Autonomous vehicles and automated maintenance and operation systems equipped with them

Abstract

To provide an unmanned traveling vehicle capable of automating maintenance operation of a facility, and to provide a maintenance operation automated system including the same.SOLUTION: An UGV 10, which is an unmanned traveling vehicle for traveling on a prescribed traveling route in an unmanned state, includes an imaging part 11 for imaging an inspection object, a radio communication part 12 for transmitting an image imaged by the imaging part 11 to a server device 20, an instrument part 14 for performing a prescribed operation to a facility, and a control part 13 for controlling operation by the instrument part 14.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to an autonomous vehicle and a maintenance and operation automation system including the same, and is mainly a technology targeting power infrastructure such as power plants and substations.

Background Art

[0002] Regarding social infrastructure such as solar power generation and substation facilities, in order to stabilize the revenue from power sales and ensure a stable power supply, continuous maintenance such as regular inspections and the removal of weeds that cause a decrease in power generation is required. On the other hand, large-scale solar power generation facilities (hereinafter referred to as megasolar) and substation facilities require a lot of labor and cost for maintenance because the sites are vast and the number of solar panels is enormous. In particular, weeds not only cause hot spots but also serve as habitats for small animals, which may cause secondary damage, and thus are a major factor hindering maintenance (see, for example, Non-Patent Document 1).

Prior Art Documents

Non-Patent Documents

[0003]

Non-Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Figure 10 shows an example of manual weeding and inspection, and Figure 11 shows an example of manual herbicide application. In the figures, the symbol P represents a solar panel (hereinafter referred to as "panel"), the symbol 2 represents a passage between panels P, the symbol 3 represents herbicide, and the symbol G represents weeds. As shown in these figures, manual labor is used for regular inspections and weed control, but due to the characteristics of the mega solar installation site, the working environment is poor and labor-intensive, such as the narrow width between panels P and the low height of the panels. Furthermore, in weed control, there are some locations where herbicide application (see Figure 11) cannot be performed due to the possibility of causing damage to surrounding trees and nearby residents, and only weeding (see Figure 10) is used.

[0005] Therefore, efficient measures are required, such as automating regular inspections, checks, and weed control, to respond to individual work environments and needs. Such measures are necessary not only for mega solar power plants but also for various other infrastructure facilities such as substations.

[0006] The present invention aims to provide an unmanned vehicle capable of automating the maintenance and operation of facilities, and an automated maintenance and operation system equipped therewith. [Means for solving the problem]

[0007] One aspect of the present invention is, In a facility where multiple rows of solar panels are arranged at a predetermined angle, the passages between the multiple rows of solar panels An unmanned vehicle capable of driving without a driver, comprising: an imaging unit for photographing objects to be inspected; a wireless communication unit for transmitting images captured by the imaging unit to a server device; an instrument unit for performing predetermined operations on equipment; and a control unit for controlling the operation of the instrument unit. The equipment unit includes at least a granular herbicide spreader, and when the unmanned vehicle travels along the multi-tiered walkway, the granular herbicide spreader sprays herbicide onto the lower part of the solar panel from the higher side of the solar panel, while the imaging unit photographs the lower part of the solar panel from the higher side of the solar panel. .

[0008] Another aspect of the present invention is an automated maintenance and operation system comprising an unmanned vehicle and a server device that is communicatively connected to the unmanned vehicle, wherein the unmanned vehicle and the server device cooperate to automate the maintenance and operation of the facility. [Effects of the Invention]

[0009] According to the present invention, it is possible to provide an unmanned vehicle capable of automating the maintenance and operation of facilities, and an automated maintenance and operation system equipped therewith. [Brief explanation of the drawing]

[0010] [Figure 1] This is an overall configuration diagram of the maintenance and operation automation system according to an embodiment of the present invention. [Figure 2] This is a functional block diagram of a maintenance and operation automation system according to an embodiment of the present invention. [Figure 3] This is a perspective view showing the appearance of an UGV in an embodiment of the present invention. [Figure 4] This is a perspective view illustrating the route setting of an UGV in an embodiment of the present invention. [Figure 5] This is a plan view illustrating the route setting of a UGV in an embodiment of the present invention. [Figure 6] This is a schematic diagram showing an UGV performing herbicide spraying and camera photography according to an embodiment of the present invention, where (A) is a cross-sectional view and (B) is a plan view. [Figure 7] This is an explanatory diagram of the screen displayed when a server device in an embodiment of the present invention detects an equipment malfunction. [Figure 8] This is a schematic diagram showing a modified UGV according to an embodiment of the present invention, where (A) is a cross-sectional view and (B) is a plan view. [Figure 9] This is a schematic diagram showing attachment options for a UGV in an embodiment of the present invention, where (A) is an image acquired by a thermal camera, (B) is a robotic arm, (C) is a lawnmower, and (D) is a watering machine. [Figure 10] This is a schematic diagram illustrating an example of manual weeding, patrol, and inspection procedures. [Figure 11] This is a schematic diagram illustrating an example of manual herbicide application. [Modes for carrying out the invention]

[0011] Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, the embodiments described below are merely examples. That is, the embodiments described below can be variously modified and implemented without departing from the gist thereof. In the drawings, parts denoted by the same reference numerals represent the same or similar parts unless otherwise specified.

[0012] [Overview] The present invention relates to an unmanned vehicle and a maintenance and operation automation system including the same, and is mainly a technology targeting power infrastructures such as power plants and substations. Hereinafter, the maintenance of a solar power generation facility (megasolar) will be exemplified and described, but the present invention can be applied to various infrastructures (facilities) that require automation of facility maintenance and operation.

[0013] [Example of overall configuration] FIG. 1 is an overall configuration diagram of a maintenance and operation automation system 1 in an embodiment of the present invention. Here, a case where herbicide spraying / weeding and regular patrol / inspection are automated using a UGV (Unmanned Ground Vehicle) 10 in addition to a solar power generation facility (megasolar) is exemplified.

[0014] In other words, this maintenance and operation automation system 1 is a system for automating the maintenance and operation of mega solar power plants and the like, and as shown in Figure 1, the UGV 10 and the server device 20 are connected to each other via a network so that they can communicate with each other. The UGV 10 is an unmanned vehicle that can travel along a predetermined route without a driver. Using a UGV 10 that can handle narrow and uneven patrol and inspection routes, a route is set and the vehicle is made to travel autonomously. The current position of the UGV 10 is determined using positioning with GNSS (Global Navigation Satellite Systems) satellites 101 and correction data from a fixed station 102 installed on the ground (reference point). In Figure 1, an example is shown in which two UGV 10s are traveling along the passage 2 between panels P, but at least one UGV 10 is sufficient. The UGV 10 may also estimate its own position using Visual SLAM (Simultaneous Localization and Mapping) on ​​the set route and travel autonomously.

[0015] UGV10 is equipped with a camera and a granular herbicide spreader. While UGV10 is moving autonomously, it automatically spreads herbicide 3 along its route and under the panels using the granular spreader, while simultaneously photographing the inspection target with the camera. The captured images are automatically analyzed by the AI ​​(Artificial Intelligence) on the server device 20. If the AI ​​detects an abnormality (such as a dropped cable, panel displacement, foundation settlement, an automatically read meter value falling outside the acceptable range, or an automatically read oil level falling below the lower limit), it notifies the administrator terminal 24A, etc. Although not shown in the diagram, if the UGV10 is equipped with sensory sensors that detect information equivalent to the five human senses (infrared, sound collection, smell, etc.), the server device 20 can also detect abnormalities based on sound, smell, etc., in addition to images. Of course, it is also possible to display screens 24B, 24C showing such analysis results on the administrator terminal 24A, etc.

[0016] As described above, the service provided by the maintenance and operation automation system 1 in the embodiment of the present invention is a "weeding and inspection service using UGV10," and can also be described as a "mobile drone service for weeding and inspection." Here, herbicide spraying was used as an example, but by combining sensory sensors and various other devices, it is possible to provide a variety of services depending on the application.

[0017] [Example System Configuration] Figure 2 is a functional block diagram of the maintenance and operation automation system 1 in an embodiment of the present invention. Satellite 101 is also depicted in this figure for the purpose of explaining position control. The configuration of the maintenance and operation automation system 1 will be described in more detail below using Figure 2.

[0018] As shown in Figure 2, the UGV 10 is an unmanned vehicle capable of traveling along a predetermined route without a driver, and functionally comprises an imaging unit 11, a wireless communication unit 12, a control unit 13, an equipment unit 14, a mechanism unit 15, and a position-moving unit 16. The imaging unit 11 is a camera 11 that photographs the object to be inspected. The object to be inspected is mainly equipment, but there are no particular limitations on what is inspected. The wireless communication unit 12 is a functional unit for wireless communication with external devices, and includes a positioning antenna that transmits and receives signals with satellites 101, etc., and a wireless communication antenna that transmits and receives signals with server devices 20, etc. The control unit 13 is a controller that manages various controls of the UGV 10, and the travel route is set in advance on the controller. The equipment unit 14 is a functional unit that performs predetermined operations on equipment, and is a granular material spreader, etc. that is driven based on control signals from the control unit 13. The position-moving local unit 16 is a functional unit that determines the current position of the mobile station (UGV 10) using satellite positioning information measured by the positioning antenna and correction data from the fixed station 102. The mechanism unit 15 is the mechanism necessary for the vehicle to run (tires, various actuators, etc.). As mentioned above, it may also be equipped with sensory sensors and the like.

[0019] On the other hand, the server device 20 is a computer connected to the UGV 10 in a communicative manner, and functionally comprises a communication unit 21, an analysis / calculation unit 22, a storage unit 23, and a display unit 24. The communication unit 21 is a functional unit for communicating with external devices, and is a communication interface, etc., for sending and receiving signals with the UGV 10, etc. The analysis / calculation unit 22 is a processor, etc., that analyzes the signals received by the communication unit 21 and performs various calculations, and AI may be used for the analysis, etc. The storage unit 23 is a non-volatile memory, etc., that stores various data, and stores the analysis results and calculation results of the analysis / calculation unit 22. The display unit 24 is a monitor, etc., that displays various data, and displays the analysis results and calculation results stored in the storage unit 23. Of course, each of the functional units of such a server device 20 may be distributed across multiple computers. For example, the display unit 24 can be considered as an administrator terminal 24A that is connected to the server device 20 in a communicative manner.

[0020] [UGV] Figure 3 is a perspective view showing the external appearance of UGV10 in an embodiment of the present invention. The configuration of UGV10 will be described in more detail below using Figure 3. In the following description, when referring to the front, back, left, and right of UGV10, the arrows shown in the figure will be used as a reference.

[0021] As shown in Figure 3, a granular herbicide spreader 14 is mounted above the rear wheels 15b, and a container 14c for the herbicide 3 is mounted above the granular herbicide spreader 14. The herbicide 3 is fed from the container 14c into the granular spreader 14, and as the blades inside the granular spreader 14 rotate, the centrifugal force of the blades causes the herbicide 3 to be uniformly sprayed from the spray nozzle 14a. The spray nozzle 14a is equipped with a guard 14b that restricts the direction of herbicide 3 spraying. The direction of herbicide 3 spraying can be changed as needed, but here we illustrate the case where herbicide 3 is sprayed to the rear and left side of the UGV body. A pole 11a is raised from approximately the center of the UGV body, and a camera 11 is attached to its upper end. The shooting direction of the camera 11 can also be changed as needed, but here we illustrate the case where the left side of the UGV body is photographed. Of course, the position and height of the pole 11a can also be changed. A box 17 located near the front wheel 15a houses the battery and communication equipment (corresponding to the wireless communication unit 12). Control equipment (corresponding to the control unit 13) can be stored in the space below the partition plate 18 located below the granular spreader 14. Although not shown, sensory sensors may be provided near the front end 10a and / or rear end 10b of the UGV body. In addition, the UGV 10 is equipped with mechanisms necessary for it to run as a vehicle, but these are not the main focus of the present invention, so a detailed explanation is omitted.

[0022] [Route settings] Figure 4 is a perspective view illustrating the route setting of UGV10 in an embodiment of the present invention. Here, arrows indicate how UGV10 autonomously travels from the foreground to the background, turns around and returns to the foreground, and then turns around again and travels autonomously to the background. As shown in Figure 4, the width between panels P is narrow, and the installation height of panels P is low. In order to autonomously travel through such a passage 2 between panels P, it is necessary to accurately determine the current position of UGV10. In this embodiment, a positioning method (RTK-GNSS) that simultaneously observes two points, a reference point and an observation point, is used, making it possible to autonomously travel UGV10 with an error of only a few centimeters.

[0023] Figure 5 is a plan view illustrating the route setting of the UGV 10 in an embodiment of the present invention. For example, as shown in Figure 5, when the UGV 10 travels along the passage 2a, it travels backward with its rear end 10b facing the direction of travel, and along the panel row P 12 ~P 22 While spraying herbicide 3 on the lower part, panel row P 12 ~P 22 This is photographed by camera 11. After completing travel along aisle 2a, it moves sideways and travels along aisle 2b. When traveling along aisle 2b, it moves forward with its front end 10a facing the direction of travel, and moves towards panel row P 33 ~P 23 While spraying herbicide 3 on the lower part, panel row P 33 ~P 23 The area is photographed by camera 11. After completing the journey along path 2b, the herbicide 3 is replenished and the battery is replaced at the point marked with a star in the diagram. The same procedure is followed for subsequent paths 2c and 2d, switching between forward and reverse movement for each path 2. In this way, when the UGV 10 travels along multiple levels of paths 2, it will always face the same direction regardless of which path 2 it is traveling along. Therefore, it is possible to automate periodic patrols, inspections, and weed control for all paths 2 while keeping the shooting direction of camera 11 and the spraying direction of herbicide 3 fixed.

[0024] Please note that this route setting is merely an example. For example, if weeds grow in areas not shown in Figures 4 and 5, those areas may also be included in the route. In addition, while the points marked with stars in the diagrams are used for refilling herbicide 3 and changing the battery, these tasks can be performed at any point that allows for the application and monitoring of herbicide throughout the entire area.

[0025] [Herbicide spraying, camera photography] Figure 6 is a schematic diagram showing how the UGV 10 in an embodiment of the present invention is performing herbicide spraying and camera photography, where (A) is a cross-sectional view and (B) is a plan view. In order to arrange a large number of panels P at an angle that efficiently receives sunlight, the support structure 30 is composed of a frame 31 that supports the panels P and a base portion 32 that supports the frame 31, as shown in Figure 6. Since the base portion 32 is at a low position, if herbicide spraying and camera photography are performed from the lower side of the inclined panels P, there is a risk that the herbicide 3 will come into contact with the panels P, and a wide area of ​​the lower part of the panels cannot be photographed. Therefore, as shown in Figure 6, herbicide spraying and camera photography are performed from the higher side of the inclined panels P. This prevents the herbicide 3 from coming into contact with the panels P, and allows for wide-area photography of the lower part of the panels.

[0026] [AI Equipment Anomaly Detection and Notification] Figure 7 is an explanatory diagram of the screen 24C displayed when the server device 20 in an embodiment of the present invention detects an equipment abnormality. Here, the screen 24C shown when panel displacement is detected is illustrated. As shown in Figure 7, when panel displacement is detected, a frame W indicating the location may be displayed in the screen 24C. This allows the administrator of the administrator terminal 24A to take prompt action. The same applies when other equipment abnormalities are detected (e.g., cable drop, foundation settlement, automatic meter readings falling outside the allowable range, automatic oil level readings falling below the lower limit). AI is used to detect such equipment abnormalities, but the method can be any known method and is not particularly limited.

[0027] [Differentiation] Figure 8 is a schematic diagram showing a modified example of the UGV10 in an embodiment of the present invention, where (A) is a cross-sectional view and (B) is a plan view. In actual work environments, there may be steps or obstacles on the travel route, so it is desirable to equip the UGV10 with collision sensors or the like to stop it before a collision. Furthermore, as shown in Figure 8, the UGV10 may be equipped with rollers R on its side and travel while pressing the rollers R against the equipment. Here, an example is shown in which multiple rollers R are provided on the right side of the UGV10 (the side opposite the direction of photography) at the height of the lower end of the panel P. This makes it possible to make the UGV10 self-propel along the panel P, thereby achieving more stable travel.

[0028] [Attachment Options] Figure 9 is a schematic diagram showing attachment options for the UGV10 in an embodiment of the present invention, where (A) is an image 51 acquired by a thermal camera, (B) is a robotic arm 52, (C) is a lawnmower 53, and (D) is a watering device 54. The position in which these attachments are mounted on the UGV10 is not particularly limited, but they should be mounted in an appropriate position according to their respective uses and functions.

[0029] A thermal camera is a camera that detects infrared energy emitted from a subject, converts it into temperature, and displays the temperature distribution; it is an example of an imaging unit 11. By mounting a thermal camera on the UGV 10, it becomes possible to take pictures regardless of the presence or absence of light in situations with temperature differences. A robotic arm 52 is a mechanical arm that functions similarly to a human arm; it is an example of an equipment unit 14. By mounting a robotic arm 52 on the UGV 10, it becomes possible to perform tasks such as grasping, releasing, and carrying objects. A brush cutter 53 is a device for cutting weeds, etc.; it is an example of an equipment unit 14. By mounting a brush cutter 53 on the UGV 10, weeding (physically cutting weeds) becomes possible. A sprinkler 54 is a device for spraying water; it is an example of an equipment unit 14. By mounting a sprinkler 54 on the UGV 10, it becomes possible to water a wide area.

[0030] By using attachments other than the granular herbicide spreader 14, it becomes possible to automate the maintenance and operation of facilities in various application scenarios (road tunnels, sewer tunnels, substations, orchards, dams, etc.). For example, when it is not possible to spray herbicide 3 when inspecting mega solar power plants, etc., a brush cutter 53 may be used to remove weeds. Also, when inspecting tunnels, a thermal camera may be used to detect cracks in the tunnel walls. Furthermore, when inspecting meters and pipes inside substations or dams, a robotic arm 52 may be used to perform the necessary tasks. In addition, when inspecting orchards, water containing nutrients may be sprayed from bottom to top using a sprinkler 54. The attachments to be used in each scenario can be appropriately selected and combined.

[0031] [Characteristic structure and its effects] As described above, the UGV10 in the embodiment of the present invention is an unmanned vehicle capable of traveling along a predetermined route without a driver, and comprises an imaging unit 11 for photographing objects to be inspected, a wireless communication unit 12 for transmitting the images captured by the imaging unit 11 to a server device 20, an instrument unit 14 for performing predetermined operations on the equipment, and a control unit 13 for controlling the operation of the instrument unit 14. As a result, the UGV10 can be driven autonomously to inspect the equipment while the instrument unit 14 performs the necessary work, thereby enabling the automation of equipment maintenance and operation.

[0032] For example, the equipment unit 14 preferably includes at least one of the following: a granular spreader 14, a robotic arm 52, a grass cutter 53, and a watering machine 54. This makes it possible to perform various tasks depending on the application.

[0033] Furthermore, it is desirable for the granular herbicide spreader 14 to spread the herbicide 3 along the travel route and to the lower parts of facilities such as the underside of solar panels located along the travel route. This makes it possible to automate herbicide application, weed control, and periodic inspections and checks using the UGV 10 at solar power generation facilities and other locations.

[0034] Furthermore, it is desirable to include a five-sense sensor that can detect information corresponding to at least one of the five human senses. This would allow the server device 20 to detect abnormalities not only based on video but also on sound, smell, etc.

[0035] Furthermore, when the UGV10 travels along multiple levels of aisles 2, it is desirable that it faces the same direction regardless of which aisle 2 it is traveling along. This makes it possible to automate periodic inspections, checks, and necessary tasks for all aisles 2 while keeping the shooting direction of the camera 11 and the operating direction of the equipment unit 14 fixed.

[0036] Furthermore, it is desirable to equip the UGV10 with rollers R on its sides and to drive while pressing these rollers R against the equipment. This allows the UGV10 to self-propel along the equipment, thereby achieving more stable movement.

[0037] Furthermore, the maintenance and operation automation system 1 in the embodiment of the present invention comprises the above-mentioned UGV 10 and a server device 20 that is communicatively connected to the UGV 10, and is configured to automate the maintenance and operation of the equipment by coordinating between the UGV 10 and the server device 20. This also makes it possible to analyze the video captured by the UGV 10 on the server device 20 using AI.

[0038] Furthermore, the present invention can be implemented not only as such an automated maintenance and operation system 1, but also as an automated maintenance and operation method using the characteristic functional parts of such an automated maintenance and operation system 1 as steps, or as an automated maintenance and operation program that causes a computer to execute each of these steps. Of course, such a program can be installed on a computer via a computer-readable recording medium or via a network such as the Internet.

[0039] Furthermore, although not specifically mentioned in the above explanation, the term "equipment" as used in this specification should be interpreted in a broad sense and include various things that require automation of maintenance and operation. In other words, the term "equipment" as used in this specification includes not only the equipment itself, such as solar panels, but also the pathways (travel routes) for the equipment and the plants cultivated using the equipment.

[0040] [Other embodiments] As described above, embodiments of the present invention have been presented, but the descriptions and drawings that constitute part of the disclosure are illustrative and should not be understood as limiting. Various alternative embodiments, examples, and operational techniques will become apparent to those skilled in the art from this disclosure. [Explanation of symbols]

[0041] 1. Maintenance and Operation Automation System 2 aisles 3 Herbicides 10. Unmanned Ground Vehicles (UGVs) 11. Imaging Unit (Camera) 12 Wireless Communication Section 13 Control Unit 14 Equipment section (granule spreader) 15 Mechanism 16 Position movement local 20 Server Devices 21 Communications Department 22 Analysis and calculation section 23 Memory section 24 Display P Solar Panel

Claims

1. An unmanned vehicle capable of traveling unmanned along multiple levels of passages between solar panels in a facility where multiple levels of solar panels are arranged in a multi-level arrangement at a predetermined angle, An imaging unit that photographs the object to be inspected, A wireless communication unit transmits the video captured by the imaging unit to a server device, A device unit that performs a predetermined operation on the equipment, A control unit that controls the operation of the aforementioned device unit and Equipped with, The aforementioned equipment unit includes at least a granular spreader, As the unmanned vehicle travels along the multi-tiered walkway, the granular herbicide spreader sprays herbicide onto the lower part of the solar panel from the higher side of the solar panel, while the imaging unit photographs the lower part of the solar panel from the higher side of the solar panel. Unmanned vehicles.

2. The unmanned vehicle according to claim 1, wherein when the unmanned vehicle travels along the multiple levels of aisles, it faces the same direction regardless of which aisle it is traveling along.

3. The unmanned vehicle according to claim 1 or 2, wherein, on the left and right side surfaces of the unmanned vehicle, the side surface opposite to the direction of photography by the imaging unit, is provided with a roller at the height of the lower end of the solar panel, and the vehicle travels while pressing the roller against the lower side of the solar panel from the side.

4. The unmanned vehicle described in claim 1, The system comprises a server device that is communicatively connected to the aforementioned unmanned vehicle, A maintenance and operation automation system configured to automate the maintenance and operation of facilities by coordinating the aforementioned unmanned vehicle and the server device.

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