Information acquisition system

Abstract

An information acquisition system according to the invention comprises: a traveling rail provided with a fastening implement; a marker provided on at least one of the fastening implement and the fastening portion to which the fastening implement is fastened; at least one imaging device that is provided on a traveling trolley that travels along the traveling rail and that captures images of the marker; a control unit that processes the images acquired by the imaging device; and a storage unit that stores information obtained as a result of processing by the control unit. The control unit detects the marker on the basis of images acquired by the imaging device while the traveling trolley travels along the traveling rail, and stores, in the storage unit, primary information in which position information of the traveling trolley when the marker was imaged and a detection result of the marker are associated with each other.

Description

Information Acquisition System

[0001] The present invention relates to, for example, an information acquisition system that acquires information related to fasteners provided on traveling rails.

[0002] Conventionally, as described in Patent Document 1, a bolt looseness inspection device for inspecting looseness of bolts fastening a structure is known. In this device, an automatic traveling means that autonomously travels along a predetermined course at an inspection work site is provided with a bolt looseness inspection function and a communication function, an inspection head unit mounted on the automatic traveling means is positioned with respect to a target bolt to be inspected, information related to the fastening state of the target bolt is extracted, the presence or absence of bolt looseness is determined based on the extracted information and reference information in the normal fastening state of the target bolt, and the determination result and the location where the bolt looseness occurs are communicated to the outside.

[0003] Japanese Unexamined Patent Publication No. Hei 8-278116

[0004] In the above-described conventional device, design information on the positions of fastening bolts is used during inspection. However, it is unclear whether the fastening bolts are actually installed in accordance with the design information. For example, if the fastening bolts are not installed in accordance with the design information, even if a predetermined position (the position where the bolt should originally be) is inspected later, the fastening bolt cannot even be found. In such a case, it cannot be determined whether the fastening bolt fell off over time, or was not installed from the beginning (for example, this is caused by an error during installation). When considering inspection of fasteners, it is desirable to have already acquired basic information that reflects the current status of the fastener or an installation related to the fastener.

[0005] An object of the present invention is to provide an information acquisition system that can first acquire basic information reflecting the current status of a fastener or the fastening site thereof, and provide the information for subsequent inspections.

[0006] [1] An information acquisition system according to one aspect of the present disclosure comprises a running rail on which fasteners are provided, a marker portion provided on at least one of the fasteners and the fastening portion to which the fasteners are fastened, at least one imaging device provided on a running trolley that runs along the running rail and images the marker portion, a control unit that processes images acquired by the imaging device, and a storage unit that stores information obtained as a result of processing by the control unit, wherein the control unit detects the marker portion based on images acquired by the imaging device while the running trolley is running along the running rail, and stores primary information in the storage unit, which is information that links the position information of the running trolley at the time the marker portion was imaged with the detection result of the marker portion.

[0007] According to the information acquisition system in [1], the actual situation (current state) can be grasped by actually running the trolley and taking images. The trolley runs along the rails, and images are acquired by the imaging device during that time. The control unit detects the markers based on these images. The position information of the detected markers (position of the trolley at the time of imaging) and the detection results of the markers are stored in the memory as primary information. Therefore, based on the actual imaging results, data (i.e., primary information) necessary for subsequent inspections (e.g., looseness determination) can be created. Thus, basic information reflecting the current state of the fastener or its fastening part can be acquired first and used for subsequent inspections.

[0008] [2] In the information acquisition system described in [1] above, the imaging device may capture images of the marker multiple times while the trolley is in motion, and the position information may include the position of the trolley when the marker is first captured and the position of the trolley when the marker is last captured. In this case, the shooting section corresponding to the marker is stored in the memory unit. For example, if the shooting section is extremely short, it is possible that the marker is not installed properly (or, in the case of a sticker, not applied properly). Such abnormalities can be detected early. Furthermore, in subsequent inspections (e.g., looseness detection), an appropriate judgment can be made by taking images based on this section.

[0009] [3] In the information acquisition system described in [1] or [2] above, the trolley is equipped with multiple imaging devices, and the primary information may include information indicating which imaging device captured the image of the marker. In this case, the position where the fasteners are installed can be roughly determined.

[0010] [4] In any one of the information acquisition systems described in [1] to [3] above, the marker is provided on the fastener and the fastening area to which the fastener is fastened, and the control unit may store the position information of the traveling trolley when the marker provided on the fastener and the marker provided on the fastening area are imaged, the detection result of the fastener, and the detection result of the fastening area as primary information in the storage unit. If this information is included in the primary information, the fastener and the fastening area are stored as a set. For example, if an operator mistakenly sets the marker, it may be possible to detect that mistake.

[0011] [5] In the information acquisition system described in [4] above, the control unit may calculate the amount of misalignment of the marker by comparing the detection result of the fastener linked to the position information of the trolley with the detection result of the fastening part. Calculating the amount of misalignment makes it easier to detect the errors described above.

[0012] [6] In any one of the information acquisition systems described in [1] to [5] above, the control unit can perform an acquisition mode in which primary information is created and stored in the memory unit, and an inspection mode in which secondary information corresponding to the primary information is acquired after the creation of the primary information and a judgment is made based on the secondary information. When the control unit performs the inspection mode, it may also perform imaging of the marker portion based on the position information obtained in the acquisition mode. In this case, since the position or section where the marker portion is provided can be imaged intensively, information necessary for inspection, such as looseness determination, can be efficiently acquired. As a result, the inspection can be performed efficiently and quickly.

[0013] [7] In the information acquisition system described in [6] above, the control unit may, in inspection mode, determine the presence or absence of a fastener at the fastening site by referring to the position information included in the primary information and the detection result of the marker. This makes it easier to detect if a fastener has fallen off or otherwise occurred between the time the primary information was acquired and the present.

[0014] [8] In the information acquisition system described in [6] above, the markers are provided on the fastener and the fastening area to which the fastener is fastened. The control unit may store the position information of the trolley when the markers provided on the fastener and the markers provided on the fastening area are imaged, the detection result of the fastener, and the detection result of the fastening area as secondary information in the storage unit in the inspection mode. The control unit may then calculate the amount of secondary displacement of the markers by comparing the detection result of the fastener and the detection result of the fastening area, which are linked to the position information of the trolley. Based on the amount of secondary displacement, an inspection of the fastener (for example, looseness determination) can be performed.

[0015] [9] In the information acquisition system described in [8] above, the primary information includes the amount of primary displacement of the fastener relative to the fastening portion, and the control unit may determine the looseness of the fastener based on the amount of primary displacement and the amount of secondary displacement in inspection mode. This determination makes it possible to determine whether the displacement occurred when the marking portion was initially installed or whether it occurred over time.

[0016]

[10] In any one of the information acquisition systems described in [1] to [9] above, the marker portion may be an identifier for identifying at least one of the fastening device and the fastening area. By imaging the identifier, unique information of the fastening device or fastening area can be obtained through image processing, enabling more accurate information collection and inspection / determination compared to identification using only location information.

[0017] According to the present invention, basic information reflecting the current state of the fastening device or its fastening area can be obtained first, and then used for subsequent inspections.

[0018] Figure 1 is a schematic diagram showing a transport system equipped with an information acquisition system according to one embodiment. Figure 2 is a diagram showing the configuration of the transport system. Figure 3(a) is a diagram showing an example of fasteners and fastening parts viewed from a direction perpendicular to the travel direction of the transport trolley, and Figure 3(b) is a diagram showing an example of fasteners and fastening parts viewed from the travel direction of the transport trolley. Figure 4 is a diagram showing the configuration of the transport trolley. Figure 5 is a schematic diagram showing the configuration of the overhead transport vehicle. Figure 6 is a diagram showing a method for calculating the amount of displacement of the nut. Figure 7 is a diagram showing an example of an image taken by the imaging unit. Figure 8 is a diagram showing a specific example of primary information obtained by the collection mode. Figure 9(a) is a diagram showing primary information obtained by the collection mode, and Figure 9(b) is a flowchart showing an example of processing in the inspection mode. Figures 10(a) and 10(b) are diagrams showing modified examples in which marks are provided instead of identifiers in Figures 3(a) and 3(b).

[0019] Embodiments of the present invention will be described below with reference to the drawings. In the description of the drawings, the same elements will be denoted by the same reference numerals, and redundant descriptions will be omitted.

[0020] Figure 1 is a schematic diagram showing a transport system equipped with an information acquisition system 1 according to one embodiment. As shown in Figure 1, the transport system 100 is a system for transporting goods using an overhead transport vehicle 120 that can move along a rail (running rail) T. The rail T is a component for the overhead transport vehicle 120 to run on and is suspended from the ceiling.

[0021] Figure 2 is a diagram showing the configuration of the transport system 100. As shown in Figure 2, the transport system 100 includes a management system 110, an overhead transport vehicle 120, and rails T. Although Figure 1 shows two overhead transport vehicles 120, the system may have one or more overhead transport vehicles 120. In the transport system 100, power is supplied to the overhead transport vehicle 120 non-contact from a power supply line (not shown) provided along the rails T.

[0022] The management system 110 manages the transport system 100. The management system 110 is a higher-level controller for the overhead transport vehicles 120 and outputs transport commands to the overhead transport vehicles 120. The management system 110 can communicate (wirelessly) with each overhead transport vehicle 120.

[0023] The overhead transport vehicle 120 includes, for example, an OHT (Overhead Hoist Transfer), an overhead suspended crane, etc. The goods include, for example, containers for storing multiple semiconductor wafers, containers for storing glass substrates, reticle pods, general components, etc.

[0024] The transport system 100 is equipped with a data acquisition and inspection vehicle (traveling trolley) 130. The data acquisition and inspection vehicle 130 is an overhead traveling vehicle. In the acquisition mode, which will be described later, the data acquisition and inspection vehicle 130 identifies a plurality of nuts (fasteners) N ​​(see Figure 3(a)) provided along the rail T of the transport system 100. In the inspection mode, which will be described later, the data acquisition and inspection vehicle 130 determines whether these nuts N are loose. The data acquisition and inspection vehicle 130 constitutes a determination system. The data acquisition and inspection vehicle 130 only needs to enter the rail T when identifying the nuts N or determining whether the nuts N are loose. That is, the data acquisition and inspection vehicle 130 is located in an area outside the rail T when not performing those operations (except when performing the acquisition mode and inspection mode). When the data acquisition and inspection vehicle 130 receives a command from the management system 110 to perform the acquisition mode or inspection mode, it enters the rail T and performs the work according to each mode. Furthermore, the overhead transport vehicle 120, which performs normal transport, may be equipped with cameras or the like for data collection and inspection.

[0025] Commands to the data collection and inspection vehicle 130 may be transmitted from the management system 110, or from a terminal 200 or the like held by the operator. The collection mode and inspection mode may be executed manually by the operator or a management center, or automatically according to a pre-planned schedule. Various types of information obtained during the execution of the collection mode and inspection mode may be transmitted sequentially to the server 150 and stored therein. That is, the primary and secondary information described later is stored in the storage unit 133 (see Figure 4) of the data collection and inspection vehicle 130, but the server 150 may also store this information.

[0026] Hereafter, the data collection and inspection vehicle 130 will be referred to as the data collection vehicle 130 in the description of the collection mode, and as the inspection vehicle 130 in the description of the inspection mode. These designations are for convenience only, and both refer to the same vehicle.

[0027] Figure 3(a) shows an example of the fastener and fastening part viewed from a direction perpendicular to the travel direction of the data collection vehicle 130 (the width direction of the data collection vehicle 130). Figure 3(b) shows an example of the fastener and fastening part viewed from the travel direction of the data collection vehicle 130. As shown in Figures 3(a) and 3(b), the nut N is fastened to the bolt B. The bolt B is fixed to, for example, the rail T. In the transport system 100, a plurality of nuts N are provided along the rail T. In this embodiment, a configuration in which the fastener is a nut N and the fastening part to which the bolt B to which the nut N is fastened is fixed is described as the rail T. In the following description, the term "base" may be used with the same meaning as the rail T as the fastening part. The nut N and bolt B may be used, for example, to suspend the rail T from the ceiling. The fastening part may be a part that is configured separately from the rail T and is fixed in position relative to the rail T.

[0028] As shown in Figure 3(b), the nut N and the rail T are positioned in different locations. Specifically, the nut N is positioned inside the rail T rather than on its side. In Figure 3(a), the nut N is located further back in the plane of the paper than the rail T.

[0029] As shown in Figures 3(a) and 3(b), the nut N is provided with a two-dimensional code (identifier) ​​C1. The rail T is provided with a two-dimensional code (identifier) ​​C2. Each of the two-dimensional codes C1 and C2 also serves as a marker for visually determining the loosening of the nut N. The two-dimensional code C1 is provided at a position corresponding to the two-dimensional code C2 when the nut N is sufficiently tightened against the bolt B. The corresponding position of the two-dimensional codes C1 and C2 is the position where, when viewed from the direction in Figure 3(a), that is, the direction perpendicular to the direction of travel of the data collection vehicle 130, the center of the two-dimensional code C1 and the center of the two-dimensional code C2 lie on approximately the same straight line. The two-dimensional codes C1 and C2 can be provided by attaching a plurality of seals that have been prepared in advance to correspond to each nut N.

[0030] Figure 4 shows the configuration of the data collection and inspection vehicle 130. As shown in Figure 4, the data collection and inspection vehicle 130 includes a communication unit 131, an imaging unit (image capture device) 140, a detection unit 132, a storage unit 133, a sensor 134, a position acquisition unit 135, and a determination unit 136. The data collection and inspection vehicle 130 further includes a control unit for controlling the movement of the data collection and inspection vehicle 130, etc.

[0031] The communication unit 131 communicates with the management system 110. The communication unit 131 receives driving commands transmitted from the management system 110. The communication unit 131 transmits the identification result (detection result) output from the detection unit 132 and the determination result output from the determination unit 136 to the management system 110.

[0032] The imaging unit 140 is integrally attached to the data collection and inspection vehicle 130 and moves and takes images as the data collection and inspection vehicle 130 moves. The imaging unit 140 includes a lower left camera 141, a lower right camera 142, an upper left camera 143, and an upper right camera 144. Each of these cameras has the same configuration, for example, a two-dimensional camera or a monocular camera (CCD, etc.). In this embodiment, as shown in Figure 5, pairs of bolts B and nuts N may be provided at four locations on the rail T at a certain point in the direction of extension of the rail T (i.e., the direction of travel of the data collection and inspection vehicle 130). The lower left camera 141 and the lower right camera 142 image the bolts B and nuts N, one pair each on the left and right at the lower part of the four pairs, and the two-dimensional codes C1 and C2 provided on them. The upper left camera 143 and the upper right camera 144 capture images of the bolts B and nuts N, one pair each, provided on the left and right sides of the upper part Ta of the rail, and the two-dimensional codes C1 and C2 provided on them. The four cameras are mounted, for example, on camera support parts 149 erected on the vehicle body 130a.

[0033] Each of the lower left camera 141, lower right camera 142, upper left camera 143, and upper right camera 144 captures, for example, 30 images per second. When the acquisition mode is running, each of the lower left camera 141, lower right camera 142, upper left camera 143, and upper right camera 144 outputs the captured image data to the detection unit 132. When the inspection mode is running, each of the lower left camera 141, lower right camera 142, upper left camera 143, and upper right camera 144 outputs the captured image data to the determination unit 136.

[0034] The detection unit 132 identifies the nut N based on the image captured by the imaging unit 140 while the data collection vehicle 130 is in motion. The detection unit 132 corresponds to a control unit that processes the image acquired by the imaging unit 140. The detection unit 132 may include a processor such as a CPU (Central Processing Unit) or GPU (Graphics Processing Unit), memory such as ROM (Read Only Memory) or RAM (Random Access Memory), and storage such as an SSD (Solid State Drive). The detection unit 132 may perform identification at the time the image is captured by the imaging unit 140, or at other times.

[0035] Sensor 134 identifies position detection marks (not shown) provided on rail T. Multiple marks are provided along rail T. The marks are, for example, barcodes, two-dimensional codes, etc. Sensor 134 outputs the identification result to position acquisition unit 135.

[0036] The position acquisition unit 135 acquires the position (coordinates) of the data collection and inspection vehicle 130. Based on the identification result identified by the sensor 134, the position acquisition unit 135 acquires the position of the data collection and inspection vehicle 130. The position acquisition unit 135 outputs position information related to the position of the data collection and inspection vehicle 130 to the detection unit 132 and the determination unit 136. An encoder may be further provided for acquiring the position of the data collection and inspection vehicle 130.

[0037] The determination unit 136 determines the looseness of the nut N based on the image captured by the imaging unit 140 while the inspection vehicle 130 is in motion. The determination unit 136 corresponds to a control unit that processes the image acquired by the imaging unit 140. The determination unit 136 may include a processor such as a CPU or GPU, memory such as ROM or RAM, and storage such as an SSD. The determination unit 136 may make a determination at the time the image is captured by the imaging unit 140, or it may make a determination at any other time.

[0038] Next, the operations performed by the data collection / inspection vehicle 130 in collection mode and inspection mode will be explained. The detection unit 132 of the data collection vehicle 130 can execute a collection mode in which it creates primary information that links the position information of the data collection vehicle 130 at the time the two-dimensional codes C1 and C2 are captured with the identification results of the two-dimensional codes C1 and C2, and stores this information in the storage unit 133 and server 150, etc. The determination unit 136 can also execute an inspection mode in which it acquires secondary information equivalent to the primary information after the primary information is created and makes a determination based on that secondary information.

[0039] (Collection Mode) In collection mode, basic information (primary information) reflecting the current state of the nuts N and base is acquired. Before performing collection mode, no such information is stored in the data collection vehicle 130 or the server 150. The length of the rail T, the total number of nuts N, and their positions are not stored either. Collection mode is an initial information collection operation performed when there is no information. Collection mode is performed in the initial stages of operation, for example, when the transport system 100 is constructed and completed. Note that collection mode may also be performed when information is already stored. In that case, the already stored information regarding the same position information may be overwritten by the information acquired later, or it may be stored as new information.

[0040] In collection mode, first, the data collection vehicle 130 travels along the rail T, and the cameras of the imaging unit 140 photograph multiple nuts N. All nuts N on the rail T may be photographed in one data collection, or only some of the nuts N on the rail T may be photographed in one data collection. In other words, the target range in one data collection may be all or only a part. The detection unit 132 performs image processing based on the images acquired by the imaging unit 140 and identifies the two-dimensional codes C1 and C2. The detection unit 132 then stores primary information in the storage unit 133 and server 150, etc., which includes information linking the position information of the data collection vehicle 130 when the two-dimensional codes C1 and C2 were photographed and the identification results of the two-dimensional codes C1 and C2. In other words, the primary information includes the position information of the traveling trolley when the marker portion provided on the fastener and the marker portion provided on the fastening part were photographed, the detection result of the fastener, and the detection result of the fastening part. The storage of primary information may be performed sequentially to the storage unit 133 and the server 150, but in the following explanation, it will be assumed that all the information is first stored in the storage unit 133, and then the data is uploaded to the server 150 all at once.

[0041] Furthermore, the detection unit 132 does not need to immediately link (associate) the identification results of the two-dimensional codes C1 and C2 when it identifies them. The detection unit 132 may store the identification result of two-dimensional code C1 and the identification result of two-dimensional code C2 separately in the storage unit 133 and the server 150, etc. Subsequently, the detection unit 132 or the server 150, etc. may link (associate) the results based on the IDs (nut ID and base ID) shown in the identification result of two-dimensional code C1 and the identification result of two-dimensional code C2. In other words, the timing of linking the identification results (detection results) can be at any time. Similarly, the timing of linking the identification results (detection results) to the location information of the data collection vehicle 130 when two-dimensional codes C1 and C2 are captured can also be at any time.

[0042] In the collection mode, each of the lower-left camera 141, lower-right camera 142, upper-left camera 143, and upper-right camera 144 captures, for example, 30 images per second. That is, to describe one set of nuts N and a base, each of the lower-left camera 141, lower-right camera 142, upper-left camera 143, and upper-right camera 144 captures images of the nut N and the base multiple times while the data collection vehicle 130 is traveling.

[0043] As shown in FIG. 6, the detection unit 132 acquires the respective center coordinates (black circles in FIG. 6) of the two-dimensional code C1 of the nut N and the two-dimensional code C2 of the rail T in the image. The detection unit 132 performs predetermined image processing based on the position information acquired by the position acquisition unit 135, and acquires the respective center coordinates of the two-dimensional code C1 of the nut N and the two-dimensional code C2 of the rail T. The detection unit 132 causes the storage unit 133 to store the center coordinates of the two-dimensional code C1 and the center coordinates of the two-dimensional code C2. The detection unit 132 also calculates a difference D between the center coordinates of the two-dimensional code C1 and the center coordinates of the two-dimensional code C2, and causes the storage unit 133 to store the difference D.

[0044] FIG. 7 is a diagram showing an example of an image captured by any one of the cameras of the imaging unit 140. As shown in FIG. 7, two nuts N are captured in the image G. To distinguish the two nuts N, in FIG. 7, the nut on the right side is denoted as nut N1, and the nut on the left side is denoted as nut N2. When a plurality of nuts N are present in the image G, the detection unit 132 identifies each of the nuts N. Note that the detection unit 132 may select a nut N to be identified and identify the selected nut N. In that case, the detection unit 132 may set the nut N closest to the center (broken line) of the image G as an identification target. The center of the image G is the center in the traveling direction of the data collection vehicle 130. In the example shown in FIG. 7, the detection unit 132 may set the nut N1 closest to the center of the image G as the identification target.

[0045] The detection unit 132 stores in the storage unit 133 the position of the data collection vehicle 130 when the nut N (and base) to be identified was first imaged, and the position of the data collection vehicle 130 when the nut N was last imaged. "First imaged" refers to the first image in which the nut N and the two-dimensional code C1 entered the imaging field of any camera of the imaging unit 140. In other words, the nut N and the two-dimensional code C1 are not captured in the image immediately preceding it. "Last imaged" refers to the last image in which the nut N and the two-dimensional code C1 entered the imaging field of any camera of the imaging unit 140. In other words, the nut N and the two-dimensional code C1 are not captured in the image immediately following it. Through this process, the detection unit 132 stores the imaging interval of the nut N and the two-dimensional code C1 in the storage unit 133. Furthermore, "imaging that includes nut N and two-dimensional code C1" means that at least the entirety of the two-dimensional code C1 is included in the image, or that the two-dimensional code C1 can be read.

[0046] Furthermore, the primary information stored in the memory unit 133 includes information indicating which camera (imaging device) acquired the image of the set of nuts N and base. In other words, the primary information includes information indicating which camera (imaging device) captured the marker portion. In this embodiment, this is one of the following cameras: lower left camera 141, lower right camera 142, upper left camera 143, and upper right camera 144.

[0047] Figure 8 shows a specific example of primary information obtained by the collection mode. Figure 8 shows an example of a list (table) display when the primary information stored in the storage unit 133 is displayed on, for example, a terminal 200 (see Figure 1). Figure 9(a) shows the types of primary information obtained by the collection mode.

[0048] As shown in Fig. 8, each value of bolt number, bolt position (identified from a camera), position from the origin (identified from the above position information), imaging section, nut ID, nut coordinates, base ID, and base coordinates are stored and shown in the list. In this way, the detection unit 132 stores, as primary information in the storage unit 133, the position information of the data collection vehicle 130 when the two-dimensional code C1 provided on the nut N and the two-dimensional code C2 provided on the base are imaged, the detection result of the two-dimensional code C1 (nut N), and the detection result of the two-dimensional code C2 (base). The imaging section is the overlapping portion of the range of positions of the data collection vehicle 130 where the two-dimensional code C1 can be read and the range of positions of the data collection vehicle 130 where the two-dimensional code C2 can be read. In other words, the imaging section is a section where two two-dimensional codes can be read. As an example, if the two-dimensional code C1 can be read in the range of 80 m to 83 m, and the two-dimensional code C2 can be read in the range of 80.5 m to 83.5 m, the imaging section is 80.5 m to 83 m. The position from the origin and the imaging section correspond to each other. The position from the origin may be the median value of the imaging section.

[0049] The detection unit 132 further compares the nut coordinates and the base coordinates linked to the position information of the data collection vehicle 130 (specifically, the coordinates when the respective two-dimensional codes C1 and C2 are closest to the center of the image G (the broken line shown in Fig. 7)) to calculate the deviation amount (primary deviation amount) of the two-dimensional code C1 (nut N). That is, the detection unit 132 calculates the deviation amount of the two-dimensional code C1 by comparing the identification result of the nut N linked to the position information of the data collection vehicle 130 and the identification result of the base. The deviation amount is the difference between the two coordinates, which is the above difference D. Then, the detection unit 132 includes the deviation amount in the primary information and stores it in the storage unit 133.

[0050] In the example shown in Figure 8, the amount of displacement is indicated as "corrected displacement." "Corrected displacement" is the coordinate displacement after correction for the effect of perspective has been made, but the correction for the effect of perspective is not essential and can be omitted. Therefore, "corrected displacement" should simply be interpreted as the "amount of displacement" of the coordinate (i.e., the above-mentioned primary displacement). The magnitude of the absolute value of the numerical value is understood as the magnitude of the displacement. Only the displacement corresponding to bolt number "00146" (nut ID "000146") is large at 37px, but all other data are 21px or less.

[0051] In collection mode, the primary information is stored in the storage unit 133 through the above series of operations and processing, and uploaded to the server 150 in a batch. At the time of acquiring the primary information, if there is data with a large deviation, such as the bolt number "00146" mentioned above, an alert may be issued. As shown in Figure 8, the relevant data portion may be highlighted with a thick line. Furthermore, in collection mode, if the two-dimensional code C1 on nut N is identified but the corresponding two-dimensional code C2 on the base is not identified, or if the two-dimensional code C2 on the base is identified but the corresponding two-dimensional code C1 on nut N is not identified, the ID and coordinate columns (unidentified items) in the list may be left blank. Alternatively, the row itself may be deleted (hidden) from the list.

[0052] The primary information acquired in collection mode can be manually edited by operators or other personnel.

[0053] (Inspection Mode) In inspection mode, after the acquisition mode has been performed, the determination unit 136 acquires secondary information corresponding to the primary information and makes a determination based on the secondary information. When the determination unit 136 executes inspection mode, it causes the imaging unit 140 to image the nut N based on the position information obtained in the acquisition mode. The secondary information includes the same items as the primary information described above (see Figure 8).

[0054] As shown in Figure 9(a), the determination unit 136 causes the inspection vehicle 130 to travel along the rail T and has the imaging unit 140 sequentially photograph the bolt B, nut N, and base (step S01). The travel speed of the inspection vehicle 130 in inspection mode is, for example, the same as the travel speed of the data collection vehicle 130 in collection mode. Next, the determination unit 136 refers to the primary information (step S02). The determination unit 136 refers to the position information included in the primary information and the identification result of the nut N and determines the presence or absence of the nut N at each base (step S03).

[0055] Furthermore, the determination unit 136 calculates the secondary displacement amount of the two-dimensional code C1 by comparing the identification result of the nut N linked to the position information with the identification result of the base. This process is the same as the calculation of the corrected displacement (i.e., the primary displacement amount) in the collection mode, and the difference between the nut coordinates and the base coordinates acquired in the inspection mode is calculated.

[0056] The memory unit 133 stores a predetermined tolerance range for the misalignment between the nut N and the rail T. This tolerance range is used by the determination unit 136 for determination based solely on the secondary misalignment. The memory unit 133 also stores a threshold value for the difference between the primary and secondary misalignment amounts between the nut N and the rail T (the difference in the secondary misalignment amount relative to the primary misalignment amount, i.e., the change in the misalignment amount). This threshold value is used by the determination unit 136 for determination based on both the primary and secondary misalignment amounts.

[0057] The determination unit 136 determines whether the nut N is loose based on the primary displacement amount acquired in the collection mode and the calculated secondary displacement amount (step S04). In step S04, for example, a determination is made based on both the primary and secondary displacement amounts. The determination unit 136 calculates the difference D between the center coordinates of the two-dimensional code C1 and the center coordinates of the two-dimensional code C2, and for the calculated secondary displacement amount, it determines the difference (change amount) with respect to the primary displacement amount stored as primary information for two-dimensional codes C1 and C2 with the same ID. If the difference is less than or equal to the threshold, the determination unit 136 determines that the nut N is not loose. In other words, if the difference between the primary information acquired in the collection mode and the secondary information acquired in the inspection mode is small, the determination unit 136 determines that the nut N is not loose (OK determination). If the difference exceeds the threshold, the determination unit 136 determines that the nut N is loose (NG determination). In other words, the determination unit 136 determines that the nut N loosened between the time the collection mode was executed and the time the inspection mode was executed. The determination unit 136 outputs the determination result (NG determination) to the communication unit 131.

[0058] Alternatively, the determination may be made based solely on the amount of the second-order deviation. The determination unit 136 calculates the difference D between the center coordinates of the two-dimensional code C1 and the center coordinates of the two-dimensional code C2, and determines that the nut N is not loose if the difference D is within the above-mentioned tolerance range. If the difference D is not within the above-mentioned tolerance range (outside the tolerance range), the determination unit 136 determines that the nut N is loose (NG determination). The determination unit 136 outputs the determination result (NG determination) to the communication unit 131.

[0059] In this embodiment, if multiple determination results are obtained for a single nut N, the determination unit 136 adopts the determination result that is closest to the median value within the above-mentioned tolerance range stored in the storage unit 133. In the example shown in Figure 6, the median value is "0" for the amount of deviation and "0" for the left-right position.

[0060] Similarly to the detection unit 132 described above, the determination unit 136 selects a nut N to be determined and determines whether that nut N is loose if multiple nuts N are present in the image G. In this embodiment, the determination unit 136 determines the nut N closest to the center (dashed line) of the image G. The center of the image G is the center in the direction of movement of the inspection vehicle 130. In the example shown in Figure 7, the determination unit 136 determines the nut N1 closest to the center of the image G.

[0061] Next, the determination unit 136 stores the acquired secondary information in the storage unit 133 (step S05). The determination unit 136 determines whether or not the inspection in the predetermined inspection target range has been completed (step S06). If the inspection in the predetermined inspection target range has not been completed (step S06; NO), the determination unit 136 repeats steps S01 to S05. If the inspection in the predetermined inspection target range has been completed (step S06; YES), the determination unit 136 terminates the inspection mode.

[0062] According to the information acquisition system 1 of this embodiment, the actual situation (current state) can be grasped by actually driving the data collection vehicle 130 and taking images. The data collection vehicle 130 travels along the rail T, and images are acquired by the imaging unit 140 during that time. The detection unit 132 detects two-dimensional codes C1 and C2 based on these images. The position information related to the detected two-dimensional codes C1 and C2 (the position of the data collection vehicle 130 at the time of imaging) and the detection results of the two-dimensional codes C1 and C2 are stored as primary information in the storage unit 133. Therefore, data (i.e., primary information) necessary for subsequent inspections (for example, looseness determination) can be created based on the actual imaging results. Thus, basic information reflecting the current state of the nut N or its fastening part can be acquired first and used for subsequent inspections.

[0063] Furthermore, the imaging unit 140 captures images of the two-dimensional codes C1 and C2 multiple times while the data collection vehicle 130 is in motion. The position information includes the position of the data collection vehicle 130 when the two-dimensional codes C1 and C2 are first captured, and the position of the data collection vehicle 130 when the two-dimensional codes C1 and C2 are last captured. As a result, the imaging section corresponding to the two-dimensional codes C1 and C2 is stored in the storage unit 133. For example, if the imaging section is extremely short, it is possible that the two-dimensional codes C1 and C2 are installed improperly (or, in the case of stickers, improperly attached). Such abnormalities can be detected early. In addition, in subsequent inspections (e.g., looseness detection), an appropriate judgment can be made by taking images based on this section.

[0064] The data collection vehicle 130 is equipped with multiple cameras 141 to 144, and the primary information includes information indicating which camera captured the images of the two-dimensional codes C1 and C2. This allows for a general understanding of the location where the nut N is installed.

[0065] Two-dimensional codes C1 and C2 are provided on the nut N and the fastening area to which the nut N is fastened. The detection unit 132 stores the position information of the data collection vehicle 130 when the two-dimensional code C1 provided on the nut N and the two-dimensional code C2 provided on the fastening area are imaged, along with the detection result of the nut N and the detection result of the fastening area, as primary information in the storage unit 133. When this information is included in the primary information, the nut N and the fastening area are stored as a set. For example, if an operator mistakenly provides two-dimensional code C1 or C2, it may be possible to detect that mistake.

[0066] The detection unit 132 calculates the amount of deviation of the two-dimensional codes C1 and C2 by comparing the detection result of the nut N linked to the position information of the data collection vehicle 130 with the detection result of the fastening area. By calculating the amount of deviation, it becomes easier to detect the above-mentioned errors.

[0067] The detection unit 132 and the determination unit 136 can perform two modes: an acquisition mode in which primary information is created and stored in the storage unit 133, and an inspection mode in which secondary information corresponding to the primary information is acquired after the creation of the primary information, and a determination is made based on the secondary information. When the determination unit 136 performs the inspection mode, it images the two-dimensional codes C1 and C2 based on the position information obtained in the acquisition mode. This allows for focused imaging of the positions or sections where the two-dimensional codes C1 and C2 are provided, enabling efficient acquisition of information necessary for inspections such as looseness detection. As a result, inspections can be performed efficiently and quickly.

[0068] In inspection mode, the determination unit 136 determines the presence or absence of the nut N at the fastening site by referring to the position information included in the primary information and the detection results of the two-dimensional codes C1 and C2. This makes it easy to detect if the nut N has fallen off or otherwise occurred between the time the primary information was acquired and the present.

[0069] In inspection mode, the determination unit 136 stores the position information of the inspection vehicle 130 when the two-dimensional codes C1 and C2 provided on the nut N and the two-dimensional codes C1 and C2 provided on the fastening area are imaged, the detection result of the nut N, and the detection result of the fastening area as secondary information in the storage unit 133. The determination unit 136 may then calculate the amount of secondary deviation of the two-dimensional codes C1 and C2 by comparing the detection result of the nut N and the detection result of the fastening area, which are linked to the position information of the inspection vehicle 130. Based on the amount of secondary deviation, an inspection of the nut N (for example, looseness determination) can be performed.

[0070] The primary information includes the primary displacement of the nut N relative to the fastening site, and the determination unit 136 determines the loosening of the nut N in inspection mode based on the primary displacement and the secondary displacement. This determination allows for the determination of whether the displacement occurred when the two-dimensional codes C1 and C2 were initially installed, or whether it occurred over time.

[0071] By capturing images of the two-dimensional codes C1 and C2 used as identifiers, unique information about the nut N or fastening area can be obtained through image processing. This allows for more accurate information collection, inspection, and judgment compared to identification using only location information.

[0072] While embodiments of the present invention have been described above, the present invention is not necessarily limited to the embodiments described above, and various modifications are possible without departing from the spirit of the invention.

[0073] The number of cameras in the shooting unit 140 may be three or fewer (including one), or it may be five or more.

[0074] In the above embodiment, an example was described in which the identification (detection) and loosening determination of the nut N are performed in the data collection and inspection vehicle 130. However, at least one of the detection of loosening of the nut N or the loosening determination may be performed in the overhead transport vehicle 120. In this case, the overhead transport vehicle 120 only needs to be equipped with an imaging unit 140, etc.

[0075] In the above embodiment, one example described was a configuration in which, when the determination unit 136 obtains multiple determination results for a single nut N, it adopts the determination result closest to the median within the acceptable range of the above relationship stored in the storage unit 133. However, if there are multiple images of a single fastener and multiple determination results are obtained for a single fastener, the determination unit 136 may determine whether the fastener is loose based on the ratio of whether or not the fastener is loose among the multiple determination results. The determination unit 136 may also determine that the fastener is loose if, for example, there are more than a predetermined number of NG determinations among the multiple determination results.

[0076] In the above embodiment, a configuration in which the data collection and inspection vehicle 130 includes a detection unit 132 and a determination unit 136 was described as an example. However, the detection of fasteners and the determination of looseness may also be performed in the management system 110. In this case, the images captured by the data collection and inspection vehicle 130 are transmitted to the management system 110, and detection and determination are performed in the management system 110.

[0077] In the above embodiment, a configuration in which a two-dimensional code C1 is provided on the nut N and a two-dimensional code C2 is provided on the rail T was described as an example. However, as shown in Figures 10(a) and 10(b), a mark (indicator) M1 may be provided on the nut N and a mark (indicator) M2 may be provided on the rail T. These marks M1 and M2 can be provided, for example, by applying a paint such as ink.

[0078] In the above embodiment, a configuration in which the fastener is a nut N was described as an example. However, the fastener may be a bolt B or the like. In that case, a mark may be provided on the head of the bolt B, for example. The bolt B may be provided on the running rail as the fastening point, or on another member attached (fixed) to the running rail.

[0079] Identifiers such as two-dimensional codes, or markings such as symbols, may be provided only on the fastening device, or only on the fastening portion.

[0080] In the above embodiment, two-dimensional codes C1 and C2 were provided by attaching a plurality of seals, each prepared in advance for each nut N. For example, a two-dimensional code C1 indicating a nut ID of "000141" was provided on a nut N fastened to a bolt B, and a two-dimensional code C2 indicating a base ID of "500141" was provided on the fastening part of the nut N (such as a running rail). In this way, a pair of identifiers were provided and managed in the above embodiment. However, it is not necessary to manage such a pair of identifiers (or markers). In this case, the amount of misalignment can be easily calculated using the pair of identifiers, and it becomes easier to detect incorrect application. The identifiers (or markers) may be provided on only one of the fastening device or the fastening part.

[0081] In the above embodiment, the information acquisition system 1 was applied to a transport system 100 in which goods were transported by an overhead transport vehicle 120. The rail T was suspended from the ceiling. The data acquisition and inspection vehicle (traveling trolley) 130 was also an overhead traveling vehicle. However, the system is not limited to this form, and the information acquisition system may also be applied to a transport system in which goods are transported by a trolley traveling on the ground. In that case, for example, the travel rails are installed on the ground. The data acquisition and inspection vehicle (traveling trolley) is also a traveling trolley that travels on the ground along the travel rails. Alternatively, the information acquisition system may be applied to a different traveling trolley system that travels along travel rails provided in any area of ​​the ceiling, ground, or space, rather than a transport system.

[0082] 1... Information acquisition system, 100... Transport system, 120... Overhead transport vehicle, 130... Data collection and inspection vehicle (traveling trolley), 132... Detection unit (control unit), 136... Judgment unit (control unit), 140... Imaging unit (imaging device), C1, C2... Two-dimensional code (marker part, identifier), M1, M2... Mark (marker part), N1, N2... Nut (fastener), T... Rail (traveling rail).

Claims

1. An information acquisition system comprising: a running rail provided with a fastening device; a marker portion provided on at least one of the fastening device and the fastening portion to which the fastening device is fastened; at least one imaging device provided on a running trolley that runs along the running rail and images the marker portion; a control unit that processes images acquired by the imaging device; and a storage unit that stores information obtained as a result of processing by the control unit, wherein the control unit detects the marker portion based on images acquired by the imaging device while the running trolley is running along the running rail, and stores primary information in the storage unit that includes information linking the position information of the running trolley at the time the marker portion was imaged with the detection result of the marker portion.

2. The information acquisition system according to claim 1, wherein the imaging device images the marker portion multiple times while the trolley is in motion, and the position information includes the position of the trolley when the marker portion is first imaged and the position of the trolley when the marker portion is last imaged.

3. The information acquisition system according to claim 1 or 2, wherein the traveling trolley is provided with a plurality of imaging devices, and the primary information includes information indicating which imaging device acquired the image of the marker portion.

4. The information acquisition system according to claim 1 or 2, wherein the marker portion is provided on the fastening device and the fastening portion to which the fastening device is fastened, and the control unit stores in the storage unit the position information of the traveling trolley at the time when the marker portion provided on the fastening device and the marker portion provided on the fastening portion are imaged, the detection result of the fastening device, and the detection result of the fastening portion as primary information.

5. The information acquisition system according to claim 4, wherein the control unit calculates the amount of displacement of the marker portion by comparing the detection result of the fastening device linked to the position information of the traveling trolley with the detection result of the fastening portion.

6. The information acquisition system according to claim 1 or 2, wherein the control unit is capable of performing an acquisition mode in which it creates the primary information and stores it in the storage unit, and an inspection mode in which it acquires secondary information corresponding to the primary information after the creation of the primary information and performs a determination based on the secondary information, and when the control unit performs the inspection mode, it takes an image of the marker portion based on the position information obtained in the acquisition mode.

7. The information acquisition system according to claim 6, wherein the control unit, in the inspection mode, determines the presence or absence of the fastening device at the fastening portion by referring to the position information included in the primary information and the detection result of the marker portion.

8. The information acquisition system according to claim 6, wherein the marker portion is provided on the fastening device and the fastening portion to which the fastening device is fastened, and the control unit, in the inspection mode, stores in the storage unit the position information of the traveling trolley when the marker portion provided on the fastening device and the marker portion provided on the fastening portion are imaged, the detection result of the fastening device, and the detection result of the fastening portion as secondary information, and calculates the amount of secondary displacement of the marker portion by comparing the detection result of the fastening device and the detection result of the fastening portion linked to the position information of the traveling trolley.

9. The information acquisition system according to claim 8, wherein the primary information includes the amount of primary displacement of the fastener relative to the fastening portion, and the control unit determines the loosening of the fastener based on the amount of primary displacement and the amount of secondary displacement in the inspection mode.

10. The information acquisition system according to claim 1 or 2, wherein the marking portion is an identifier for identifying at least one of the fastening device and the fastening portion.

Images