Information processing device, moving body, photographing system, photographing control method and program

Abstract

To obtain a photographed image that allows confirmation of the state of an object regardless of the photographing environment. [Solution] The information processing device is an information processing device (e.g., control device 30) that controls the photography processing of a robot 10 (an example of a mobile body) that moves within a specified base and photographs an object (e.g., an object to be inspected), and is equipped with a memory unit 3000 (an example of a memory means) that associates and stores the photography conditions of the object with each of a plurality of reference images in which the object installed within the base is photographed at a specific photography position and the object is reflected in different ways, a photography control unit 36 ​​(an example of a photography control means) that photographs the object using the robot 10 moved to the specific photography position, and a photography condition setting unit 39 (an example of a photography condition setting means) that sets the photography conditions of the object based on the photographed image of the object and the stored reference image, and the photography control unit 36 ​​photographs the object using the set photography conditions.

Description

[Technical Field]

[0001] The present invention relates to an information processing device, a moving object, an imaging system, an imaging control method, and a program. [Background technology]

[0002] Robots that are installed at bases such as factories and warehouses and can move autonomously within the bases are known. Such robots are used, for example, as inspection robots or service robots, and can inspect facilities within the bases in place of workers. Patent Document 1 discloses a monitoring system that enables workers to monitor and inspect equipment, piping, and the like of facilities simply by operating a mobile robot along an inspection route.

[0003] Furthermore, in inspection work using a robot, a system is known in which an inspection target is photographed while the robot is moving. Here, as a method for automatically adjusting the photographing position of the inspection target, Patent Document 2 discloses a method for teaching the positions of a plurality of inspection points using viewpoint information on a display screen when inspecting a workpiece by photographing the workpiece at each inspection point while moving a camera sequentially to the plurality of inspection points set on the workpiece. Summary of the Invention [Problem to be solved by the invention]

[0004] However, with conventional methods, even if the shooting conditions are instructed in advance, the state in which the object is photographed from the same shooting position will differ depending on the shooting environment, such as the time of shooting or the weather, and there is a risk that the captured image will make it difficult for a manager or other person checking the object to confirm the state of the object. [Means for solving the problem]

[0005] In order to solve the above-mentioned problem, the invention of claim 1 is a method for moving around within a predetermined base. Meteran information processing device that controls a photographing process of a moving object that photographs the object, the information processing device being installed within the base; Test Object is photographed at a specific shooting position, Test Object For each of a plurality of reference images with different reflection conditions, Meter a storage means for storing the photographing conditions in association with each other, and a storage means for storing the photographing conditions in association with each other, and a storage means for storing the photographing conditions in association with each other, Test Object an imaging control means for imaging the a pattern specifying means for specifying a photographed pattern associated with the reference image based on the photographed image of the test object photographed by the photographing control means and the stored reference image; The aforementioned Test Object Based on the captured image and the stored reference image, Meter and a photographing condition setting means for setting the photographing conditions, The photographing pattern identified by the pattern identifying means is a photographing pattern that enables the reading of the value of the meter, and the photographing condition setting means sets the photographing conditions of the meter associated with the identified photographing pattern, The imaging control means uses the set imaging conditions to Meter It is characterized by capturing the following. [Effects of the Invention]

[0006] According to the present invention, it is possible to obtain an image that allows the state of an object to be confirmed, regardless of the shooting environment. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 1 is a diagram illustrating an example of the overall configuration of an imaging system. [Figure 2] FIG. 1 is a diagram for schematically explaining an example of a target base where a robot is installed. [Figure 3] FIG. 2 is a diagram for roughly explaining an example of a movement path of a robot. [Figure 4] 10A and 10B are diagrams showing an example of the state of an inspection object depending on the shooting position. [Figure 5] FIG. 1 is a diagram illustrating an example of a schematic configuration of a robot. [Figure 6] FIG. 1 is a diagram illustrating an example of a schematic configuration of a robot. [Figure 7] FIG. 1 is a diagram illustrating an example of a schematic configuration of a robot. [Figure 8] FIG. 2 is a diagram illustrating an example of a hardware configuration of a robot. [Figure 9]FIG. 2 is a diagram illustrating an example of the hardware configuration of an image management server and a communication terminal. [Figure 10] FIG. 2 is a diagram illustrating an example of a functional configuration of the imaging system. [Figure 11] FIG. 10 is a conceptual diagram illustrating an example of an area information management table. [Figure 12] FIG. 10 is a conceptual diagram illustrating an example of a base location management table. [Figure 13] FIG. 10 is a conceptual diagram illustrating an example of a route information management table. [Figure 14] FIG. 10 is a conceptual diagram illustrating an example of an object management table. [Figure 15] FIG. 10 is a conceptual diagram illustrating an example of a pattern management table. [Figure 16] FIG. 10 is a conceptual diagram illustrating an example of an imaging condition management table. [Figure 17] FIG. 10 is a conceptual diagram illustrating an example of a photographed image management table. [Figure 18] FIG. 10 is a sequence diagram illustrating an example of an object inspection process. [Figure 19] 10 is a flowchart illustrating an example of an object inspection process in a robot. [Figure 20] 10 is a flowchart illustrating an example of an object photographing process. [Figure 21] 10 is a flowchart illustrating an example of an object photographing process. [Figure 22] FIG. 10 is a diagram for schematically explaining an example of a photographing process using a robot in an inspection area. [Figure 23] 10A to 10C are diagrams illustrating an example of a shooting state of a test object. [Figure 24] 1A and 1B are diagrams illustrating an example of a test object. [Figure 25] 1A and 1B are diagrams illustrating an example of a test object. [Figure 26] 10 is a flowchart illustrating an example of an object photographing process when photographing conditions are not registered. [Figure 27] FIG. 10 is a sequence diagram showing an example of a registration process of a photography condition in the photography system. [Figure 28] FIG. 10 is a diagram illustrating an example of a setting screen. [Figure 29] FIG. 10 is a diagram illustrating an example of a setting screen. [Figure 30] FIG. 10 is a sequence diagram showing an example of a registration process of a photography condition in the photography system. [Figure 31] 10 is a flowchart illustrating an example of an object photographing process when photographing conditions are not registered. [Figure 32] FIG. 10 is a sequence diagram showing an example of a registration process of a photography condition in the photography system. [Figure 33] FIG. 10 is a diagram illustrating an example of an image selection screen. [Figure 34] FIG. 10 is a sequence diagram showing an example of a registration process of a photography condition in the photography system. [Figure 35] FIG. 10 is a diagram for schematically explaining another example of a photographing process using a robot in an inspection area. [Figure 36] 10A is a diagram showing an example of an image captured from a photographing point A3, and FIG. 10B is a diagram showing an example of an image captured from a photographing point A4. DETAILED DESCRIPTION OF THE INVENTION

[0008] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In the description of the drawings, the same elements are given the same reference numerals, and duplicated explanations will be omitted.

[0009] ●Embodiment● ●System configuration Fig. 1 is a diagram showing an example of the overall configuration of an imaging system. The imaging system 1 shown in Fig. 1 is a system that uses a robot 10 to photograph an inspection target installed at a target base and inspect it for abnormalities.

[0010] The photography system 1 includes a robot 10 located at a predetermined target base, an image management server 50, and a communication terminal 70. The robot 10, the image management server 50, and the communication terminal 70 constituting the photography system 1 can communicate via a communication network 100. The communication network 100 is constructed using the Internet, a mobile communication network, a LAN (Local Area Network), or the like. Note that the communication network 100 may include not only wired communication networks but also wireless communication networks such as 3G (3rd Generation), 4G (4th Generation), 5G (5th Generation), Wi-Fi (Wireless Fidelity) (registered trademark), WiMAX (Worldwide Interoperability for Microwave Access), or LTE (Long Term Evolution).

[0011] The robot 10 is a mobile object that is installed at a target base and moves autonomously within the target base. The robot 10 performs inspection work on the inspection target objects installed there while moving within the target base. The robot 10 also transmits images taken during the inspection work to a communication terminal 70, thereby providing information (images, etc.) on the inspection results to the manager of the target base who uses the communication terminal 70.

[0012] The image management server 50 is a server computer for managing images of inspection objects photographed by the robot 10. The image management server 50 stores and manages the photographed images transmitted from the robot 10, and provides the photographed images to a communication terminal 70 used by the manager.

[0013] The image management server 50 may be constructed by a single computer, or may be constructed by multiple computers to which each unit (function or means) is divided and arbitrarily assigned. Also, all or part of the functions of the image management server 50 may be realized by a server computer in a cloud environment or a server computer in an on-premise environment.

[0014] The communication terminal 70 is a computer such as a laptop PC (Personal Computer) used by an administrator who manages the inspection target installed at the target base or the robot 10. The administrator checks the results of the inspection work by viewing images of the inspection target taken by the robot 10 at the management base such as an office. The administrator can also remotely control the robot 10 while viewing images of the target base displayed on the communication terminal 70. Note that the communication terminal 70 is not limited to a laptop PC and may be, for example, a desktop PC, a tablet terminal, a smartphone, or a wearable terminal.

[0015] Overview Here, the target base where the robot 10 is installed will be described with reference to FIG. 2. FIG. 2 is a diagram for schematically explaining an example of a target base where the robot 10 is set. FIG. 2 shows an example of a target base that is an outdoor base with a large site area, such as a plant factory, as an example of the target base. The target base shown in FIG. 2 has a plurality of inspection objects that require maintenance management such as daily inspections or periodic inspections. For example, if the target base is a plant factory, the inspection objects include measurement meters (meter 1, meter 2) of storage tanks, storage tanks (tank 1, tank 2), valves (valve 1, valve 2, valve 3) of storage tanks, tankers that perform infusion work on storage tanks, etc.

[0016] The robot 10 moves autonomously within the target base and performs a photographing process on the inspection target at a predetermined position. The robot 10 may move within the target base using a technique such as line tracing or remote control from a communication terminal 70. A test object 6, which is different from the inspection target, is installed at the target base. The test object 6 is an installed object that is photographed immediately before photographing the inspection target at the target base in order to check how the object to be photographed appears in the photographing environment.

[0017] In the example of Fig. 2, the robot 10 photographs a test object 6 installed at a target base and compares the obtained image with pre-stored reference images taken in different shooting environments. Based on the comparison result, the robot 10 identifies one shooting pattern from multiple shooting patterns and sets the shooting position and shooting direction of the robot 10 corresponding to the identified shooting pattern. The robot 10 then photographs the inspection object at the target base from the set shooting position and shooting direction.

[0018] Fig. 3 is a diagram for schematically explaining an example of a movement route of the robot 10. The movement route of the robot 10 indicates a path to a target destination, which is specified in order from any base position (P0, P1, P2, ...) on the target base as shown in Fig. 3. Any base position on the target base is represented by X and Y coordinates that indicate a coordinate position on map data showing the entire target base.

[0019] 3 is divided into four areas (area 1 to area 4) in units of inspection work. For example, when it is desired to move the robot 10 to area 1, the movement route is set as a route (P0 → P1 → P2 → P3 → P4 → P8) with the base position P8, which is the area reference position of area 1, as the destination.

[0020] At plants and other facilities, leaks of liquids or gases from pipes can cause serious accidents, so routine inspections or manual inspections of pipes, such as checking for minute leaks, pressure gauges and other meters, and the open / close status of valves, are carried out. However, large-scale plants often have premises with sides exceeding 1 km, and inspecting all of the pipes, meters, and other inspection targets within the facility takes an enormous amount of time. For this reason, a known method for inspection work is to use an inspection robot that, either automatically or manually, patrols the facility and photographs the inspection targets.

[0021] However, conventional inspection robots photographed inspection objects using a shooting position and direction set in advance (teaching) by the operator. In this case, for example, when an inspection object is installed outdoors, the amount of external light hitting the object changes depending on environmental conditions such as weather or time, and there is a problem that even when the shooting position and direction are the same, an image with low readability is captured due to the amount of reflected light. For example, as shown in Figure 4, meter 1, the object being inspected, may be obscured by the shadow caused by the reflection of external light, making it impossible to read the value of the meter being inspected (Figure 4(A)). On the other hand, by changing the shooting angle of meter 1, the amount of external light hitting the object changes, making it possible to read the value of the meter (Figure 4(B)).

[0022] Therefore, the photography system 1 installs a test object 6 capable of detecting changes in external light conditions, such as the position of the sun or brightness, in each inspection area of ​​the target base, and photographs the test object 6 with a mobile robot 10 before starting inspection in the inspection area. Furthermore, the photography system 1 sets photography conditions indicating the photography position and photography direction of the inspection target set in the inspection area based on the analysis results of the photographed image of the test object 6. The photography system 1 then moves the robot 10 to the set photography position and photographs the inspection target according to the set photography direction. Thus, the photography system 1 photographs the inspection target using photography conditions according to the photography environment, such as external light conditions that change depending on the time of inspection or weather, and can reliably read the condition of the inspection target even when it is difficult to read an image using the photography conditions instructed in advance.

[0023] Here, the target base where the robot 10 is installed is not limited to a plant factory, but may be, for example, a business office, a construction site, a substation, or other outdoor facilities. For example, if a worker were to perform inspection work at a large site, it would take a long time to complete all of the inspection work, or the inspection work would need to be shared among multiple workers. Therefore, the robot 10 installed at the target base can improve work efficiency by performing work that was previously performed manually instead of the worker. Note that the target base is not limited to an outdoor location, but may be an indoor office, school, factory, warehouse, commercial facility, or other facility, as long as there is a need for the robot 10 to perform work that was previously performed manually.

[0024] ●Robot configuration Next, a specific configuration of the robot 10 will be described with reference to Figures 5 to 7. Figures 5 to 7 are diagrams showing an example of the outline of the configuration of the robot 10.

[0025] The robot 10 shown in FIG. 5 includes a housing 11, a bar 12, a camera 13, a camera position adjustment device 14, a support member 15, a movement mechanism 16 (16a, 16b) for moving the robot 10, a GPS sensor 17, and an obstacle detection sensor 18. The housing 11 is located in the body of the robot 10 and incorporates a control device 30 that controls the processing or operation of the robot 10. The control device 30 is an example of an information processing device. The bar 12 is provided on the housing 11 at the front side in the direction of travel of the robot 10, and serves as a buffer material in the event of a collision of the robot 10. The bar 12 may be provided not only on the front side of the housing 11, but also on the side or rear side.

[0026] The photographing device 13 photographs a subject such as a person, an object, or a landscape located at the base where the robot 10 is installed, and acquires a photographed image. The photographing device 13 is a digital camera (general photographing device) such as a digital single-lens reflex camera or a compact digital camera that can acquire a planar image (detailed image). The photographed image data relating to the photographed image acquired by the photographing device 13 is transmitted to the communication terminal 70 via a communication session established by a server computer such as a communication management server.

[0027] The photographing position adjustment device 14 is a movable device for adjusting the photographing direction (orientation) of the photographing device 13. The photographing position adjustment device 14 is driven to rotate to adjust the photographing direction of the photographing device 13 and also adjust the zoom amount (magnification) of photographing in the photographing device 13. The photographing device 13 and the photographing position adjustment device 14 may be provided as a single device in which the photographing device 13 is equipped with a photographing position adjustment function.

[0028] The captured images acquired by the camera device 13 may be videos, still images, or both videos and still images. The captured images acquired by the camera device 13 may include audio data along with image data. The camera device 13 may be a wide-angle camera capable of capturing a 360° panoramic image. The wide-angle camera is, for example, a spherical camera that captures an object and obtains two hemispherical images that form the basis of the spherical (panoramic) image. The wide-angle camera may be, for example, a wide-angle camera or a stereo camera that can capture a wide-angle image having a field of view equal to or greater than a predetermined value. That is, the wide-angle camera is a camera that can capture an image (a spherical image, a wide-angle image) captured using a lens with a focal length shorter than a predetermined value. The robot 10 may be configured to include multiple camera devices 13. In this case, the robot 10 may be configured to include both a wide-angle camera and a general camera that can capture a detailed image (a planar image) of a part of the object captured by the wide-angle camera as the camera device 13.

[0029] Furthermore, the photographing device 13 may include a thermal imaging device that captures far-infrared rays (infrared light) or a special camera such as an infrared camera that captures near-infrared rays (infrared light). If the photographing device 13 is a thermal imaging device that captures far-infrared rays (infrared light), it can obtain a photographed image (thermography) that detects far-infrared rays emitted from an object, and the object can be recognized from the photographed image. If the photographing device 13 is an infrared camera that captures near-infrared rays (infrared light), it can obtain a photographed image (infrared image) of the object without being affected by ambient light in the visible light wavelength band, and the object can be recognized from the photographed image.

[0030] The support member 15 is a member for installing (fixing) the imaging device 13 and the imaging position adjustment device 14 to the robot 10 (housing 11). The support member 15 may be a pole or the like fixed to the housing 11, or may be a pedestal fixed to the housing 11.

[0031] The movement mechanism 16 is a unit that moves the robot 10, and is composed of wheels, a travel motor, a travel encoder, a steering motor, a steering encoder, etc. Controlling the movement of the robot 10 is an existing technology, so a detailed explanation will be omitted. However, the robot 10 receives a travel instruction from, for example, an operator, who is an administrator (communication terminal 70), and the movement mechanism 16 moves the robot 10 based on the received travel instruction. The movement mechanism 16 may be a bipedal foot-type or a single-wheeled type. Furthermore, the shape of the robot 10 is not limited to the vehicle-type shown in FIG. 4, and may be, for example, a bipedal humanoid, a form imitating a living creature, or a form imitating a specific character.

[0032] The GPS sensor 17 is a self-position detection means that receives GPS signals from GPS satellites and detects the position of the robot 10. The obstacle detection sensor 18 is a detection sensor that detects obstacles in the surrounding area when the robot 10 moves. The obstacle detection sensor 18 is, for example, an image sensor such as a stereo camera or a camera equipped with an area sensor having photoelectric conversion elements arranged in a plane, or a distance measurement sensor such as a TOF (Time Of Flight) sensor, a LIDAR (Light Detection and Ranging) sensor, or a radar sensor. Note that the self-position detection means is not limited to the GPS sensor 17, and may be any method that can detect its own position. For example, the self-position detection means may use SLAM (Simultaneous Localization and Mapping) using LIDAR, or magnetic induction in an environment where magnetic tape or the like is laid on the road.

[0033] Here, modified examples of the configuration of the robot 10 will be described with reference to Figures 6 and 7. The robot 10a shown in Figure 6 is equipped with multiple image capturing devices 13a (13a1, 13a2, 13a3, 13a4, 13a5). The multiple image capturing devices 13a are attached to a support member 15 in a vertically aligned manner. Furthermore, the robot 10b shown in Figure 7 is equipped with a sliding device 14a that can slide the image capturing device 13 in the vertical direction. The robot 10b can adjust the image capturing position (height) by moving the image capturing device 13 in the vertical direction along the sliding device 14a.

[0034] In this way, the robot 10 can be provided with multiple image capturing devices 13a like the robot 10a, or with a sliding device 14a that can slide the image capturing device 13 in the vertical direction like the robot 10b, thereby making it possible to adjust the image capturing position of the image capturing device 13 (13a).

[0035] In addition to the above configuration, the robot 10 may have various sensors capable of detecting information about the surroundings of the robot 10. The various sensors are, for example, sensor devices such as a barometer, a thermometer, a photometer, a human sensor, a gas sensor, an odor sensor, or an illuminance meter. The robot 10 may also have a movable arm that performs additional operations other than movement.

[0036] ●Hardware configuration Next, the hardware configuration of the device or terminal constituting the schedule registration system according to the embodiment will be described with reference to Figures 8 and 9. Note that components may be added or deleted from the hardware configuration of the device or terminal shown in Figures 8 and 9 as needed.

[0037] ○Robot hardware configuration○ 8 is a diagram showing an example of the hardware configuration of the robot. The robot 10 is equipped with a control device 30 that controls the processing or operation of the robot 10. As described above, the control device 30 is provided inside the housing 11 of the robot 10. Note that the control device 30 may be provided outside the housing 11 of the robot 10, or may be provided as a device separate from the robot 10.

[0038] The control device 30 includes a CPU (Central Processing Unit) 301, a ROM (Read Only Memory) 302, a RAM (Random Access Memory) 303, an HDD (Hard Disk Drive) 304, a media I / F (Interface) 305, an input / output I / F 306, an audio input / output I / F 307, a network I / F 308, a short-range communication circuit 309, an antenna 309a of the short-range communication circuit 309, an external device connection I / F 311, a timer 312, and a bus line 310.

[0039] The CPU 301 controls the entire robot 10. The CPU 301 is a computing device that realizes each function of the robot 10 by reading programs or data stored in the ROM 302 or HD (Hard Disk) 304a, etc., onto the RAM 303 and executing the processing.

[0040] The ROM 302 is a non-volatile memory that can retain programs or data even when the power is turned off. The RAM 303 is a volatile memory used as a work area for the CPU 301, etc. The HDD 304 controls the reading and writing of various data from and to the HD 304a under the control of the CPU 301. The HD 304a stores various data such as programs. The media I / F 305 controls the reading and writing (storage) of data from and to a recording medium 305a such as a USB (Universal Serial Bus) memory, a memory card, an optical disk, or a flash memory.

[0041] The input / output I / F 306 is an interface for inputting and outputting characters, numerical values, various instructions, etc., to and from various external devices, etc. The input / output I / F 306 controls the display of various information, such as a cursor, menu, window, characters, or images, on a display 306a such as an LCD (Liquid Crystal Display). The display 306a may be a touch panel display equipped with input means. In addition to the display 306a, input means such as a mouse or keyboard may be connected to the input / output I / F 306. The sound input / output I / F 307 is a circuit that processes the input and output of sound signals between a microphone 307a and a speaker 307b under the control of the CPU 301. The microphone 307a is a type of built-in sound collection means that inputs sound signals under the control of the CPU 301. The speaker 307b is a type of playback means that outputs sound signals under the control of the CPU 301.

[0042] The network I / F 308 is a communication interface that communicates (connects) with other devices or apparatuses via the communication network 100. The network I / F 308 is, for example, a communication interface such as a wired or wireless LAN. The short-range communication circuit 309 is a communication circuit such as NFC (Near Field communication) or Bluetooth (registered trademark). The external device connection I / F 311 is an interface for connecting other devices to the control device 30. The timer 312 is a measuring device having a time measurement function. The timer 312 may be a software timer implemented by a computer.

[0043] Bus line 310 is an address bus, data bus, etc. for electrically connecting the above-mentioned components, and transmits address signals, data signals, various control signals, etc. CPU 301, ROM 302, RAM 303, HDD 304, media I / F 305, input / output I / F 306, sound input / output I / F 307, network I / F 308, short-range communication circuit 309, external device connection I / F 311, and timer 312 are connected to each other via bus line 310.

[0044] Furthermore, the control device 30 is connected to a drive motor 101, an actuator 102, an acceleration / direction sensor 103, a shooting position adjustment device 14, a GPS (Global Positioning System) sensor 17, an obstacle detection sensor 18, and a battery 120 via an external device connection I / F 311.

[0045] The drive motor 101 rotates the movement mechanism 16 based on commands from the CPU 301, causing the robot 10 to move along the ground. The actuator 102 deforms the movable arm 19 based on commands from the CPU 301. The movable arm 19 has operating means that enables the robot 10 to perform additional operations in addition to movement. For example, the movable arm 19 is provided with a hand at the tip of the movable arm 19 as operating means for grasping objects such as parts. The robot 10 can perform predetermined tasks (operations) by rotating or deforming the movable arm 19. The acceleration / direction sensor 103 is a sensor such as an electronic magnetic compass, a gyrocompass, and an acceleration sensor that detects geomagnetism. The battery 120 is a unit that supplies the power required for the entire robot 10.

[0046] ○Image management server hardware configuration○ Fig. 9 is a diagram showing an example of the hardware configuration of the image management server 50. Each piece of hardware configuration in the image management server 50 is indicated by a reference number in the 500 series. The image management server 50 is constructed by a computer, and as shown in Fig. 9, includes a CPU 501, a ROM 502, a RAM 503, a HD 504, a HDD controller 505, a display 506, an external device connection I / F 508, a network I / F 509, a bus line 510, a keyboard 511, a pointing device 512, a DVD-RW (Digital Versatile Disk Rewritable) drive 514, a media I / F 516, and a timer 517.

[0047] Of these, the CPU 501 controls the overall operation of the image management server 50. The ROM 502 stores programs used to drive the CPU 501, such as an IPL (Initial Program Loader). The RAM 503 is used as a work area for the CPU 501. The HD 504 stores various data, such as programs. The HDD controller 505 controls the reading and writing of various data from and to the HD 504 under the control of the CPU 501. The display 506 displays various information, such as a cursor, menus, windows, characters, or images. The display 506 may also be a touch panel display equipped with input means. The external device connection I / F 508 is an interface for connecting various external devices. In this case, the external device is, for example, a USB memory or a printer. The network I / F 509 is an interface for data communication using the communication network 100. The bus line 510 is an address bus, a data bus, or the like, for electrically connecting the components, such as the CPU 501, shown in FIG. 9.

[0048] The keyboard 511 is a type of input means having multiple keys for inputting characters, numbers, various instructions, etc. The pointing device 512 is a type of input means for selecting or executing various instructions, selecting a processing target, moving a cursor, etc. The input means may be not only the keyboard 511 and the pointing device 512, but also a touch panel, a voice input device, etc. The DVD-RW drive 514 controls reading and writing of various data from a DVD-RW 513, which is an example of a removable recording medium. The removable recording medium is not limited to a DVD-RW, but may also be a DVD-R or a Blu-ray (registered trademark) Disc. The media I / F 516 controls reading and writing (storing) of data from a recording medium 515 such as a flash memory. The timer 517 is a measuring device having a time measurement function. The timer 517 may be a computer-implemented software timer.

[0049] ○Hardware configuration of communication terminal○ FIG. 9 is a diagram showing an example of the hardware configuration of the communication terminal 70. Each hardware component of the communication terminal 70 is indicated by a reference numeral in the 700 series in parentheses. The communication terminal 70 is constructed by a computer, and as shown in FIG. 9, has the same configuration as the image management server 50, so a description of each hardware component will be omitted. The display 706 is an example of a display unit. The display unit as the display 706 may be an external device with a display function connected to the communication terminal 70. In this case, the display unit may be, for example, an external display such as an IWB (Interactive White Board), or a projection unit (for example, a ceiling or wall of a management center) onto which an image from a PJ (Projector) connected as an external device is projected.

[0050] Each of the above programs may be recorded on a computer-readable recording medium as an installable or executable file and distributed. Examples of the recording medium include a CD-R (Compact Disc Recordable), a DVD (Digital Versatile Disk), a Blu-ray Disc, an SD card, or a USB memory. The recording medium may also be provided domestically or internationally as a program product. For example, the control device 30 executes the program according to the present invention to realize the imaging control method according to the present invention.

[0051] ●Function configuration Next, the functional configuration of the photography system 1 according to the embodiment will be described with reference to Fig. 10 to Fig. 17. Fig. 10 is a diagram showing an example of the functional configuration of the photography system 1. Note that Fig. 10 shows devices or terminals shown in Fig. 1 that are related to the processing or operation described below.

[0052] ○Robot (controller) functional configuration○ First, the functional configuration of the control device 30 that controls the processing or operation of the robot 10 will be described with reference to FIG. 10. The control device 30 includes a transmitter / receiver 31, a determination unit 32, a position information acquisition unit 33, a destination setting unit 34, a movement control unit 35, an image capture control unit 36, an image matching unit 37, a pattern identification unit 38, an image capture condition setting unit 39, a registration unit 41, and a storage / readout unit 49. Each of these units is a function or a means for performing the function, which is realized when any of the components shown in FIG. 8 operates in response to an instruction from the CPU 301 in accordance with a control device program loaded on the RAM 303. The control device 30 also includes a storage unit 3000 configured using the ROM 302, HD 304a, or recording medium 305a shown in FIG. 8.

[0053] The transmitting / receiving unit 31 is mainly realized by the processing of the CPU 301 for the network I / F 308, and transmits and receives various data or information to and from other devices or terminals via the communication network 100.

[0054] The determination unit 32 performs various determinations and is realized by processing by the CPU 301. The position information acquisition unit 33 is mainly realized by processing by the CPU 301 for the external device connection I / F 311 and acquires position information indicating the current position of the robot 10 detected by the GPS sensor 17.

[0055] The destination setting unit 34 is mainly realized by processing by the CPU 301, and sets a destination of the robot 10. For example, the destination setting unit 34 sets a movement route for moving to a target area that is the target of a processing start request transmitted from the communication terminal 70, as the destination of the robot 10. The movement control unit 35 is mainly realized by processing by the CPU 301 for the external device connection I / F 311, and controls the movement of the robot 10 by driving the movement mechanism 16. For example, the movement control unit 35 moves the robot 10 to the destination set by the destination setting unit 34.

[0056] The photographing control unit 36 ​​is mainly realized by processing of the CPU 301 for the external device connection I / F 311, and controls the photographing process for the photographing device 13. The photographing control unit 36, for example, instructs the photographing process for the photographing device 13. In addition, the photographing control unit 36, for example, acquires a photographed image obtained by the photographing process by the photographing device 13.

[0057] The image matching unit 37 is mainly realized by processing of the CPU 301, and performs image matching processing between a reference image stored in a pattern management DB 3005 (see FIG. 15 ) described below and a captured image of the test object 6 acquired by the photography control unit 36. The reference images are images in which the reflection state of the test object 6, which is the object to be photographed, differs. The reference images are images of the test object 6 photographed during past inspection work, and the reflection state of the test object 6 differs depending on the photography environment, such as the photography time or external lighting conditions such as weather.

[0058] The pattern identification unit 38 is mainly realized by processing by the CPU 301, and identifies the shooting pattern of the inspection object based on the matching result by the image matching unit 37. The shooting pattern is a pattern for setting different shooting conditions depending on the difference in the reflection state of the inspection object. The shooting condition setting unit 39 is mainly realized by processing by the CPU 301 for the shooting position adjustment device 14, and sets the shooting conditions by the shooting control unit 36 ​​according to the shooting pattern identified by the pattern identification unit 38. The registration unit 41 is mainly realized by processing by the CPU 301, and registers the shooting conditions for the inspection object corresponding to the shooting pattern.

[0059] The storage / readout unit 49 is mainly realized by the processing of the CPU 301 , and stores various data (or information) in the storage unit 3000 and reads out various data (or information) from the storage unit 3000 .

[0060] Area information management table Fig. 11 is a conceptual diagram showing an example of an area information management table. The area information management table is a table for managing area information indicating the areas of target bases divided by inspection work. An area information management DB 3001 configured by the area information management table shown in Fig. 11 is constructed in the memory unit 3000.

[0061] The area information management table manages area information that associates an area ID and an area name that identify a specific area within a target base, with a reference position for specifying the location of the area. Of these, the reference position is position information that the robot 10 uses to specify the area within the target base. The reference position is specified, for example, by the positions of two bases on the travel route of the robot 10.

[0062] ○Base location management table Fig. 12 is a conceptual diagram showing an example of a base location management table. The base location management table is a table for managing base location information indicating a predetermined base location within a target base. A base location management DB 3002 configured by the base location management table shown in Fig. 12 is constructed in the storage unit 3000.

[0063] The base location management table manages base location information that associates a base location ID that identifies a predetermined location within a target base with location information that indicates the target base location. The base location management table stores multiple positions on the robot 10's travel route within the target base at predetermined intervals. The location information of the target base location is expressed by XY coordinates that indicate the coordinate position on map data that shows the entire target base. The robot 10 moves to its destination based on the travel route set using the location information indicated in the base location information.

[0064] Route information management table Fig. 13 is a conceptual diagram showing an example of a path information management table. The path information management table is a table for managing path information indicating a movement path when the robot 10 moves within a target base. A path information management DB 3003 configured by the path information management table shown in Fig. 13 is constructed in the storage unit 3000.

[0065] The route information management table manages route information in which a route ID that identifies the movement route of the robot 10, an area ID that identifies the area to which the robot 10 will move using the target movement route, and route data that indicates the specific details of the movement route are associated. Of these, the route data indicates the movement route of the robot 10 with the target area as the destination, as the order of the base location IDs of the base locations located at predetermined intervals.

[0066] ○Object management table Fig. 14 is a conceptual diagram showing an example of an object management table. The object management table is a table for managing information on inspection objects within a target base. An object management DB 3004 configured by an object management table such as that shown in Fig. 14 is constructed in the memory unit 3000.

[0067] The object management table manages, for each area ID that identifies an inspection area within a target base, an object ID that identifies an inspection object present in the target area and an object name in association with each other. Furthermore, when the inspection object is test object 6 (object ID "S1"), the object management table manages the object ID and object name that identify the test object 6 in association with location information that indicates the photographing location of test object 6.

[0068] Pattern management table Fig. 15 is a conceptual diagram showing an example of a pattern management table. The pattern management table is a table for managing the photographing pattern of the inspection object determined according to the photographed image of the test object 6. A pattern management DB 3005 configured by the pattern management table shown in Fig. 15 is constructed in the storage unit 3000.

[0069] The pattern management table manages a pattern ID and a pattern name for identifying a photographed pattern, and reference image data corresponding to the target photographed pattern, in association with each other. Each time the test object 6 is photographed during inspection work, the robot 10 stores the photographed image of the test object 6 as reference image data, which is a photographed pattern corresponding to the photographing environment at the time of photographing.

[0070] ○Photography condition management table Fig. 16 is a conceptual diagram showing an example of an imaging condition management table. The imaging condition management table is a table for managing imaging conditions for an inspection object for each imaging pattern. An imaging condition management DB 3006 configured by the imaging condition management table shown in Fig. 16 is constructed in the storage unit 3000.

[0071] The photographing condition management table manages, for each area ID that identifies a specific area within the target base, a pattern ID that identifies a pattern, an object ID that identifies an inspection object to be photographed, and photographing condition information that indicates the photographing conditions for the inspection object, in association with each other. Of these, the photographing condition information includes photographing position information that indicates the photographing position of the inspection object, and photographing direction information that indicates the photographing direction of the photographing device 13.

[0072] The photographing position information indicates the stopping position of the robot 10 when photographing an inspection target object. The photographing position information includes photographing point information indicating the location of the base where the robot 10 is stopped or reference position distance information indicating the base from the area reference position of the target area. Like the base position information, the photographing point information is expressed by XY coordinates indicating the coordinate position on map data showing the entire target base. On the other hand, the reference position distance information is expressed by the distance from the area reference position on the travel path of the robot 10. Note that the photographing position information may include either the photographing point information or the reference position distance information. Furthermore, the photographing condition information may include not only the photographing position information and the photographing direction information, but also information on photographing parameters such as the aperture (F-number), shutter speed, ISO sensitivity, or whether or not a flash is used in the photographing device 13. Furthermore, the photographing condition information may include photographing parameters specific to the type of photographing device 13, such as the special camera described above.

[0073] The shooting direction information also includes PTZ (pan, tilt, zoom) parameters for specifying the shooting direction of the camera 13. The shooting condition setting unit 39 sets the shooting conditions for the camera 13 by controlling the shooting position adjustment device 14 according to the parameters indicated in the shooting direction information, for example. Then, the shooting control unit 36 ​​captures an image of the inspection object under the shooting conditions set by the shooting condition setting unit 39.

[0074] ○ Functional configuration of image management server ○ Next, the functional configuration of the image management server 50 will be described using Fig. 10. The image management server 50 has a transmission / reception unit 51, a determination unit 52, and a storage / readout unit 59. Each of these units is a function or a means for performing a function that is realized when any of the components shown in Fig. 9 operates in response to commands from the CPU 501 in accordance with the image management server program loaded on the RAM 503. The image management server 50 also has a storage unit 5000 constructed using the ROM 502, HD 504, or recording medium 515 shown in Fig. 9.

[0075] The transmitting / receiving unit 51 is mainly realized by the processing of the CPU 501 for the network I / F 509, and transmits and receives various data or information to and from other devices or terminals. The determining unit 52 is realized by the processing of the CPU 501, and makes various determinations.

[0076] The storage / readout unit 59 is mainly realized by the processing of the CPU 501 , and stores various data (or information) in the storage unit 5000 and reads out various data (or information) from the storage unit 5000 .

[0077] ○Photographed image management table Fig. 17 is a conceptual diagram showing an example of a photographed image management table. The photographed image management table is a table for managing photographed images of an inspection object photographed by the robot 10. A photographed image management DB 5001 configured by an image management table such as that shown in Fig. 17 is constructed in the storage unit 5000.

[0078] The photographed image management table manages, for each area ID that identifies an inspection area within a target base, an object ID and object name that identify an inspection object, and photographed image data of the target inspection object, in association with each other.

[0079] ○Functional configuration of communication terminal○ Next, the functional configuration of the communication terminal 70 will be described with reference to Fig. 10. The communication terminal 70 has a transmitting / receiving unit 71, a receiving unit 72, a display control unit 73, a determining unit 74, and a storing / reading unit 79. Each of these units is a function or a means for performing the function, which is realized when any of the components shown in Fig. 9 operates in response to an instruction from the CPU 701 in accordance with a program for the communication terminal loaded on the RAM 703. The communication terminal 70 also has a storage unit 7000 constructed using the ROM 702, HD 704, or recording medium 715 shown in Fig. 9.

[0080] The transmitting / receiving unit 71 is mainly realized by the processing of the CPU 701 for the network I / F 709, and transmits and receives various data or information to and from other devices or terminals via the communication network 100.

[0081] The reception unit 72 is mainly realized by the processing of the CPU 701 using the keyboard 711 or pointing device 712, and receives various selections or inputs from the user. The display control unit 73 is mainly realized by the processing of the CPU 701, and displays various screens on a display unit such as the display 706. The determination unit 74 is mainly realized by the processing of the CPU 701, and makes various determinations.

[0082] The storage / readout unit 79 is mainly realized by the processing of the CPU 701 , and stores various data (or information) in the storage unit 7000 and reads out various data (or information) from the storage unit 7000 .

[0083] Processing or operation of the embodiment ○Object photography processing○ Next, the processing or operation of the photography system 1 according to the embodiment will be described with reference to Fig. 18 to Fig. 36. First, the processing of photographing an inspection target object in a target area using the robot 10 will be described with reference to Fig. 18 to Fig. 25. Fig. 18 is a sequence diagram showing an example of the target object inspection processing.

[0084] First, when manager A located at the management base performs an input operation on the input means of the communication terminal 70, the transmitting / receiving unit 71 of the communication terminal 70 transmits a process start request to the image management server 50, requesting the start of inspection work on the robot 10 (step S11). This process start request includes an area ID that identifies the target area for the requested inspection work. As a result, the transmitting / receiving unit 51 of the image management server 50 receives the process start request transmitted from the communication terminal 70.

[0085] Next, the transmitting / receiving unit 51 of the image management server 50 transmits (transfers) the process start request transmitted from the communication terminal 70 to the robot 10 (step S12). As a result, the transmitting / receiving unit 31 of the control device 30 provided in the robot 10 receives the process start request transmitted (transferred) from the image management server 50. Next, the robot 10 starts the inspection process for the inspection target object based on the received process start request (step S13). Here, the inspection process for the inspection target object by the robot 10 will be described in detail with reference to Figs. 19 to 25. Fig. 19 is a flowchart showing an example of the object inspection process by the robot 10.

[0086] First, the storage / reading unit 49 searches the area information management DB 3001 (see FIG. 11) using the area ID received in step S12 as a search key to read out area information associated with the same area ID as the received area ID (step S31). The storage / reading unit 49 also searches the route information management DB 3003 (see FIG. 13) using the area ID received in step S12 as a search key to read out route information associated with the same area ID as the received area ID (step S32). Furthermore, the storage / reading unit 49 reads out base location information stored in the base location management DB 3002 (see FIG. 12) (step S33).

[0087] Next, the destination setting unit 34 sets the destination of the robot 10 based on the path information read out in step S32 (step S34). Specifically, the destination setting unit 34 sets a movement path to be the movement destination of the robot 10 in the order of the base positions indicated by the path data, using the position information indicating the current position of the robot 10 acquired by the position information acquisition unit 33 and the path data indicated in the read path information. For example, when it is desired to move the robot 10 to area 1, the destination setting unit 34 sets a movement path (P0 → P1 → P2 → P3 → P4 → P8) with base position P8, which is the area reference position of area 1, as the destination.

[0088] Next, the movement control unit 35 moves the robot 10 according to the movement route set by the movement destination setting unit 34 (step S35). Specifically, the movement control unit 35 moves the robot 10 so as to sequentially trace the base positions indicated on the set movement route. Then, if the robot 10 arrives at the designated area (YES in step S36), the determination unit 32 shifts the processing to step S36. Specifically, if the current position of the robot 10 indicated by the position information acquired by the position information acquisition unit 33 matches or approaches the area reference position indicated in the area information read in step S31, the determination unit 32 determines that the robot 10 has arrived at the designated area. Meanwhile, the control device 30 causes the movement control unit 35 to move the robot 10 until the robot 10 arrives at the designated area (NO in step S36).

[0089] Next, the control device 30 executes a photographing process of the inspection object in the designated area (step S37). Then, if the determination unit 32 determines that another designated area exists based on the area ID received in step S11 (YES in step S38), the control device 30 repeats the process from step S36, and repeats the movement to the other designated area and the photographing process. On the other hand, if the determination unit 32 determines that another designated area does not exist (NO in step S38), the control device 30 ends the inspection process for the inspection object.

[0090] 20 to 25, the photographing process of the inspection object in step S37 will be described in detail. Figures 20 and 21 are flowcharts showing an example of the object photographing process. It is assumed that the robot 10 continues to move along the movement route set by the movement destination setting unit 34 even after arriving at the designated area in step S36.

[0091] First, the storage / reading unit 49 searches the object management DB 3004 (see FIG. 14) using the area ID of the specified area determined to have been reached in step S35 as a search key, and reads out object information associated with the same area ID as the area ID of the object (step S51).

[0092] Next, if the determination unit 32 determines that the robot 10 has arrived at the test point (YES in step S52), the process proceeds to step S53. The test point is the photographing position of the test object 6. Specifically, if the current position of the robot 10 indicated by the position information acquired by the position information acquisition unit 33 matches or approaches the test point indicated by the object information read in step S51, the determination unit 32 determines that the robot 10 has arrived at the test point. Meanwhile, the control device 30 causes the movement control unit 35 to move the robot 10 until the robot 10 arrives at the test point (NO in step S52).

[0093] Next, when the robot 10 arrives at the test point, the movement control unit 35 stops the robot 10 (step S53). Then, the photography control unit 36 ​​performs photography processing on the test object 6 and acquires a photographed image of the test object 6 (step S54).

[0094] Next, the image matching unit 37 performs an image matching process between the reference image data stored in the pattern management DB 3005 (see FIG. 15) and the photographed image of the test object 6 acquired in step S54 (step S55). Specifically, the image matching unit 37 calculates parameters such as the degree of match or similarity between the stored plurality of reference image data and the acquired photographed image, and determines the reference image with the highest calculated parameter from the plurality of reference image data. In other words, the image matching unit 37 uses the photographed image of the test object 6 to determine the reference image that most closely resembles the reflection state of the test object 6 due to the external lighting conditions at the time of shooting, etc.

[0095] Next, the pattern identification unit 38 identifies the shooting pattern associated with the reference image determined in step S55 as the shooting pattern for the inspection object (step S56). Specifically, the pattern identification unit 38 identifies, for example, in the pattern management DB 3005, the pattern ID of the shooting pattern associated with the reference image determined in step S55. The robot 10 stores a plurality of shooting patterns that are determined to make the inspection object easily visible depending on the shooting environment for each inspection area, and identifies the shooting pattern that is determined to make the inspection object most easily visible based on the reflection state of the test object 6 captured immediately before starting to photograph the inspection object.

[0096] Next, the storage / reading unit 49 searches the shooting condition management DB 3006 (see FIG. 16) using the pattern ID of the shooting pattern identified in step S57 as a search key, and reads out the shooting condition information associated with the same pattern ID as the target pattern ID (step S57).

[0097] 21, the movement control unit 35 moves the robot 10 to the photographing position indicated in the photographing condition information read out in step S57 (step S58). When the photographing position information included in the photographing condition information indicates a photographing point, the movement control unit 35 moves the robot 10 to the base position indicated in the photographing point information. Furthermore, when the photographing position information included in the photographing condition information indicates reference position distance photographing, for example, the movement control unit 35 moves the robot 10 by the distance indicated in the reference position distance information.

[0098] Then, if the robot 10 has arrived at the photographing position (YES in step S59), the determination unit 32 shifts the process to step S61. Specifically, if the current position of the robot 10 indicated by the position information acquired by the position information acquisition unit 33 matches or approaches the photographing position indicated by the photographing condition information read in step S57, the determination unit 32 determines that the robot 10 has arrived at the photographing position. Meanwhile, the control device 30 causes the movement control unit 35 to move the robot 10 until the robot 10 arrives at the photographing position (NO in step S59).

[0099] Next, the photographing condition setting unit 39 sets photographing conditions corresponding to the photographing position where the camera has arrived (step S60). Specifically, the photographing condition setting unit 39 controls the photographing position adjustment device 14 based on the photographing direction information indicated by the photographing condition information read out in step S57, thereby setting the photographing conditions for the photographing device 13. Then, the photographing control unit 36 ​​performs photographing processing of the inspection object to be photographed at the current photographing position according to the photographing conditions set in step S60 (step S61).

[0100] Next, if there is another inspection object to be photographed (YES in step S62), the control device 30 repeats the process from step S59 and moves the robot 10 to a photographing position for the other inspection object. On the other hand, if the determination unit 32 determines that there is no other inspection object to be photographed (NO in step S62), the process ends.

[0101] Here, the processing described in Figures 20 and 21 will be explained in outline with reference to Figure 22. Figure 22 is a diagram for explaining in outline an example of a photographing processing using the robot 10 in an inspection area.

[0102] When the robot 10 arrives at the target area where the inspection work is to be performed, it first moves to the test point A0, which is the photographing position of the test object 6. Then, the robot 10 performs a photographing process on the test object 6 at the test point A0. As a result, the robot 10 acquires a photographed image of the test object 6 in the environment of the current target base.

[0103] Next, the robot 10 compares the photographed image of the test object 6 with the reference image stored in the pattern management DB 3005, and identifies the photographing pattern of the inspection target in the current inspection work. Then, the robot 10 sets the photographing conditions for the inspection target present in the target area corresponding to the identified photographing pattern.

[0104] Then, the robot 10 moves to the photographing position indicated by the set photographing conditions and performs photographing of the inspection object. In the example shown in Fig. 16, for example, the photographing position of the inspection object M1 is photographing position A1 when the pattern ID is "P001", and is photographing position A2 when the pattern ID is "P002". As a result, the robot 10 photographs the inspection object using photographing conditions that are determined to make the inspection object most visible depending on the photographing environment at the time of photographing, thereby making it possible to obtain photographed images that allow the state of the inspection object to be confirmed.

[0105] 23 to 25, the test object 6 installed in each inspection area of ​​the target base will be described. Fig. 23 is a diagram for explaining an example of the photographed state of the test object 6. Fig. 23 shows the difference in the photographed state of the spherical test object 6 depending on the direction of sunlight.

[0106] As shown in Figures 23(A) to 23(C), the appearance of a captured image of test object 6 varies depending on the direction of sunlight hitting test object 6. Figure 23(A) is an example where sunlight is hitting the upper left, making the left side of test object 6 difficult to see, so it is easier to see when viewed from a slightly right angle. Figure 23(B) is an example where sunlight is hitting test object 6 from the front, making the center of test object 6 difficult to see, so it is easier to see when viewed at an angle to the left or right. Furthermore, Figure 23(C) is an example where sunlight is hitting test object 6 from the upper right, making the right side of test object 6 difficult to see, so it is easier to see when viewed at a slightly left angle.

[0107] In this way, the photography system 1 places the test object 6 in the inspection area as a reference for setting the photography conditions, photographs the test object 6 before photographing the object to be inspected, and sets the photography conditions for the object to be inspected according to differences in how the test object 6 is reflected due to factors such as the way sunlight hits it. This allows the photography system 1 to acquire photographed images that make it easier for the robot 10 to confirm the state of the object to be inspected.

[0108] 24 and 25, the test object 6 placed at the target site is not limited to a circular object and may have various shapes. For example, the test object 6 may be a cylindrical object as shown in FIG. 24(A) or a polygonal object as shown in FIG. 24(B).

[0109] 25(A), the test object 6 may be, for example, a rod-shaped object, and the shadow of the rod-shaped object may be used to identify differences in the shooting conditions. Furthermore, as shown in FIG. 25(B), the test object 6 may be, for example, an image of a color chart, and the shooting pattern may be identified by correcting the color temperature, such as by adjusting the white balance of the photographed color chart.

[0110] In this embodiment, the test object 6 is described as being installed in each inspection area separately from the inspection objects, but the photography system 1 may be configured to treat one of the inspection objects installed in the inspection area as the test object 6. In this embodiment, the test object 6 is an example of a first object. Also, the inspection objects installed in each inspection area of ​​the target base are an example of a second object.

[0111] Furthermore, the photography system 1 may be configured to set photography conditions based on the photographed image of the inspection object and the reference image, and to photograph the same inspection object under the set photography conditions. In this case, in the object photographing process described above, the processes of steps S58 and S59 shown in Fig. 21 are omitted, and the photography system 1 performs the photography process of step 61 on the same inspection object as the inspection object photographed in step S54.

[0112] 18, the transmitter / receiver 31 of the control device 30 transmits the photographed image data acquired by the inspection process in step S13 and the object information of the inspection object corresponding to the photographed image data to the image management server 50 (step S14). As a result, the transmitter / receiver 51 of the image management server 50 receives the photographed image data and object information transmitted from the robot 10. Then, the storage / readout unit 59 of the image management server 50 stores the received photographed image data in the photographed image management DB 5001 (see FIG. 17) in association with the area ID received in step S11 and the object ID and object name indicated in the object information received in step S14 (step S15).

[0113] The manager of the management base can check the condition of the inspection object by displaying the photographed images acquired by the above-mentioned object inspection process and stored in the image management server 50 on the communication terminal 70. The photographing conditions managed in the above-mentioned photographing condition management DB 3006 (see FIG. 16) are set as parameters for the manager checking the photographed images to acquire photographed images in a state where the inspection object can be easily seen.

[0114] The robot 10 may perform the photographing process of the inspection object as described above, and may also perform a process of detecting whether or not there is an abnormality in the photographed inspection object by using a technique such as image recognition on the photographed image. This allows the manager to check the results of the detection by the robot 10 of the occurrence of an abnormality in the inspection object, along with the photographed image of the inspection object. In this case, the photographing conditions managed in the photographing condition management DB 3006 (see FIG. 16 ) may be set as parameters within a range that allows the robot 10 to perform processes such as image recognition, rather than parameters for acquiring an image that is easy for the manager to see.

[0115] ○Shooting pattern registration process○ ○Online processing during inspection work by Robot 10 Next, a process for registering a photographing pattern to be used for photographing an inspection target will be described with reference to Figures 26 to 36. In the above-described object inspection process, an example has been described in which photographing conditions corresponding to different patterns are stored in advance in the photographing condition management DB 3006 (see Figure 16). However, Figures 26 to 36 show an example in which a photographing pattern is not stored when photographing an object, and the administrator is allowed to view photographed images of the inspection target and register desired conditions. In the following description, the process up until the robot 10 arrives at the target inspection area is the same as the process shown in Figure 18, and therefore description thereof will be omitted.

[0116] Fig. 26 is a flowchart showing an example of the object photographing process when the photographing conditions are not registered. The processes of steps S101 to S104 are the same as the processes of steps S51 to S54 shown in Fig. 20, and therefore the description thereof will be omitted.

[0117] In step S105, the storage / readout unit 49 stores the photographed image of the test object 6 photographed in step S104 as reference image data in the pattern management DB 3005 (see FIG. 15). In this case, the storage / readout unit 49 associates the photographed image data of the test object 6 with the newly assigned pattern ID and stores it in one record of the pattern management table.

[0118] Next, the movement control unit 35 moves the robot 10 to an arbitrary photographing position in the inspection area according to the movement route set by the movement destination setting unit 34 (step S106). Specifically, the movement destination setting unit 34 sets a plurality of base positions on the set movement route as arbitrary photographing positions. Then, the movement control unit 35 moves the robot 10 to the set arbitrary photographing position.

[0119] Next, if the robot 10 has arrived at the target photographing position (YES in step S107), the determination unit 32 shifts the process to step S108. Specifically, if the current position of the robot 10 indicated by the position information acquired by the position information acquisition unit 33 matches or approaches the photographing position set in step S106, the determination unit 32 determines that the robot 10 has arrived at the target photographing position. Meanwhile, the control device 30 causes the movement control unit 35 to move the robot 10 until the robot 10 arrives at the target photographing position (NO in step S107).

[0120] Next, the photography control unit 36 ​​performs photography processing of the inspection objects at low magnification (step S108). Specifically, the photography condition setting unit 39 sets photography conditions at a low magnification with a low zoom amount (Z) so that multiple inspection objects in the inspection area are photographed at one time at the photography position where the camera has arrived. The photography control unit 36 ​​performs photography processing at low magnification based on the set photography conditions. Then, the photography control unit 36 ​​acquires an overhead image, which is a photographed image of multiple inspection objects in the inspection area.

[0121] Next, if the determination unit 32 determines that the next photographing position exists (YES in step S109), the control device 30 repeats the process from step S106 to move to the next photographing position and repeat the photographing process. On the other hand, if the determination unit 32 determines that the next photographing position does not exist (NO in step S109), the control device 30 ends the photographing process of the inspection object.

[0122] As a result, the robot 10 captures images of the inspection object present in the inspection area from different shooting positions, thereby acquiring a plurality of bird's-eye images in which the inspection object is captured in different ways. Next, with reference to Figures 27 to 30, a process of registering the shooting conditions of the inspection object using the captured images acquired by the robot 10 will be described.

[0123] 27 and 30 are sequence diagrams showing an example of a registration process of photography conditions in the photography system. The transmitter / receiver 31 of the control device 30 provided in the robot 10 transmits the photographed image data acquired in step S108 to the image management server 50 (step S121). The transmitter / receiver 51 of the image management server 50 transmits (transfers) the photographed image data transmitted from the robot 10 to the communication terminal 70 (step S122). As a result, the transmitter / receiver 71 of the communication terminal 70 receives the photographed image data transmitted (transferred) from the image management server 50.

[0124] Next, the display control unit 73 of the communication terminal 70 causes the display 706 to display a setting screen 600 for setting the photographing conditions for the inspection object (step S123). FIG. 28 is a diagram showing an example of the setting screen displayed on the communication terminal. The setting screen 600 shown in FIG. 28 is a display screen for registering the photographing conditions for the inspection object in the inspection area using an overhead image of the entire inspection area. Manager A uses the setting screen 600 to set the photographing conditions for photographing a predetermined area of ​​the displayed photographed image.

[0125] The setting screen 600 includes a captured image display area 605 for displaying a captured image 610 corresponding to the captured image data received in step S122, and a designation range 620 for designating a predetermined area within the captured image 610 displayed in the captured image display area 605. The setting screen 600 also includes a "CAPTURE" button 631 that is pressed to request photography of an inspection object corresponding to the designation range 620, a "RANGE DESIGN" button 633 that is pressed to display the designation range 620, and a "REGISTRATION" button 635 that is pressed to register the photography conditions of the captured image displayed in the captured image display area 605 as a photography pattern. The setting screen 600 also includes an image switching button 641 that switches the captured image 610 displayed in the captured image display area 605, a registration name input area 643 for inputting a pattern name of the photography pattern to be registered, and a file name input area 645 for inputting a file name of the captured image displayed in the captured image display area 605.

[0126] 27, when manager A specifies an area using the specified range 620 and presses the "Photograph" button 631, the reception unit 72 of the communication terminal 70 receives a request to photograph the specified area (step S124). Then, the transmission / reception unit 71 transmits, to the image management server 50, specified area information indicating a predetermined area within the photographed image 610 specified in step S124 (step S125). The transmission / reception unit 51 of the image management server 50 transmits (transfers) the specified area information transmitted from the communication terminal 70 to the robot 10. As a result, the transmission / reception unit 31 of the control device 30 provided in the robot 10 receives the specified area information transmitted (transferred) from the image management server 50.

[0127] Next, the photographing condition setting unit 39 of the control device 30 sets photographing conditions for the photographing process using the photographing device 13 based on the designated area information received in step S126 (step S127). Specifically, the photographing condition setting unit 39 specifies the photographing position and photographing direction of the target inspection object based on the position and orientation of the inspection object in the area corresponding to the received designated area information. Then, the photographing condition setting unit 39 sets the photographing conditions for the photographing device 13 by controlling the photographing position adjustment device 14 toward the specified photographing direction. In addition, the movement destination setting unit 34 sets the specified photographing position as the movement destination of the robot 10.

[0128] Next, the movement control unit 35 moves the robot 10 toward the set photographing position (step S128). Then, when the robot 10 arrives at the set photographing position, the photographing control unit 36 ​​performs photographing processing of the inspection object based on the set photographing conditions (step S129). Then, the photographing control unit 36 ​​acquires an enlarged image, which is a photographed image of the inspection object corresponding to the specified predetermined area.

[0129] The transmitter / receiver 31 transmits the photographed image data of the inspection object photographed in step S128 and the object information of the photographed inspection object to the image management server 50 (step S130). The transmitter / receiver 51 of the image management server 50 transmits (transfers) the photographed image data and object information transmitted from the robot 10 to the communication terminal 70 (step S131). As a result, the transmitter / receiver 71 of the communication terminal 70 receives the photographed image data and object information transmitted (transferred) from the image management server 50.

[0130] Next, the display control unit 73 of the communication terminal 70 displays a captured image 615 corresponding to the captured image data received in step S131 in the captured image display area 605 (step S132), as shown in Fig. 29. In the setting screen 600 shown in Fig. 29, a captured image 615 that is an enlarged image of the specified range 620 in Fig. 28 is displayed in the captured image display area 605.

[0131] 30, when the manager A presses the "Register" button 635 while the photographed image 615 is displayed in the photographed image display area 605, the reception unit 72 receives a request to register the photographing conditions (step S133). If the manager finds it difficult to confirm the state of the inspection object from the displayed photographed image 615, he or she selects the specified range 620 again and changes the photographing position of the robot 10. In this case, the photographing system 1 repeats the process from step 124.

[0132] Next, the transmitter / receiver 71 transmits a request to register the photographing conditions of the photographed image 615 displayed in the photographed image display area 605 to the image management server 50 (step S134). This photographing condition registration request includes the area ID of the inspection area in which the inspection object is installed, the file name entered in the file name input area 645, the pattern name entered in the registration name input area 643, and the object ID indicated in the object information received in step S131. As a result, the transmitter / receiver 51 of the image management server 50 receives the photographing condition registration request transmitted from the communication terminal 70.

[0133] Next, the storage / readout unit 59 of the image management server 50 stores the captured image data received in step S131 in association with the area ID and object ID received in step S134 in the captured image management DB 5001 (see FIG. 17) (step S135). Then, the transmission / reception unit 51 of the image management server 50 transmits an image capture condition registration request to the robot 10 (step S136). This image capture condition registration request includes the pattern name and object ID received in step S134. As a result, the transmission / reception unit 31 of the control device 30 provided in the robot 10 receives the image capture condition registration request transmitted from the image management server 50.

[0134] The registration unit 41 of the control device 30 registers pattern information in which the pattern name received in step S136 is associated with the reference image data stored in step S105 in the pattern management DB 3005 (see FIG. 15) (step S137).Then, the registration unit 41 registers, in the photographing condition management DB 3006 (see FIG. 16), photographing condition information indicating the photographing conditions of the photographing process in step S129 in association with the object ID received in step S136 and the pattern ID indicated by the pattern information registered in step S137 (step S138).

[0135] In this way, the photography system 1 can register the photographed image of the test object 6 in association with the photography conditions corresponding to the photography environment when the object to be inspected was photographed. Furthermore, by repeating the above-described photography condition registration process in photography environments with different external light conditions, the photography system 1 can register photography conditions that make it easy to see the object to be inspected in each of various photography environments.

[0136] ○ Offline processing after inspection work by Robot 10 Next, with reference to Figures 31 to 34, a process in which manager A registers a photographing pattern using photographed images after the inspection work by the robot 10 is completed will be described. The robot 10 uploads photographed images of the inspection object taken during the inspection work to the image management server 50. Then, manager A performs a process to register a photographing pattern of the inspection object at a desired time while checking the photographed images uploaded to the image management server 50. This will be described in detail below.

[0137] FIG. 31 is a flowchart showing an example of an object photographing process when photographing conditions are not registered. The process shown in FIG. 31 differs from the process shown in FIG. 26 only in the process of step S208. In step S208, the photographing control unit 36 ​​performs photographing of an enlarged image of the inspection object. Specifically, the photographing condition setting unit 39 sets photographing conditions with a high zoom amount (Z) so that enlarged images of each inspection object in the inspection area are captured at the photographing position where the camera has arrived. The photographing control unit 36 ​​performs photographing of the inspection object present in the target inspection area based on the set photographing conditions. Then, the photographing control unit 36 ​​acquires enlarged images, which are photographed images of each inspection object in the inspection area. Note that the other processes of steps S201 to S207 and S209 shown in FIG. 31 are similar to the processes of steps S101 to S107 and S109 in FIG. 26, respectively, and therefore will not be described again.

[0138] Next, with reference to FIGS. 32 to 34, a process for registering the photographing conditions of an inspection object using the photographed image uploaded to the image management server 50 after the inspection work by the robot 10 is completed will be described. FIGS. 32 and 34 are sequence diagrams showing an example of the process for registering the photographing conditions in the photography system 1. The transmitter / receiver 31 of the control device 30 provided in the robot 10 transmits to the image management server 50 the photographed image data acquired in step S208, as well as the area ID of the inspection area in which the inspection object photographed in step S208 is installed and the object information of the inspection object (step S221). As a result, the transmitter / receiver 51 of the image management server 50 receives the photographed image data, area ID, and object information transmitted from the robot 10. The storage / readout unit 59 of the image management server 50 then stores the received photographed image data in the photographed image management DB 5001 (see FIG. 17) in association with the area ID received in step S221 and the object ID and object name indicated in the object information (step S222).

[0139] Next, when manager A located at the management base performs an input operation on the input means of the communication terminal 70, the transmitter / receiver 71 of the communication terminal 70 transmits a captured image acquisition request to the image management server 50, requesting acquisition of a captured image of the inspection object (step S223). This captured image acquisition request includes an object ID that identifies the inspection object. As a result, the transmitter / receiver 51 of the image management server 50 receives the captured image acquisition request transmitted from the communication terminal 70.

[0140] Next, the storage / readout unit 59 of the image management server 50 searches the photographed image management DB 5001 using the object ID received in step S223 as a search key, and reads out photographed image data associated with the same object ID as the received object ID (step S224). Then, the transmission / reception unit 51 transmits the photographed image data read out in step S224 to the requesting communication terminal 70. As a result, the transmission / reception unit 71 of the communication terminal 70 receives the photographed image data transmitted from the image management server 50.

[0141] Next, the display control unit 73 of the communication terminal 70 causes the display 706 to display an image selection screen 800 on which the captured image data received in step S224 is displayed (step S226). Fig. 33 is a diagram showing an example of the image selection screen displayed on the communication terminal. The image selection screen 800 shown in Fig. 29 is a display screen for registering the capture conditions of the inspection object corresponding to the capture environment using a plurality of captured images of the inspection object.

[0142] The image selection screen 800 includes a captured image display area 810 for displaying multiple captured images 820 (820a, 820b) corresponding to the captured image data received in step S226, an image switching button 830 for switching the captured image displayed in the captured image display area 810, a registration name input area 840 for inputting the pattern name of the capturing pattern to be registered, and a "Register" button 850 that is pressed when registering the capturing conditions of the selected captured image as a capturing pattern. Of these, the captured image display area 810 includes selection areas 825 (825a, 825b) for selecting a captured image for each displayed captured image. The example in FIG. 33 shows a state in which administrator A has selected captured image 820a.

[0143] Next, in FIG. 34, when manager A makes an input in the selection area 825, the reception unit 72 of the communication terminal 70 receives the selection of the photographed image (step S227). The example in FIG. 33 shows a state in which manager A has selected photographed image 820a. Then, when manager A presses the "Register" button 850, the transmission / reception unit 71 transmits a request to register the photographing conditions of photographed image 820 selected in step S227 to the image management server 50 (step S228). This photographing condition registration request includes the pattern name input in the registration name input area 840, the object ID transmitted in step S223, and the photographed image data selected in step S227. As a result, the transmission / reception unit 51 of the image management server 50 receives the photographing condition registration request transmitted from the communication terminal 70.

[0144] Next, the storage / readout unit 59 of the image management server 50 updates the photographed image data stored in the photographed image management DB 5001 in association with the object ID received in step S228 to the photographed image data received in step S228 (step S229). Then, the transmission / reception unit 51 of the image management server 50 transmits a photographing condition registration request to the robot 10 (step S230). This photographing condition registration request includes image identification information such as the pattern name and object ID received in step S227, and the file name that identifies the photographed image data updated in step S229. As a result, the transmission / reception unit 31 of the control device 30 included in the robot 10 receives the photographing condition registration request transmitted from the image management server 50.

[0145] The registration unit 41 of the control device 30 registers pattern information in which the pattern name received in step S230 is associated with the reference image data stored in step S205 in the pattern management DB 3005 (see FIG. 15) (step S231).Then, the registration unit 41 registers, in the photographing condition management DB 3006 (see FIG. 16), photographing condition information indicating the photographing conditions at the time of photographing the photographed image data corresponding to the image identification information received in step S230 in association with the object ID received in step S230 and the pattern ID indicated by the pattern information registered in step S231 (step S231).

[0146] In this way, the photography system 1 can perform offline processing such as uploading images of the inspection target object by the robot 10 to the image management server 50, and after the inspection work of the robot 10 is completed, having the manager select the most visible image from the captured images and register the photography conditions corresponding to the photography environment. As a result, once the manager registers the photography conditions of the inspection target object once, the photography system 1 can allow the robot 10 to automatically photograph the inspection target object while patrolling its movement route, thereby reducing the effort required for the manager to perform the registration work.

[0147] Note that the photography system 1 may be configured to capture and display an image of the inspection target as shown in Fig. 33 instead of an overhead image of the inspection area in the online processing shown in Fig. 26 to Fig. 30. Furthermore, the photography system 1 may be configured to capture and display an overhead image of the inspection area as shown in Fig. 28 in the offline processing shown in Fig. 31 to Fig. 34. In this case, the photography system 1 registers the photography conditions of the predetermined area specified in the overhead image as the photography conditions of the inspection target included in the predetermined area.

[0148] Furthermore, by repeating the above-described process, the photography system 1 can select appropriate photography conditions depending on differences in the photography environment, such as external lighting conditions, thereby optimizing the photography conditions. Specifically, the robot 10 updates the photography condition information managed in the photography condition management DB 3006, for example, using the photography conditions set in step S127 and the pattern name and object ID received in step S136 as input. Alternatively, the robot 10 updates the photography condition information managed in the photography condition management DB 3006, for example, using the photography conditions set in step S208 and the pattern name, object ID, and image identification information received in step S230 as input. Then, the robot 10 performs photography processing of the inspection object using the photography condition information read in step S57 based on the updated photography conditions as output. In this way, the photography system 1 can improve the photography accuracy of the inspection object by regularly updating the data managed in the photography condition management DB 3006 through machine learning.

[0149] Here, the administrator may register the photographing conditions taking into account factors other than the external light conditions while viewing the photographed image displayed on the communication terminal 70. FIG. 35 is a diagram for schematically explaining another example of a photographing process using the robot 10 in an inspection area. As shown in FIG. 35, the inspection target M3 is visible from photographing points A2 and A3 but not from photographing point A4. FIG. 36(A) is an example of a photographed image taken from photographing point A3, and FIG. 36(B) is an example of a photographed image taken from photographing point A4. As such, the inspection target may be shaded or hidden by other structures within the target site depending on not only the external light conditions but also the photographing position. Therefore, the administrator may determine the photographed image to be registered as the photographing conditions so as to take into account not only the external light conditions but also occlusion caused by the shadows of other structures within the target site.

[0150] Effect of the embodiment As described above, the photography system 1 installs the test object 6 in each inspection area of ​​the target base and photographs the test object 6 with the robot 10 before starting inspection work in the inspection area. Furthermore, the photography system 1 sets photography conditions indicating the photography position and photography direction of the inspection target set in the inspection area based on the analysis results of the photographed image of the test object 6. The photography system 1 then moves the robot 10 to the set photography position and photographs the inspection target according to the set photography direction. In this way, the photography system 1 photographs the inspection target using photography conditions according to the photography environment, such as the time of inspection or external lighting conditions that change with the weather, and can thereby obtain photographed images that allow the state of the inspection target to be read even when it is difficult to read the image using the photography conditions instructed in advance.

[0151] In the present embodiment, an example has been described in which the control device 30 provided in the robot 10 is used to control the photographing process by the robot 10. However, the image matching process, pattern identification process, and photographing condition setting process may be executed by the image management server 50. In this case, the image management server 50 has configurations similar to the image matching unit 37, pattern identification unit 38, photographing condition setting unit 39, and registration unit 41 of the control device 30. Furthermore, a pattern management DB 3005 and a photographing condition management DB 3006 are stored in the memory unit 5000 of the image management server 50. In this case, the image management server 50 is an example of an information processing device.

[0152] ●Summary● As described above, an information processing device according to one embodiment of the present invention is an information processing device (e.g., control device 30) that controls the photography process of robot 10 (an example of a mobile object) that moves within a predetermined base and photographs an object (e.g., an object to be inspected). The information processing device includes: a memory unit 3000 (an example of a storage means) that stores a plurality of reference images of an object installed within the base, each of which is photographed at a specific photographing position and shows different states of the object, in association with the photographing conditions of the object; a photographing control unit 36 ​​(an example of a photographing control means) that photographs the object using robot 10 moved to the specific photographing position; and a photographing condition setting unit 39 (an example of a photographing condition setting means) that sets the photographing conditions of the object based on the photographed image of the object and the stored reference image. The photographing control unit 36 ​​photographs the object using the set photographing conditions. This allows the information processing device to obtain photographed images that allow the state of the object to be confirmed regardless of the photographing environment.

[0153] In addition, in an information processing device according to an embodiment of the present invention, the objects include a test object 6 (an example of a first object) and an inspection object (an example of a second object). The information processing device captures a test object 6 installed within a base at a specific shooting position, and stores a plurality of reference images in which the test object 6 is captured in different states, associating the shooting conditions of the inspection object with each of the reference images. The information processing device then captures an image of the test object 6 using a robot 10 (an example of a mobile object) moved to the specific shooting position. The information processing device then sets shooting conditions for the inspection object based on the captured image of the test object 6 and the stored reference images, and captures an image of the inspection object using the set shooting conditions. In this way, the information processing device captures an image of the inspection object using shooting conditions appropriate to the shooting environment, such as external lighting conditions that change depending on the time of inspection or weather, and can obtain a captured image that allows the state of the inspection object to be confirmed even when it is difficult to read the image using the previously taught shooting conditions.

[0154] Furthermore, an imaging system according to one embodiment of the present invention is an imaging system 1 including a communication terminal 70 that displays an image captured by a robot 10 (an example of a moving object). The communication terminal 70 includes a display control unit 73 (an example of a display control unit) that causes a display 706 (an example of a display unit) to display an image 610 (an example of an overhead image) of an inspection area (an example of a predetermined area) including multiple inspection objects (an example of second objects) captured by an imaging control unit 36 ​​(an example of an imaging control unit), and a reception unit 72 (an example of a reception unit) that receives a designation of a predetermined area of ​​the displayed image 610. In the imaging system 1, the imaging control unit 36 ​​captures an image of a specific inspection object included in the designated predetermined area, and the storage unit 3000 (an example of a storage unit) stores the imaging conditions under which the specific inspection object was captured in association with the image of a test object 6 (an example of a first object) captured by the imaging control unit 36. This allows the imaging system 1 to register an image of the test object 6 in association with the imaging conditions corresponding to the imaging environment at the time the inspection object was captured. Furthermore, the photography system 1 can register photography conditions under which the inspection target can be easily seen, corresponding to each of various photography environments, by repeating the process of registering the date, time and photography conditions in different photography environments.

[0155] Furthermore, an imaging system according to one embodiment of the present invention is an imaging system 1 including a communication terminal 70 that displays images captured by a robot 10 (an example of a moving object). The communication terminal 70 includes a display control unit 73 (an example of a display control unit) that causes a display 706 (an example of a display unit) to display multiple images 820 of an inspection target (an example of a second target) captured by an imaging control unit 36 ​​(an example of an imaging control unit), and a reception unit 72 (an example of a reception unit) that receives a selection of a specific image (e.g., image 820a) from the multiple displayed images 820. In the imaging system 1, a storage unit 3000 (an example of a storage unit) stores imaging conditions of the specific image in association with an image of a test object 6 (an example of a first target) captured by the imaging control unit 36 ​​(an example of an imaging control unit). This allows the imaging system 1 to automatically capture images of the inspection target while patrolling its movement path once the administrator has registered the imaging conditions of the inspection target, thereby reducing the administrator's time and effort required for registration work.

[0156] ●Additional Information● Each function of the above-described embodiments can be realized by one or more processing circuits. Here, the term "processing circuit" in the present embodiment includes a processor programmed to perform each function by software, such as a processor implemented by an electronic circuit, as well as devices designed to perform each function described above, such as an application specific integrated circuit (ASIC), a digital signal processor (DSP), a field programmable gate array (FPGA), a system on a chip (SOC), a graphics processing unit (GPU), and a conventional circuit module.

[0157] Furthermore, the various tables in the above-described embodiments may be generated by the learning effects of machine learning, and tables may not be used by classifying data for each associated item using machine learning. Here, machine learning refers to a technology that allows a computer to acquire human-like learning capabilities, in which the computer autonomously generates algorithms necessary for judgments such as data classification from previously acquired learning data and applies these algorithms to new data to make predictions. The learning method for machine learning may be any of supervised learning, unsupervised learning, semi-supervised learning, reinforcement learning, and deep learning, or may be a combination of these learning methods. Any learning method for machine learning is acceptable.

[0158] So far, we have described an information processing device, a moving body, an imaging system, an imaging control method, and a program according to one embodiment of the present invention, but the present invention is not limited to the above-described embodiment, and other embodiments can be added, modified, or deleted within the scope that can be conceived by a person skilled in the art. In any aspect, as long as the functions and effects of the present invention are achieved, it is included in the scope of the present invention. [Explanation of symbols]

[0159] 1. Shooting system 6. Test object (an example of the first target part) 100 Communication Network 10 Robot (an example of a mobile object) 30 Control device (an example of an information processing device) 31 Transmitter / Receiver 36 Shooting control unit (an example of shooting control means) 37 Image matching unit (an example of image matching means) 38 Pattern identification unit (an example of a pattern identification means) 39 Shooting condition setting unit (an example of a shooting condition setting means) 50 Image management server (an example of an information processing device) 70 Communication terminal 72 Reception unit (an example of reception means) 73 Display control unit (an example of display control means) 706 Display (Example of display unit) 3000 Memory unit (an example of memory means) [Prior art documents] [Patent documents]

[0160] [Patent Document 1] Japanese Patent Application Publication No. 11-64050 [Patent Document 2] Japanese Patent Application Laid-Open No. 2005-52926

Claims

1. An information processing device that controls an image capturing process of a moving object that moves within a predetermined base and captures an image of a meter, a storage means for storing a plurality of reference images, each of which is obtained by photographing a test object installed within the base at a specific photographing position and showing a different reflection state of the test object, in association with the photographing conditions of the meter; an imaging control means for imaging the test object using the moving body moved to the specific imaging position; a pattern specifying means for specifying a photographed pattern associated with the reference image based on the photographed image of the test object photographed by the photographing control means and the stored reference image; an image capturing condition setting means for setting image capturing conditions for the meter based on the captured image of the test object and the stored reference image; Equipped with the photographing pattern identified by the pattern identifying means is a photographing pattern that enables reading of the value of the meter, the photographing condition setting means sets the photographing conditions of the meter associated with the identified photographing pattern, The photographing control means photographs the meter using the photographing conditions that have been set.

1. An information processing device comprising:

2. 2. The information processing apparatus according to claim 1, wherein the storage means stores a plurality of reference images of the test object photographed under different external light conditions in association with the photographing conditions under the external light conditions corresponding to the reference images.

3. an image matching means for matching a photographed image of the test object with the stored reference image; 3. The information processing apparatus according to claim 1, wherein the pattern specifying means specifies the photographic pattern associated with the reference image determined by the image matching.

4. 4. The information processing apparatus according to claim 1, wherein the photographing conditions include a photographing position and a photographing direction for photographing the meter.

5. A mobile object comprising the information processing device according to any one of claims 1 to 4.

6. An imaging system including a mobile object that moves within a predetermined location and captures an image of a meter, a storage means for storing a plurality of reference images, each of which is obtained by photographing a test object installed within the base at a specific photographing position and showing a different reflection state of the test object, in association with the photographing conditions of the meter; an imaging control means for imaging the test object using the moving body moved to the specific imaging position; a pattern specifying means for specifying a photographed pattern associated with the reference image based on the photographed image of the test object photographed by the photographing control means and the stored reference image; an image capturing condition setting means for setting image capturing conditions for the meter based on the captured image of the test object and the stored reference image; Equipped with the photographing pattern identified by the pattern identifying means is a photographing pattern that enables reading of the value of the meter, the photographing condition setting means sets the photographing conditions of the meter associated with the identified photographing pattern, The photographing system is characterized in that the photographing control means photographs the meter using the photographing conditions that have been set.

7. a communication terminal that displays an image captured by the moving object; The communication terminal a display control means for displaying, on a display unit, an overhead image of a predetermined area including the plurality of meters, the overhead image being captured by the image capture control means; a receiving means for receiving a designation of a predetermined area of ​​the displayed overhead image, The photographing control means photographs a specific meter included in the designated predetermined area, 7. The photographing system according to claim 6, wherein the storage means stores the photographing conditions under which the specific meter was photographed in association with the photographed image of the test object photographed by the photographing control means.

8. a communication terminal that displays an image captured by the moving object; The communication terminal a display control means for displaying a plurality of images of the meter captured by the image capture control means on a display unit; a receiving means for receiving a selection of a specific photographed image from among the displayed plurality of photographed images; Equipped with 7. The photographing system according to claim 6, wherein said storage means stores the photographing conditions of the specific photographed image in association with the photographed image of the test object photographed by said photographing control means.

9. An image capturing control method executed by an information processing device that controls an image capturing process of a moving object that moves within a predetermined location and captures an image of a meter, The information processing device includes: a storage means for storing a plurality of reference images in which a test object installed within the base is photographed at a specific photographing position and in which the test object is photographed in a different state, in association with the photographing conditions of the meter; a first photographing control step of photographing the test object using the moving body moved to the specific photographing position; a pattern specifying step of specifying a photographing pattern associated with the reference image based on the photographed image of the test object photographed in the first photographing control step and the stored reference image; an imaging condition setting step of setting imaging conditions for the meter based on the captured image of the test object and the stored reference image; a second photographing control step of photographing the meter using the photographing conditions that have been set; Run the photographing pattern identified in the pattern identifying step is a photographing pattern that enables reading of the value of the meter, The photographing condition setting step sets the photographing condition of the meter associated with the identified photographing pattern. A shooting control method comprising:

10. A program that causes a computer to function as an information processing device that controls an image capturing process of a moving object that moves within a predetermined location and captures an image of a meter, The computer, a storage process in which a test object installed within the base is photographed at a specific photographing position, and a plurality of reference images in which the test object is photographed in different states are associated with photographing conditions of the meter and stored; a first photographing control process for photographing the test object using the moving body moved to the specific photographing position; a pattern identification process for identifying an imaging pattern associated with the reference image based on the image of the test object captured by the first imaging control process and the stored reference image; an imaging condition setting process for setting imaging conditions for the meter based on the captured image of the test object and the stored reference image; a second photographing control process for photographing the meter using the photographing conditions that have been set; Execute the photographing pattern identified by the pattern identification process is a photographing pattern that enables reading of the value of the meter, The photographing condition setting process sets the photographing condition of the meter associated with the identified photographing pattern. A program characterized by:

Images