewing angle information to the patrol robot 10a (reference numeral 301).

[0131] In the patrol robot 10a, when the extraction unit 153 of the control unit 15 receives the viewing angle information via the wireless communication unit 12a, the extraction unit 153 extracts an image corresponding to the viewing angle information. Here, the omnidirectional image ZT captured by the camera 11a is an image of 360 degrees around the camera 11a. The extraction unit 153 extracts an extraction image SR, which is an image of a region from the omnidirectional image ZT in a direction corresponding to the orientation represented by the viewing angle information from the center of the omnidirectional image ZT and corresponding to the range of the field of view in that direction. The range of the omnidirectional image ZT to be extracted as the extraction image SR may be determined according to a region that may be included in the field of view. Here, an identification number is assigned to each pixel included in the celestial sphere image ZT, and it is possible to know which direction in the celestial sphere a pixel corresponds to based on the identification number. Extraction unit 153 can extract images included in the field of view based on the direction indicated by the viewing angle information and the identification number of each image. When the extraction unit 153 obtains the extracted image, the extraction unit 153 transmits the extracted image to the head-mounted display device 90 via the wireless communication unit 12a (reference numeral 302). When the attitude of the head-mounted display device 90 changes, the head-mounted display device 90 generates and transmits viewing angle information every time a change in attitude is detected or at regular time intervals. Based on this viewing angle information, the patrol robot 10a transmits an extracted image according to the direction of the head to the head-mounted display device 90. As a result, an extracted image according to the change in the head attitude is displayed on the head-mounted display device 90.

[0132] In this way, the viewing angle information is transmitted from the head mounted display device 90. The viewing angle information only needs to represent the direction of the field of view, so it can be expressed with a small amount of data. Therefore, it is possible to reduce the load of the process for transmitting the viewing angle information, and also to shorten the time required for transmission. In addition, the patrol robot 10a can transmit the omnidirectional image ZT itself to the head-mounted display device 90, but can transmit an extracted image extracted according to the viewing angle information, rather than transmitting the omnidirectional image ZT itself. This allows the number of pixels to be transmitted to be reduced compared to the case of transmitting the entire image of the omnidirectional image ZT. Since the number of pixels to be transmitted can be reduced, a high-definition extracted image can be transmitted to the head-mounted display device 90 even at a communication speed similar to the communication speed in the case of transmitting the entire image of the omnidirectional image ZT. By being able to view the high-definition extracted image on the head-mounted display device 90, it is possible to provide a realistic image at the construction site while reducing delays.

[0133] Furthermore, by live distribution of captured image data captured by the camera 11a of the patrol robot 10a, the user of the head-mounted display device 90 can view in real time an area of ​​the image captured by the omnidirectional camera corresponding to the posture of the head at a remote location (for example, the site office OF1) far from the construction site. Furthermore, by applying the omnidirectional camera as the camera 11, an image without a viewing angle restriction can be captured at the construction site and displayed on the head-mounted display device 90. When the user turns his / her head in the direction of the place he / she wants to check at the construction site (right / left, front / back, up / down, etc.) with the camera 11a as the center, the head-mounted display device 90 displays an image of the area of ​​the captured image data corresponding to that direction. As a result, the user can view the range of the viewing direction centered on the camera 11a by facing the direction corresponding to the place he / she wants to see. As a result, the operator can get a sense of realism. For example, the head-mounted display device 90 displays the work situation in a construction site, as shown in FIG.

[0134] Furthermore, when the patrol robot 10a reaches a node ND, the camera 11a can capture an image of the surroundings at the node ND, but the camera 11a may capture an image while the patrol robot 10a is moving. In this case, the patrol robot 10a stores map information of the construction site in the map information storage unit 141, and stores a patrol route in the patrol route storage unit 142. Then, the patrol processing unit 151 of the patrol robot 10a causes the driving unit 13 to move autonomously based on the map information of the construction site and the patrol route, and causes the camera 11a to capture a 360-degree image. The patrol processing unit 151 may capture an image with the camera 11a when the node ND is reached, or may capture an image on the route of the object to be captured, regardless of whether the node ND is reached. The route of the object to be captured may be stored in advance together with the patrol route. The patrol processing unit 151 may also cause the camera 11a to capture an image according to an instruction to start or end capturing an image on the patrol route input from any one of the head-mounted display device 90, the smart station 20, and the on-site server 40. In this case, an image can be captured from any position on the patrol route. When the patrol robot 10a captures images while moving, the user can view the images with the feeling that he or she is walking around the construction site and observing the surroundings.

[0135] In the third embodiment described above, the wireless router 81 and the wireless router 85 can be generally available products, and the cloud server CS can be an existing service. Therefore, it can be realized at low cost using general-purpose products, and captured image data can be distributed live with low latency.

[0136] In the above-described third embodiment, the case where the captured image data captured by the camera 11a is live-streamed has been described, but the captured image data may be stored in the cloud server CS, or may be transmitted to the smart station 20 and stored in the smart station 20. The stored captured image data may be received from the cloud server CS, or may be received from the smart station 20 via the site server 40, and viewed on the head-mounted display device 90. In this case, the state of the construction site at the time of capturing the image can be checked retroactively. Furthermore, when the captured image data is stored in the cloud server CS or the smart station 20, the captured image data may be stored in the first resolution. Then, the head-mounted display device 90 may play back the captured image data in the first resolution.

[0137] The present invention is not limited to the above-described embodiment, and can be modified without departing from the spirit of the present invention. For example, in the above embodiment, an example was described in which the smart station 20 is used as an information collection device that stores status information collected by the patrol robot 10 during its patrols, but this is not limited to this, and other devices such as a site server 40 or an external server 50 may be used as the information collection device instead of the smart station 20.

[0138] In addition, in the above embodiment, an example has been described in which the on-site server 40 is equipped with a deployment processing unit 41 and a progress management unit 42, but this is not limited to this, and the smart station 20 or the patrol robot 10 may be equipped with the functions of the deployment processing unit 41 and the progress management unit 42.

[0139] In addition, in the above embodiment, some of the functions of the smart station 20 may be provided in the patrol robot 10 or the site server 40. For example, some or all of the functions of the worker management unit 255 may be provided in the patrol robot 10 or the site server 40. In the above embodiment, the patrol robot 10 may be equipped with a lighting device in addition to the camera 11.

[0140] In the above embodiment, an example was described in which the map information is a two-dimensional map as shown in FIG. 4, and the patrol route is also a two-dimensional route, but this is not limited to this. For example, the map information and the patrol route may be information corresponding to three dimensions, such as when the drive unit 13 of the patrol robot 10 has a function of being able to move up stairs.

[0141] In addition, in the above embodiment, an example has been described in which the smart station 20 performs work progress management and worker management based on the captured image data captured by the patrol robot 10, but this is not limited to this, and other management such as process management, craftsman management, safety management, and equipment management may also be performed based on the captured image data.

[0142] Each of the components of the on-site support system 1 described above has a computer system inside. A program for implementing the functions of each of the components of the on-site support system 1 described above may be recorded on a computer-readable recording medium, and the program recorded on the recording medium may be read into a computer system and executed to perform processing in each of the components of the on-site support system 1 described above. Here, "reading a program recorded on a recording medium into a computer system and executing it" includes installing the program into a computer system. The "computer system" referred to here includes hardware such as an OS and peripheral devices.

[0143] Furthermore, a "computer system" may include multiple computer devices connected via a network including the Internet, WAN, LAN, dedicated lines, and other communication lines. Furthermore, a "computer-readable recording medium" refers to portable media such as flexible disks, optical magnetic disks, ROMs, and CD-ROMs, and storage devices such as hard disks built into a computer system. In this way, the recording medium storing the program may be a non-transitory recording medium such as a CD-ROM.

[0144] The recording medium also includes a recording medium installed inside or outside and accessible from a distribution server to distribute the program. The program may be divided into a plurality of parts, downloaded at different times, and then combined by each component of the on-site support system 1, or each divided program may be distributed by a different distribution server. Furthermore, the "computer-readable recording medium" includes a recording medium that holds a program for a certain period of time, such as a volatile memory (RAM) inside a computer system that becomes a server or a client when a program is transmitted via a network. The above program may also be a recording medium for realizing part of the above-mentioned functions. Furthermore, the recording medium may be a so-called difference file (difference program) that can realize the above-mentioned functions in combination with a program already recorded in the computer system.

[0145] In addition, some or all of the above-mentioned functions may be realized as an integrated circuit such as LSI (Large Scale Integration). Each of the above-mentioned functions may be individually processed, or some or all of the functions may be integrated into a processor. The integrated circuit method is not limited to LSI, and may be realized by a dedicated circuit or a general-purpose processor. In addition, if an integrated circuit technology that can replace LSI appears due to advances in semiconductor technology, an integrated circuit based on that technology may be used. [Explanation of symbols]

[0146] 1. 1a On-site support system 10, 10a Patrol robot 11, 11a Camera 12, 12a Wireless communication section 13 Drive unit 14 Storage section 15 Control section 20, 20a Smart Station 21 Network Communications Department 22 Input section 23, 94 Display section 24 Device storage 25, 25a Device control section 30, 30-1, 30-2, 30-3, 30-4 Smart distribution board 40, 40a On-site Server 41 Expansion processing section 42 Progress Management Department 43 Control instruction section 50 External Servers 60 Sensor section 70 Mobile Devices 80 Cubicle 81, 85 Wireless router 90 Head-mounted display device 91 Attitude detection unit 92 Viewing angle calculation unit 93 Communications Department 141 Map information storage unit 142 Tour route memory unit 143, 242 Collected information storage unit 151 Traveling Processing Unit 152, 251 Collection and Processing Unit 153 Extraction part 241 Work information storage unit 243 Management information storage unit 252 Information Acquisition Department 253 Counting Processing Unit 254 Power Monitoring Department 255, 255a Worker management department 256 Equipment and Materials Management Department 257 Display control section CS Cloud Server NW1 Public network NW2 On-site network OF1 Site Office

Claims

1. A drive unit that can move autonomously around the construction site, An imaging unit capable of capturing an image; a patrol processing unit that causes the robot to move autonomously by the driving unit based on map information of the construction site and a predetermined patrol route including a node that is a point where status information indicating a status of the surrounding environment of the construction site is acquired, and that causes the imaging unit to capture the image when the robot reaches the node, thereby acquiring the status information including at least the image; A patrol robot comprising: an information collection device that collects and stores the state information acquired by the patrol robot; a division processing unit that divides the image acquired by the cyclic processing unit into partial images of a predetermined range; a progress management unit that generates progress information indicating a progress status of work for each of the nodes based on the partial images divided by the division processing unit; An information collecting system comprising:

2. The progress management unit generates the progress information for each type of work, and generates a progress management table that lists the progress information for each type of work.

2. The information collecting system according to claim 1 .

3. The progress management unit generates a progress status map in which the progress status of the work is visualized and superimposed on the map information based on the progress information.

3. The information collecting system according to claim 1 or 2.

4. a worker management unit that generates worker information indicating a working status of a worker based on the partial images divided by the division processing unit; 4. The information collecting system according to claim 1, wherein the information collecting system is a computer-readable medium.

5. The information collecting device includes: It is connected to the distribution board that supplies electricity to the construction site, A display unit; A collection processing unit that collects the status information including at least the amount of power used by the distribution board and stores the collected status information in an information storage unit; An information acquisition unit that acquires work information related to work at the construction site, the work information including at least design drawings and work instructions; a display control unit that causes the status information collected by the collection processing unit and the work information acquired by the information acquisition unit to be displayed on the display unit; 5. The information collecting system according to claim 1, further comprising:

6. A remote image display system having a patrol robot and a head-mounted display device, The patrol robot is A drive unit that can move autonomously around the construction site, An imaging unit capable of capturing an image of the construction site; a patrol processing unit that causes the robot to move autonomously by the driving unit based on map information of the construction site and a predetermined patrol route including a node that is a point where status information showing the status of the surrounding environment of the construction site is acquired, and that causes the imaging unit to capture the image when the robot reaches the node, thereby acquiring the status information including at least the image; a viewing angle information receiving unit that receives viewing angle information transmitted from the head-mounted display device; an extraction unit that extracts an image corresponding to the viewing angle information from a celestial sphere image of the construction site captured by the imaging unit; an image transmission unit that transmits the extracted image to the head-mounted display device, The head-mounted display device includes: It is wearable on the user's head; a posture detection unit for detecting a posture of the head; a viewing angle calculation unit that calculates viewing angle information that indicates a direction of a viewing field according to the detected attitude; a transmitter that transmits the obtained viewing angle information to the patrol robot; an image receiving unit for receiving the extracted image; a display unit for displaying the received extracted image, The remote image display system comprises: an information collection device that collects and stores the state information acquired by the patrol robot; a division processing unit that divides the image acquired by the cyclic processing unit into partial images of a predetermined range; a progress management unit that generates progress information indicating a progress status of work for each of the nodes based on the partial images divided by the division processing unit; The remote image display system further comprises:

7. The imaging unit captures a celestial sphere image of a live image at the construction site, The extraction unit extracts an image according to the viewing angle information from the spherical image of the live image.

7. A remote image display system according to claim 6.

8. a patrol processing step in which a patrol robot having a drive unit capable of autonomously moving within a construction site and an imaging unit capable of capturing images is caused to move autonomously by the drive unit based on map information of the construction site and a predetermined patrol route including a node which is a point at which status information showing the status of the surrounding environment of the construction site is acquired, and when the node is reached, the image is captured by the imaging unit to acquire the status information including at least the image; a collection step in which an information collection device collects and stores the status information acquired by the patrol processing step; a division processing step in which a division processing unit divides the image captured in the cyclic processing step into partial images of a predetermined range; a progress management step of generating progress information indicating a progress status of work for each of the nodes based on the partial images divided by the division processing step by a progress management unit; 13. An information gathering method comprising:

9. A remote image display method executed in a remote image display system having a patrol robot, a head-mounted display device that can be mounted on a user's head, an information collection device, a segmentation processing unit, and a progress management unit, a patrol processing step in which the patrol robot is equipped with a drive unit capable of autonomously moving within a construction site and an imaging unit capable of capturing images of the construction site, and the drive unit causes the patrol robot to autonomously move based on map information of the construction site and a predetermined patrol route including a node that is a point at which status information showing the status of the surrounding environment of the construction site is acquired, and when the patrol robot reaches the node, the imaging unit captures the image to acquire the status information including at least the image; a viewing angle information receiving step in which the patrol robot receives viewing angle information transmitted from the head-mounted display device and indicating a direction of a viewing field corresponding to a posture of a head on which the head-mounted display device is mounted; an extraction step in which the patrol robot extracts an image corresponding to the viewing angle information from a celestial sphere image of the construction site captured by the imaging unit; an image transmission step in which the patrol robot transmits the extracted image to the head-mounted display device; a posture detection step in which the head mounted display device detects a posture of the head; a viewing angle calculation step in which the head-mounted display device determines viewing angle information that indicates a direction of a viewing field according to the detected posture; a transmission step in which the head-mounted display device transmits the obtained viewing angle information to the patrol robot; an image receiving step in which the head mounted display device receives the extracted image; a display step of displaying the received extracted image by the head mounted display device; an information collecting step in which the information collecting device collects and stores the status information acquired by the patrol robot; a division processing step in which the division processing unit divides the image acquired by the cyclic processing step into partial images of a predetermined range; a progress management step of generating progress information indicating a progress status of work for each of the nodes based on the partial images divided by the division processing step by the progress management unit; A method for remote image display comprising:

Images