Gas Detection Map Generation System and Gas Detection Map Generation Method

Abstract

To enable easily confirming a detection state of gas.SOLUTION: A system (100) comprises a movement detection device (10) that is provided so as to enable unmanned movement in a predetermined moving area and detects gas, and an information processing device (40) that processes each piece of information by the movement detection device. The movement detection device includes a gas detection section (11) for detecting the gas and acquiring gas information, and a position detection section (12) for acquiring position information of the movement detection device. The information processing device includes an information registration section (44c) that registers the gas information by the gas detection section in a coordinate position corresponding to the position information by the position detection section in a map corresponding to the moving area to create a gas detection map.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a gas detection map generation system and a gas detection map generation method for detecting a gas and generating a map.

Background Art

[0002] Patent Document 1 discloses a robot device equipped with a gas sensor. In Patent Document 1, the robot device is moved to a location where gas leakage may occur by remote operation via an operation box (controller) by an operator. Then, the robot device that has moved to a predetermined position outputs the detection result of the gas sensor to the outside, and the detection result can be displayed and output at the operation box.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in Patent Document 1, although the detection result of the gas sensor is output, there is a problem that it is not associated with the detection position and it is difficult to confirm the gas leakage situation.

[0005] The present disclosure has been made in view of such points, and an object thereof is to provide a gas detection map generation system and a gas detection map generation method that can easily confirm the gas detection situation.

Means for Solving the Problems

[0006] A gas detection map generation system according to one aspect of the present disclosure includes a mobile detection device that is movably provided within a predetermined movement area and detects gas, and an information processing device that processes each piece of information obtained by the mobile detection device. The mobile detection device includes a gas detection unit for detecting gas and obtaining gas information, a position detection unit for obtaining position information of the mobile detection device, a communication unit for transmitting the gas information obtained by the gas detection unit and the position information obtained by the position detection unit to the information processing device, and a movement mechanism for unmanned movement of the mobile detection device. The information processing device includes a communication unit for receiving each piece of information transmitted from the communication unit of the mobile detection device, and an information registration unit for registering the gas information obtained by the gas detection unit at a coordinate position corresponding to the position information in a map corresponding to the movement area to create a gas detection map. The mobile detection device repeatedly obtains the position information obtained by the position detection unit and the gas information obtained by the gas detection unit after that, with a predetermined time interval and transmits from the communication unit of the mobile detection device to the communication unit of the information processing device collect the previously repeatedly acquired position information and the gas information for transmission and repeat this which is characterized in that.

[0007] A gas detection map generation method according to one aspect of the present disclosure includes a step of detecting gas with a mobile detection device that unmannedly moves within a predetermined movement area and obtaining gas information, a step of obtaining position information when the gas is detected by the mobile detection device, After repeatedly acquiring the gas information and the position information in each of the above steps, with a predetermined time interval, transmit the previously repeatedly acquired position information and the gas information together from the communication unit of the movement detection device to the communication unit of the information processing device that processes each information by the movement detection device. Repeat this step, and in the information processing device and a step of registering the gas information at a coordinate position corresponding to the position information in a map corresponding to the movement area to create a gas detection map. It is characterized by comprising the steps of.

Effects of the Invention

[0008] According to the present disclosure, a gas detection map can be obtained as data associating gas information with position information, and it is possible to easily confirm the detection status of gas.

Brief Description of the Drawings

[0009]

Figure 1

Figure 2

Figure 3

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DETAILED DESCRIPTION OF THE INVENTION

[0010] FIG. 1 is a diagram showing an example of the schematic configuration of a gas detection map generation system according to the embodiment. The system (gas detection map generation system) 100 shown in FIG. 1 is an example of a gas detection map generation system that detects a predetermined gas and generates a map. First, the configuration of the system 100 will be described with reference to FIG. 1.

[0011] Hereinafter, taking as an example the case of generating a gas detection map at a work site where gas leakage is likely to lead to an accident, such as a tunnel construction work site, will be described. However, the place where the map is generated is not limited to the work site of tunnel construction. For example, other civil engineering work sites, construction work sites, indoor facilities such as buildings without construction work, or outdoor areas may be targeted, as long as it is any place where the gas detection situation can be represented by a map.

[0012] System 100 includes a mobile detection device 10 that is provided to be movable and gas-detectable within a work site, and an information processing device 40 that processes various information acquired by the mobile detection device 10. System 100 may further include a notification device (display device) 30 held by an operator 1. Alternatively, the notification device 30 may be installed in a management facility such as an office.

[0013] Each device constituting System 100 is communicably connected via a network 35. Communication between the devices may be performed via other devices (not shown). Also, communication between the devices may be directly performed in an ad hoc communication mode. Here, the communication may be wireless communication, wired communication, or a combination of wireless communication and wired communication.

[0014] In System 100, the information processing device 40 creates a gas detection map by processing each information including the gas detection result detected by the mobile detection device 10 at the work site. The information processing device 40 performs a process of registering (synthesizing, drawing, plotting) gas information at the position where the gas is detected on the gas detection map. Also, the information processing device 40 may perform a process of associating other information with the gas information in addition to the registration process. Further, the information processing device 40 may display or output the created gas detection map.

[0015] In FIG. 1, the case where there is one mobile detection device 10 is illustrated. However, System 100 may include a plurality of mobile detection devices 10, and the information processing device 40 may process information from the plurality of mobile detection devices 10.

[0016] Next, the configuration of the system 100 will be described in more detail. FIG. 2A is a diagram showing an example of the hardware configuration of the movement detection device according to the embodiment.

[0017] [Movement Detection Device 10] As shown in FIG. 2A, the movement detection device 10 includes a gas detection unit 11, a position detection unit 12, a photographing unit 13, a marking attachment unit 14, a movement mechanism 15, a storage unit 16, a communication unit 17, and a control unit 18. The storage unit 16, the communication unit 17, and the control unit 18 in the movement detection device 10 are not particularly limited, but are configured by a computer such as a personal computer (PC), a mobile PC, a tablet terminal, a smartphone, or a mobile phone, for example.

[0018] As an example, the gas detection unit 11 can use an electrochemical, infrared, or laser-excitation type gas sensor for detecting gas. The gas detection unit 11 acquires gas information including gas species (gas composition), gas concentration, etc. as detection results. The gas species can include combustible gas and other gas species, and examples thereof include oxygen, hydrogen sulfide, carbon monoxide, carbon dioxide, and methane. The gas concentration can be exemplified by those with vol% or ppm as the volume ratio unit.

[0019] As an example, the position detection unit 12 can use depth sensors such as a LiDAR, a stereo camera, and a TOF sensor in addition to an inertial measurement unit (IMU). The position detection unit 12 outputs detection results of the angular velocity and acceleration of the behavior of the movement detection device 10 and the detection result of the distance from the movement detection device 10 to the object. These detection results are used for generating the current position information (position information) of the movement detection device 10.

[0020] As an example, the photographing unit 13 can use a digital camera or an omnidirectional camera (360-degree camera) for photographing visible light, or an infrared camera for visualizing and photographing infrared rays emitted from an object. The photographing unit 13 acquires and outputs image information (moving image or still image) as a photographing result of photographing the surroundings of the movement detection device 10.

[0021] Here, the infrared camera that constitutes the imaging unit 13 can visualize and capture a predetermined gas, and can also be configured as a gas detection unit 11 by acquiring such a captured result as gas information including the gas type, the concentration of the gas, and the like.

[0022] As an example, the mark attachment unit 14 can use an injection device provided with a nozzle that ejects a coloring agent (such as a fluorescent paint) as a mark within a predetermined range of the work site. The mark attachment unit 14 may adopt other configurations other than the injection device for the coloring agent as long as it can physically attach a mark within a predetermined range of the work site.

[0023] As an example, the moving mechanism 15 can use a traveling device such as a crawler or a flying device such as an unmanned aerial vehicle (UAV). The moving mechanism 15 is configured to be able to move the mobile detection device 10 unmanned by remote control or autonomous control toward the gas detection position at the work site.

[0024] The storage unit 16 stores each piece of information, data, etc. including the gas information of the gas detection unit 11 and the image information of the imaging unit 13. Further, the storage unit 16 stores programs for the control unit 18 to perform various calculations and controls, programs for functioning as an application, data, and the like.

[0025] The communication unit 17 is a communication interface and communicates with other devices such as the notification device 30 and the information processing device 40 according to the commands of the control unit 18.

[0026] The control unit 18 is composed of a CPU, a programmable device, etc., and controls the operations and processes of each of the above-described functional units and devices that make up the movement detection device 10. The movement detection device 10 is provided so as to be movable within the work site under the control of the control unit 18. Further, in the movement detection device 10, detections by the gas detection unit 11 and the position detection unit 12, imaging by the imaging unit 13, etc. are performed under the control of the control unit 18, and each information including their detection results and output results is stored in the storage unit 16. The movement detection device 10 transmits each information stored in the storage unit 16 by the communication unit 17 to the notification device 30 and the information processing device 40 under the control of the control unit 18.

[0027] [Control Unit 18 of Movement Detection Device 10] FIG. 2B is a diagram showing an example of a functional block of the control unit in the movement detection device. As shown in FIG. 2B, the control unit 18 of the movement detection device 10 functions as a movement map creation unit 18a, a movement mechanism control unit 18b, an information management unit 18c, a determination unit 18d, a density abnormal position registration unit 18e, a marking control unit 18f, a timing adjustment unit 18g, and a notification control unit 18h. These functional blocks are realized by a program for gas detection control including movement control stored in the storage unit 16 being executed by the control unit 18. Note that the control unit 18 shown in FIG. 2B may include other functional blocks in addition to the above-described functional blocks.

[0028] The movement map creation unit 18a creates a movement map that can be used for movement control of the movement detection device 10 by the movement mechanism 15 and can acquire the current position information (coordinate information) of the movement detection device 10. In other words, the movement map created by the movement map creation unit 18a is used in the processes of the movement mechanism control unit 18b and the information management unit 18c.

[0029] For example, the movement map creation unit 18a creates verification data having a unique coordinate system that three-dimensionally configures the shape around the movement detection device 10 at the work site based on the detection result of the position detection unit 12. Then, the movement map creation unit 18a creates a movement map by collating the created verification data with an existing pre-map corresponding to the actual work site.

[0030] The movement mechanism control unit 18b controls the driving amount, driving timing, etc. of the movement mechanism according to a remote operation command or an autonomous driving control command, and unmannedly moves the movement detection device 10 to a designated position within the work site. Each command to the movement mechanism control unit 18b may be input from the information processing device 40 or other devices via the communication unit 17, or other communication means may be provided with the communication unit 17 and input via the communication means. Each command to the movement mechanism control unit 18b may also be the coordinate position of the movement detection device 10 in the movement map created by the movement map creation unit 18a to the destination of movement.

[0031] The information management unit 18c can function as a current position acquisition unit, and acquires the current position information of the movement detection device 10 in the movement map corresponding to the work site. For example, the information management unit 18c obtains the coordinate information of the movement detection device 10 in the unique coordinate system of the verification data created by the movement map creation unit 18a based on the detection result of the position detection unit 12. Then, the information management unit 18c acquires the current position information of the movement detection device 10 in the movement map by converting the coordinate information of the verification data according to the movement map.

[0032] Note that the information management unit 18c may obtain the current position information of the movement detection device 10 in the movement map by using a predetermined relational expression, table, algorithm, etc. from the detection result of the position detection unit 12.

[0033] The information management unit 18c can function as a current time acquisition unit, and acquires a time stamp of the current time from a hardware clock such as a CMOS clock included in the computer, a radio clock, a GPS (Global Positioning System), or the like. The information management unit 18c can function as an image information acquisition unit, and acquires the image information output from the photographing unit 13. The information management unit 18c can function as a gas information acquisition unit, and acquires gas information including a detection result of the concentration of the gas output from the gas detection unit 11.

[0034] The information management unit 18c can function as an information association unit, and associates the time stamp with the current position information, the image information, and the gas information acquired at the same time as the time stamp. Then, the information management unit 18c stores the information in the associated state in the storage unit 16, and controls to transmit it to the information processing apparatus 40 via the communication unit 17.

[0035] The determination unit 18d compares the gas information acquired by the information management unit 18c with a predetermined threshold value, and determines the presence or absence of an abnormality related to the gas such as gas leakage based on the comparison. For example, when the gas detection unit 11 is configured by a gas sensor, the determination unit 18d compares the concentration of the gas in the gas information with the threshold value, and determines that there is an abnormality (gas leakage) when the concentration of the gas is outside the range of the threshold value, and there is no abnormality (no gas leakage) when it is within the range of the threshold value. Note that the gas concentration may be determined step by step. Further, for example, when the gas detection unit 11 is configured by an infrared camera, it is preferable to analyze the photographing result to acquire the concentration of the gas, and determine the presence or absence of an abnormality related to the gas by comparison with the threshold value. Alternatively, the detected concentration of the gas may be managed as a detection value.

[0036] The abnormal concentration position registration unit 18e registers marks at the gas leakage position or the position with a high gas concentration in the image information to create marked processed image information. For example, when the determination unit 18d determines that there is an abnormality based on the gas concentration, the abnormal concentration position registration unit 18e synthesizes (registers) a rectangular or circular mark surrounding the gas leakage position represented in the image information to create marked processed image information. Also, for example, the abnormal concentration position registration unit 18e may detect an object that is characteristic at or near the gas leakage position in the image information, and create marked processed image information by registering the object as an AR marker.

[0037] FIG. 3A and FIG. 3D are diagrams showing an example of image information, and FIG. 3B and FIG. 3C are diagrams showing an example of marked processed image information. For example, when the abnormal concentration position registration unit 18e acquires the image information G1 shown in FIG. 3A from the information management unit 18c and the determination unit 18d determines that there is gas leakage (abnormality) at the time and position when the image information G1 is acquired, the marked processed image information G2 shown in FIG. 3B is created. The marked processed image information G2 is generated by the abnormal concentration position registration unit 18e analyzing and specifying the gas leakage position from the image information G1 in FIG. 3A and synthesizing a circular mark M at the leakage position.

[0038] Alternatively, instead of the marked processed image information G2 in FIG. 3B, marked processed image information with the leakage position registered as an AR marker may be created. In this case, in the digital space where the leakage position is displayed via the camera or AR glasses of the notification device 30 (see FIG. 1) possessed by the operator 1, as shown in the marked processed image information G3 in FIG. 3C, a display G3a emphasizing gas information or caution may be made at the leakage position.

[0039] The mark attachment control unit 18f controls the operation for attaching the mark of the mark attachment unit 14. For example, when the mark attachment unit 14 is an injection device that ejects a coloring agent (such as a fluorescent paint) as a mark, the mark attachment control unit 18f controls the ejection amount of the coloring agent and the attachment target position. As the attachment target position, it can be exemplified by an object that is characteristic in the vicinity of the gas leakage position, the position where the gas concentration is high, or the position where the concentration abnormality position registration unit 18e synthesizes the mark, similar to the position where the mark is synthesized.

[0040] Here, the information management unit 18c may also associate the image information G4 (see FIG. 3D) in the state where the mark G4a such as a coloring agent is attached by the mark attachment control unit 18f with the time stamp and control it to be transmitted to the information processing device 40 via the communication unit 17. In this case, the information management unit 18c may process the image information G4 as mark-processed image information.

[0041] The timing adjustment unit 18g controls the timing (cycle or timing) at which the information management unit 18c acquires the time stamp, current position information, image information, and gas information. For example, the timing adjustment unit 18g may control the acquisition of each information according to the time or cycle stored in the storage unit 16, or may adjust the timing or cycle of acquiring each information according to the input by the operator. Further, the timing adjustment unit 18g may set the timing of acquiring each information according to the change in the gas concentration in the gas information. Furthermore, the timing adjustment unit 18g may adjust the detection cycle according to the moving speed of the movement detection device 10. In this case, the continuity of the imaging range by the imaging unit 13 can be ensured.

[0042] The notification control unit 18h controls the transmission of a notification of abnormal detection related to the gas to the notification device 30. For example, when the notification device 30 is located near the movement detection device 10 and the determination unit 18d determines that there is an abnormality related to the gas, the notification control unit 18h controls the notification device 30 to notify predetermined information.

[0043] FIG. 4 is a diagram showing an example of information acquired by the movement detection device. Information D1 shown in FIG. 4 is information stored in the storage unit 16 of the movement detection device 10 and a storage unit 42 (to be described later) of the information processing device 40. Further, the information D1 has a field F11 in which a time stamp is stored, a field F12 in which current position information is stored, a field F13 in which image information is stored, a field F14 in which gas information is stored, and a field F15 in which marked processed image information is stored. That is, the information D1 is information in which a time stamp, current position information, image information, gas information, and marked processed image information are associated with each other.

[0044] In the example of FIG. 4, only the record R11 of the information D1 is illustrated, but a plurality of records are associated as time-series data and included in the information D1. Further, the marked processed image information is omitted when the determination unit 18d determines that there is no abnormality related to gas.

[0045] [Notification device 30] The notification device 30 (see FIG. 1) is a device that notifies the operator 1 of information. The information notified by the notification device 30 may be visually presented to the operator 1, may be auditorily presented, or may be tactilely presented. The notification device 30 may be, for example, a display device equipped with AR glasses or a display, and may notify the operator 1 of information by displaying the information. Such a display device may be attached to a gas mask. The notification device 30 may be, for example, a light-emitting device equipped with an LED or the like, and may notify the operator 1 of information by turning on or flashing the light. The notification device 30 may be, for example, an audio output device equipped with a speaker, and may notify the operator 1 of information by outputting voice, warning sounds, or the like. The notification device 30 may be, for example, a vibrator or the like, and may notify the operator 1 of information by vibration.

[0046] When the notification device 30 receives a notification of gas abnormality detection from the movement detection device 10 or the information processing device 40, it notifies the operator 1 to convey the abnormality.

[0047] [Information Processing Device 40] The information processing device 40 is a device that performs processes such as creating a gas detection map. The information processing device 40 is not particularly limited, and for example, it may be a server computer (tower server, rack-mounted server, blade server), a personal computer (desktop computer, laptop computer, tablet computer). Also, as long as the information processing device 40 has sufficient processing power for creating a gas detection map, it may be other computers such as a smartphone or a mobile phone.

[0048] FIG. 5A is a diagram showing an example of the hardware configuration of the information processing device according to the embodiment. As shown in FIG. 5A, the information processing device 40 includes a communication unit 41, a storage unit 42, a display unit 43, and a control unit 44.

[0049] The communication unit 41 is a communication interface and communicates with other devices such as the movement detection device 10 and the notification device 30 according to the commands of the control unit 44. The storage unit 42 stores each associated piece of information transmitted from the movement detection device 10 (see FIG. 4), a movement map, a gas detection map, registered drawing data, etc. Also, the storage unit 42 stores programs for the control unit 44 to perform various operations and controls, programs for functioning as an application, data, etc. The display unit 43 outputs data that allows an external worker 1 (see FIG. 1) or a user to display a gas detection map in response to an access from the worker 1 or the like.

[0050] The control unit 44 is composed of a CPU or a programmable device, etc., and controls the respective processes of the communication unit 41, the storage unit 42, the display unit 43, etc. that constitute the information processing device 40. Under the control of the control unit 44, the information processing device 40 receives each piece of information transmitted from the movement detection device 10 via the communication unit 41 and performs processes for creating a gas detection map. Also, under the control of the control unit 44, the information processing device 40 stores the received pieces of information and the created gas detection map in the storage unit 42, and outputs the gas detection map stored in the storage unit 42 by the display unit 43.

[0051] [Control Unit 44 of Information Processing Apparatus 40] FIG. 5B is a diagram showing an example of a functional block of the control unit in the information processing apparatus. As shown in FIG. 5B, the control unit 44 of the information processing apparatus 40 functions as a gas detection map association unit 44a, an information registration unit 44b, a gas detection map drawing unit 44c, a concentration abnormal position registration unit 44d, and a display control unit 44e. These functional blocks are realized by executing, by the control unit 44, a program for creating a gas detection map stored in the storage unit 42. Note that the control unit 44 shown in FIG. 5B may include other functional blocks in addition to the above-described functional blocks.

[0052] The gas detection map association unit 44a creates a gas detection map that enables gas information and image information to be synthesized, drawn, and displayed at a position corresponding to the current position information of the movement detection device 10. The gas detection map association unit 44a creates a gas detection map by associating a movement map created by the movement detection device 10 with the drawing data of the work site stored in the storage unit 42. Therefore, the gas detection map created by the gas detection map association unit 44a is a map corresponding to the work site.

[0053] For example, the gas detection map association unit 44a moves, enlarges, reduces, and rotates the movement map, and aligns and associates it with the drawing data. At this time, the gas detection map association unit 44a may register marks such as QR codes (registered trademarks) and AR markers at three locations in the drawing data and the movement map respectively, and perform a process of aligning the drawing data and the movement map via the marks. Further, for example, when a mark is physically arranged at the work site, the gas detection map association unit 44a may omit the prior registration of the mark on the movement map, and perform a process of aligning the drawing data and the movement map by remote operation of the movement detection device 10.

[0054] The drawing data may be either a two-dimensional plan view or a three-dimensional 3D model. When using two-dimensional drawing data, the gas detection map association unit 44a may collapse the vertical dimension of the movement map and handle it two-dimensionally.

[0055] The information registration unit 44b registers the timestamp, current position information, image information, and gas information transmitted from the movement detection device 10 which are associated with each other, in the gas detection map created by the gas detection map association unit 44a. The information registration unit 44b creates a gas detection map in which each piece of information such as gas information is registered at the coordinate position of the associated current position information, and stores it in the storage unit 42.

[0056] The gas detection map drawing unit 44c performs a process on the gas detection map in which each piece of information is registered by the information registration unit 44b so that each piece of information can be displayed according to the coordinate position of the current position information. FIGS. 6A and 6B are diagrams showing an example of a gas detection map according to an embodiment. FIGS. 6A and 6B show an example of a state in which color-coding (contour display) is performed on corresponding coordinates on the gas detection map GM according to the value of the gas concentration in the gas information. The color-coding of the gas concentration by the gas detection map drawing unit 44c is from light color to dark color as the gas concentration increases, but it can also be exemplified that coloring is performed so as to gradually change from green → yellow → red according to the change in the gas concentration.

[0057] In the example of the gas detection map GM in FIG. 6A, the gas detection map drawing unit 44c synthesizes a balloon-shaped or rectangular information display area GMa at the coordinate position of the current position information in the gas detection map GM. Further, the information display area GMa has an area that indicates the coordinate position of the current position information in a pointed shape at the tip or an arrow shape. The time of the timestamp, the gas type and the gas concentration of the gas information are displayed in the information display area GMa. In the information display area GMa of FIG. 6A, a plurality of gas types are displayed, but the gas type and its gas concentration for the gas type determined to have gas leakage by the determination unit 18d may be displayed. Also, for the gas types not determined to have gas leakage by the determination unit 18d, the display may be omitted.

[0058] Further, as shown in FIG. 6B, the gas detection map drawing unit 44c may display the mark processing image information at the coordinate position of the associated current position information with respect to the gas detection map GM. Note that both pieces of information shown in FIGS. 6A and 6B may be simultaneously displayed in the information display area GMa.

[0059] The density abnormal position registration unit 44d exhibits the same function as the density abnormal position registration unit 18e of the movement detection device 10. In the present embodiment, both the movement detection device 10 and the information processing device 40 have density abnormal position registration units 18e and 44d, and a case where only the density abnormal position registration unit 18e of the movement detection device 10 functions will be described. However, as long as it functions in the same manner as the present embodiment, a configuration in which any one of the density abnormal position registration units 18e and 44d is omitted may be adopted.

[0060] The display control unit 44e controls the processing in the display unit 43. The display control unit 44e appropriately converts, for example, the configuration data of the gas detection map stored in the storage unit 42 in response to access from an external worker 1 (see FIG. 1) or a user at the display unit 43. Then, the display control unit 44e enables the data capable of displaying the gas detection map on a necessary device to be downloaded or displayed via the network 35 through the communication unit 41.

[0061] Subsequently, the flow of creating the gas detection map in the present embodiment will be described with reference to FIG. 7. FIG. 7 is a flowchart showing the flow of creating the gas detection map in the movement detection device.

[0062] Here, it is assumed that a movement map is created in advance by the movement map creation unit 18a in the movement detection device 10 and stored in the storage unit 16. Further, it is assumed that a gas detection map is created by associating the movement map with the drawing data of the work site by the gas detection map association unit 44a in the information processing device 40.

[0063] As shown in FIG. 7, in order to determine whether or not the movement detection device 10 is moving to a designated location, the control unit 18 determines whether or not the movement mechanism control unit 18b is performing movement control on the movement mechanism 15 (step (hereinafter referred to as "S") 101). When the movement mechanism control unit 18b is performing movement control in S101 (S101: Yes), a process of returning to S101 is performed to continue the movement control (S102). When the movement mechanism control unit 18b is not performing movement control in S101 and the movement detection device 10 has arrived at the designated location (S101: No), the information management unit 18c acquires a time stamp indicating the current time (S103).

[0064] At the same or substantially the same timing as the execution of S103, the information management unit 18c acquires the current position information of the movement detection device 10 in the movement map (S104), the image information output from the imaging unit 13 (S105), and the gas information output from the gas detection unit 11 (S106). In S105, when the imaging unit 13 captures a moving image, the information management unit 18c cuts out a still image (chapter image) from the moving image and acquires it as the image information.

[0065] After the execution of S106, in order to determine whether or not there is an abnormality regarding the gas at the designated location where the movement detection device 10 has moved, the control unit 18 causes the determination unit 18d to compare the gas concentration in the gas information with the threshold value stored in the storage unit 16 (S107). It is assumed that the threshold values for determining abnormalities such as gas leakage are stored in advance in the storage unit 16.

[0066] When the gas concentration is within the threshold range in S107 (S107: Yes), the information management unit 18c associates the acquired time stamp, current position information, image information, and gas information and stores them in the storage unit 16 (S108). Thereafter, the communication unit 17 transmits the associated pieces of information to the communication unit 41 of the information processing device 40 (S109).

[0067] After the execution of S109, in order to control the timing (cycle or timing) at which each piece of information such as gas information is acquired, the control unit 18 controls the timing at which the timing adjustment unit 18g shifts to the next step (S110). The timing adjustment unit 18g sets the timing to shift to the next step according to the time or cycle stored in the storage unit 16, the change in the gas concentration, and the commands from the operator 1 or the like.

[0068] After the execution of S110, it is determined whether the gas detection by the movement detection device 10 has ended (S111). If the gas detection has ended, it ends as it is (S111: Yes). If the gas detection continues without ending, it returns to S101 to perform the gas detection again (S111: No). Thereby, the time stamp, the current position information, the image information, and the gas information can be repeatedly acquired every time set by the timing adjustment unit 18g and continuously transmitted to the communication unit 41 of the information processing device 40.

[0069] If the gas concentration is not within the threshold range in S107 (S107: No), the possibility of an abnormality such as a gas leak occurring is high. In this case, the control unit 18 detects the position where there is an abnormality in the gas concentration by the concentration abnormality position registration unit 18e (S112). For example, when image information is acquired by an infrared camera having both the functions of the gas detection unit 11 and the imaging unit 13, the position with a high gas concentration may be registered by analyzing the image information.

[0070] After the execution of S112, the concentration abnormality position registration unit 18e creates marked processing image information by synthesizing and registering a mark at the position where there is an abnormality in the gas concentration in the image information (S113). Further, the mark attachment control unit 18f controls the mark attachment unit 14 to attach a mark by ejecting a coloring agent or the like at the actual position at the work site where an abnormality in the gas concentration is detected (S114). Then, the imaging unit 13 images the work site including the range where the mark is attached, and the information management unit 18c acquires the imaging result as image information. Then, the information management unit 18c associates such image information with each piece of information acquired in S103 to S106 and stores it in the storage unit 16 (S115), and proceeds to S109 to transmit the associated pieces of information to the information processing device 40 by the communication unit 17.

[0071] Figure 8 is a flowchart showing the flow of creating a detection map in the information processing apparatus. The information processing apparatus 40 receives each piece of information transmitted from the communication unit 17 of the movement detection apparatus 10 by the communication unit 41 (S201). Then, in the control unit 44, the information registration unit 44b registers gas information, a time stamp, image information, and marked processed image information at the coordinate position of the associated current position information with respect to the gas detection map (S202). In S202, the gas detection map in which each piece of information is registered is stored in the storage unit 42.

[0072] After the implementation of S202, the control unit 44 determines whether the detection of the movement detection apparatus 10 continues via the communication states of the communication units 17 and 41, etc. (S203). If the detection of the movement detection apparatus 10 continues (S203: Yes), it returns to S201 to receive each piece of information again. If the detection of the movement detection apparatus 10 has ended without continuing (S203: No), the reception of each piece of information is stopped and it proceeds to S204. Thereby, in the information processing apparatus 40, during the detection of the movement detection apparatus 10, each piece of real-time information can be received by the communication unit 41 and registered in the gas detection map by the information registration unit 44b.

[0073] In S204, based on each piece of information registered in the gas detection map from the start to the end of the detection of the movement detection apparatus 10, the gas detection map drawing unit 44c performs processes such as synthesis, drawing, and plotting so that each piece of information can be displayed according to the coordinate position of the current position information (S204). Thereby, the gas detection maps shown in FIGS. 6A and 6B are created. After the implementation of S204, the display control unit 44e controls so that the gas detection map can be displayed via the display unit 43 in response to a request from the user (S205).

[0074] In the above configuration, the system 100 of the present embodiment can acquire gas information at the work site with the mobile detection device 10 that moves unmanned, and by registering such gas information at the information registration unit 44b at the coordinate position according to the current position information, a gas detection map can be created. As a result, a gas detection map can be obtained as data associating gas information at a plurality of designated locations at the work site with the position information, and it becomes easier to confirm the gas detection situation at the work site.

[0075] Here, as a comparative configuration, a configuration in which gas sensors capable of detecting gas are installed at a plurality of locations at the work site can be considered. In such a configuration, since the gas detection position is fixed, if the gas leakage position and the sensor are separated, it becomes impossible to confirm that the gas concentration is high. In this regard, in the embodiment, since the gas is detected by the mobile detection device 10 that moves unmanned, the gas detection range can be easily expanded compared to the comparative configuration, and the degree of freedom of the detection position can also be increased to improve safety.

[0076] Also, since the gas concentration is registered in the gas detection map, by checking the gas detection map, safety can be improved, such as avoiding the work by the worker 1 at the location where the gas concentration becomes high. Moreover, as shown in FIGS. 6A and 6B, the distribution of the gas concentration can be displayed by color coding or the like, and it is possible to facilitate the confirmation by the worker 1 and the user.

[0077] Furthermore, at the concentration abnormal position registration unit 18e, a mark M can be synthesized at the gas leakage position like the mark processing image information G2 shown in FIG. 3B, and at the information registration unit 44b, the mark processing image information G2 can be displayed like the gas detection map GM shown in FIG. 6B. As a result, it becomes even easier to confirm the abnormality related to the gas by the gas detection map GM.

[0078] Also, since the mobile detection device 10 has the mark attachment part 14, a physical mark can be attached to a predetermined range at the work site, making it easier for the worker 1 to visually recognize the location where an abnormality has occurred with respect to the gas and further enhancing safety.

[0079] Furthermore, the movement detection device 10 can acquire each piece of information periodically by the timing adjustment unit 18g or according to the detection result of the gas detection unit 11. Also, since each acquired piece of information is transmitted and received by each communication unit 17, 41, each piece of information registered in the gas detection map can be updated in real time. Moreover, since the transmission and reception of each piece of information are repeated at predetermined time intervals, the communication volume can be reduced compared to continuous transmission and reception, and the communication occupancy period can be shortened to provide room for transmitting and receiving other commands. When shooting a moving image by the shooting unit 13, after the detection by the movement detection device 10 is completed, the moving image can be collectively transmitted to the information processing device 40, which can contribute to reducing the communication volume during detection. Also, the collective transmission of the moving image can be performed by selecting a state where the power supply is stable.

[0080] In addition, since the information to be associated includes image information and a time stamp, when a chapter image obtained by shooting a moving image is used as the image information, the search speed from the moving image corresponding to the chapter image can be improved.

[0081] Furthermore, since the notification control unit 18h transmits a notification of abnormal detection related to gas to the notification device 30, when the operator 1 who has the notification device 30 approaches the gas leakage position together with the movement detection device 10, the notification device 30 can issue an alarm.

[0082] FIG. 9 is a diagram illustrating the hardware configuration of a computer 50 for realizing the abnormal detection device according to the above-described embodiment. The hardware configuration shown in FIG. 9 includes, for example, a processor 51, a memory 52, a storage device 53, a reading device 54, a communication interface 56, and an input / output interface 57. Note that the processor 51, the memory 52, the storage device 53, the reading device 54, the communication interface 56, and the input / output interface 57 are connected to each other via, for example, a bus 58.

[0083] The processor 51 may be, for example, a single processor, a multi-processor, or a multi-core. By using the memory 52 to execute a program that describes all or part of the above-described operation flow procedures, the processor 51 that provides some or all of the functions of the above-described control units 18 and 44 reads and executes the program stored in the storage device 53, and operates as each functional block of the control units 18 and 44, for example.

[0084] The memory 52 is, for example, a semiconductor memory and may include a RAM area and a ROM area. The storage device 53 is, for example, a semiconductor memory such as a hard disk or a flash memory, or an external storage device.

[0085] The reading device 54 accesses the removable storage medium 55 according to the instruction of the processor 51, for example. The removable storage medium 55 is realized by, for example, a semiconductor device, a medium in which information is input and output by magnetic action, a medium in which information is input and output by optical action, etc. Note that the semiconductor device is, for example, a USB (Universal Serial Bus) memory. Also, the medium in which information is input and output by magnetic action is, for example, a magnetic disk. The medium in which information is input and output by optical action is, for example, a CD (Compact Disc)-ROM, a DVD (Digital Versatile Disk), a Blu-ray Disc, etc. (Blu-ray is a registered trademark).

[0086] The above-described storage units 16 and 42 may include, for example, the memory 52, the storage device 53, and the removable storage medium 55. The communication interface 56 communicates with other devices according to the instruction of the processor 51, for example. For example, the computer 50 may collect the detection result from the gas detection unit 11 via the communication interface 56. The communication interface 56 is an example of the above-described communication units 17 and 41.

[0087] The input / output interface 57 is, for example, an interface between an input device and an output device. The input device is, for example, a device such as a keyboard, a mouse, or a touch panel that receives instructions from a user. The output device is, for example, a display device such as a display and an audio device such as a speaker.

[0088] Each program according to the embodiment is provided to the computer 50, for example, in the following forms. (1) It is pre-installed in the storage device 53. (2) It is provided by the removable storage medium 55. (3) It is provided from a server such as a program server.

[0089] Note that the hardware configuration of the computer 50 for realizing the abnormality detection device described with reference to FIG. 9 is an example, and the embodiment is not limited thereto. For example, a part of the above-described configuration may be deleted, or a new configuration may be added. Further, in another embodiment, for example, some or all of the functions of the above-described control units 18 and 44 may be implemented as hardware by an FPGA (Field Programmable Gate Array), an SoC (System-on-a-Chip), an ASIC (Application Specific Integrated Circuit), a PLD (Programmable Logic Device), or the like.

[0090] In the above, several embodiments have been described. However, the embodiments are not limited to the above-described embodiments, and should be understood to include various modifications and alternative forms of the above-described embodiments. For example, it will be understood that the various embodiments can be embodied by modifying the components without departing from the spirit and scope thereof. Also, it will be understood that various embodiments can be implemented by appropriately combining a plurality of components disclosed in the above-described embodiments. Furthermore, those skilled in the art will understand that various embodiments can be implemented by deleting some components from all the components shown in the embodiments or adding some components to the components shown in the embodiments.

[0091] For example, in the above embodiment, in the gas detection maps GM of FIGS. 6A and 6B, the detected gas concentration is displayed in color-coding, but it is not limited thereto. As long as gas information is registered at the current coordinate position, the gas detection map GM may omit the color-coding display and display at least one of the gas species and gas concentration detected at a plurality of coordinate positions corresponding to the current position information by numerical values, characters, symbols, etc. Also, the gas detection map GM may register an object at the coordinate position corresponding to the current position information as an AR marker and register gas information in association with the AR marker.

[0092] Also, the threshold value in the determination unit 18d can be variously changed according to conditions such as the gas species. For example, when the gas to be detected is a toxic gas, an upper limit value is set as the threshold value, and when the gas to be detected is oxygen, since a lack of oxygen occurs when it is low and flammability increases when it is high, it is set as a range having an upper limit value and a lower limit value. Furthermore, a lower limit value may be set as the threshold value depending on the gas species.

[0093] Furthermore, control may be performed so that the storage by the storage units 16 and 42 of each information and the communication by the communication units 17 and 41 are performed only when it is determined that there is an abnormality in the comparison with the threshold value in the determination unit 18d.

Industrial Applicability

[0094] The present invention relates to a gas detection map generation system and a gas detection map generation method that can easily confirm the gas detection status by using a moving detection device that moves unmanned.

Explanation of Signs

[0095] 10 Moving detection device 11 Gas detection unit 12 Position detection unit 13 Imaging unit 14 Mark attachment unit 15 Moving mechanism 17 Communication unit 18a Moving map creation unit 18e Abnormal concentration position registration unit 40 Information processing device 41 Communication unit 44c Information registration unit 44d Abnormal concentration position registration unit 100 System (gas detection map generation system) GM Gas detection map

Claims

1. A gas detection map generation system comprising a mobile detection device that is provided to be movable within a predetermined movement area and detects gas, and an information processing device that processes each piece of information obtained by the mobile detection device, wherein the mobile detection device includes a gas detection unit for detecting gas and obtaining gas information, a position detection unit for obtaining position information of the mobile detection device, a communication unit for transmitting the gas information obtained by the gas detection unit and the position information obtained by the position detection unit to the information processing device, a movement mechanism for unmanned movement of the mobile detection device, and the information processing device includes a communication unit for receiving each piece of information transmitted from the communication unit of the mobile detection device, and an information registration unit for registering the gas information obtained by the gas detection unit at a coordinate position corresponding to the position information obtained by the position detection unit on a map corresponding to the movement area to create a gas detection map, wherein the mobile detection device repeatedly obtains the position information obtained by the position detection unit and the gas information obtained by the gas detection unit, and then repeatedly transmits the previously repeatedly obtained position information and gas information together from the communication unit of the mobile detection device to the communication unit of the information processing device at predetermined time intervals. A gas detection map generation system characterized by this.

2. The gas detection map generation system according to claim 1, wherein the gas detection unit detects at least the concentration of the gas.

3. The gas detection map generation system according to claim 2, wherein the information registration unit includes the detection result of the concentration of the gas obtained by the gas detection unit in the gas information registered in the gas detection map.

4. The mobile detection device includes a photographing unit for photographing the surroundings of the mobile detection device and obtaining image information, and the information processing device and / or the mobile detection device further includes a density abnormality position registration unit for registering a mark in the image information based on a comparison between the detection result of the concentration of the gas obtained by the gas detection unit and a predetermined threshold value. The gas detection map generation system according to claim 2 or claim 3, characterized by this.

5. The mobile detection device further includes a marking unit for attaching a mark to a predetermined range of the movement area based on a comparison between the detection result of the concentration of the gas obtained by the gas detection unit and a predetermined threshold value. The gas detection map generation system according to any one of claims 2 to 4, characterized by this.

6. The movement detection device further includes a movement map creation unit that is used for movement control of the movement detection device by the movement mechanism. The movement map creation unit creates a movement map based on an existing prior map of the movement area and the detection result of the position detection unit. The gas detection map generation system according to any one of claims 1 to 5, characterized in that.

7. The movement detection device includes a photographing unit for photographing the periphery of the movement detection device to obtain image information. After the detection of gas in the movement area is completed, the image information in the movement area is collectively transmitted from the communication unit of the movement detection device to the communication unit of the information processing device. The gas detection map generation system according to any one of claims 1 to 6, characterized in that.

8. A step of detecting gas with a movement detection device that unmannedly moves within a predetermined movement area to obtain gas information; A step of obtaining position information when the gas is detected by the movement detection device; After repeatedly obtaining the gas information and the position information in each of the above steps, at regular intervals, from the communication unit of the movement detection device to the communication unit of the information processing device that processes each piece of information by the movement detection device, repeatedly transmitting the previously repeatedly obtained position information and the gas information together; A gas detection map generation method, comprising: creating a gas detection map by registering the gas information at a coordinate position corresponding to the position information in a map corresponding to the movement area in the information processing device.

Images