JP7471953B2 - Inspection system and inspection method - Google Patents

Description

An embodiment of the present invention relates to inspection technology.

Inspection work at power generation facilities and the like is performed daily by humans patrolling the facilities. However, there are problems such as aging inspectors and labor shortages due to a society with a declining birthrate and an aging population. As a result, there is a demand to use robots to reduce the burden on inspectors. In recent years, autonomous movement technology using robots has improved significantly, making practical autonomous movement possible, and robots are being put to practical use in various fields. It is expected that robots will also be used for inspection work at power generation facilities in the future. For example, there is a known technology for inspecting a specific plant using an autonomous mobile robot such as a drone. When performing such inspections, it is necessary to prevent the autonomous mobile robot from coming into contact with important equipment due to a malfunction or external factors.

International Publication No. 2019/176710

E. Marder-Eppstein, D.V. Lu, D. Hershberger, “costmap_2d” http://wiki.ros.org/costmap_2d

An autonomous mobile robot retains map information of the area it moves in, and moves while estimating its own position on that map. However, there is a possibility that the accuracy of the robot's movements may vary due to problems with the robot itself or external factors. There is also a possibility that the robot may move unintentionally. As a result, there is known technology that sets a safety margin (prohibited area) in the area near equipment or obstacles to prevent the robot from coming into contact with the equipment or obstacles. However, setting a uniform safety margin for all equipment or obstacles may narrow the area in which the robot can move, making it difficult for the robot to pass.

The embodiment of the present invention was made taking these circumstances into consideration, and aims to provide an inspection technique that can appropriately set prohibited areas that prohibit the entry of inspection robots.

An inspection system according to an embodiment of the present invention is an environmental map used by an inspection robot to move autonomously to inspect multiple target devices that are the subject of inspection, and includes a map setting unit that sets the environmental map including information indicating the positions of the target devices, an importance setting unit that sets the importance of the target devices, an area setting unit that sets a prohibited area around the target devices in the environmental map based on at least the importance, which prohibits the inspection robot from entering, a status information acquisition unit that acquires status information indicating the status of the target devices from a sensor provided on the target devices, an abnormality determination unit that determines whether an abnormality has occurred in the target devices based on the status information, and an abnormality change unit that changes the setting of the prohibited area of the target devices when an abnormality has occurred in the target devices, and when an abnormality has occurred in one of the target devices, the abnormality change unit widens the prohibited area of the target device and narrows the prohibited area of the other normal target device.

Embodiments of the present invention provide an inspection technique that can appropriately set prohibited areas that prohibit the entry of inspection robots.

FIG. 1 is a configuration diagram showing an inspection system. FIG. FIG. 2 is a block diagram showing a management server. FIG. 1 is a block diagram showing an inspection robot. FIG. FIG. 4 is an explanatory diagram showing a target device management table. FIG. 13 is an explanatory diagram showing a marker management table. FIG. 4 is an explanatory diagram showing a point management table. FIG. FIG. 13 is a perspective view showing prohibited areas of a first distance and a second distance. FIG. 6 is a flowchart showing an inspection process performed by an inspection robot. 13 is a flowchart showing an abnormality change process. 13 is a flowchart showing a communication change process.

Below, an embodiment of the inspection system and inspection method will be described in detail with reference to the drawings.

In FIG. 1, reference numeral 1 denotes the inspection system of this embodiment. This inspection system 1 comprises an inspection robot 2, a management server 3, and a management terminal 4. These are connected to each other via a predetermined network 5 (communication line).

The inspection system 1 is used to inspect various facilities installed in a specified plant 6 such as a power plant. Examples of the specified plant 6 include a power generation plant, a chemical plant, and a factory. In the inspection area of such a plant 6, a plurality of target devices 7 to be inspected are provided. Examples of the target devices 7 include generators, control panels, coolers, distribution boards, and substation equipment. These target devices 7 are inspected using an inspection robot 2 deployed in the inspection area.

The inspection robot 2 can move on the ground using, for example, wheels. This inspection robot 2 is an unmanned mobile robot that has a self-location estimation function and can move autonomously to inspect the target device 7. The inspection robot 2 can move automatically, and can also be moved manually by remote control by the manager M.

Under normal circumstances, the inspection robot 2 periodically patrols the inspection area of the plant 6 to inspect the target devices 7. Here, each target device 7 is connected to the management server 3 via the network 5. The status of each target device 7 is monitored by the management server 3. The inspection robot 2 is also connected to the management server 3 via the network 5. The operation of the inspection robot 2 is managed by the management server 3. If an abnormality occurs in the target device 7, the inspection robot 2 rushes to inspect the target device 7. Therefore, the management server 3 can quickly grasp the failure or signs of an abnormality in important target devices 7, and can minimize the subsequent adverse effects.

The manager M, who is in the management office 8 located remotely from the plant 6, can remotely operate the inspection robot 2 and inspect the target equipment 7 through this remote operation. The manager M can also grasp the status of the target equipment 7 (presence or absence of abnormalities) via the management server 3.

The management office 8 is provided with a management terminal 4 operated by the manager M. This management terminal 4 is configured with a specific computer such as a desktop PC, notebook PC, or tablet PC. In this embodiment, a desktop PC is shown as an example. The management terminal 4 is connected to a display 9 that the manager M visually checks, and a remote control terminal 10 that the manager M uses when remotely operating the inspection robot 2. The remote control terminal 10 is provided with a joystick that the manager M uses when operating the inspection robot 2.

Predetermined information is input to the input section of the management terminal 4 in response to operations by the manager M who uses the management terminal 4. This input section includes input devices such as a mouse or keyboard. In other words, the predetermined information is input to the management terminal 4 in response to operations of these input devices. Furthermore, the predetermined information is input to the inspection robot 2 via this management terminal 4.

The output unit of the management terminal 4 outputs specific information. For example, this output unit controls the image displayed on the display 9.

In this embodiment, the display 9 is exemplified as a device that displays images, but other configurations are also possible. For example, information may be displayed using a head-mounted display or a projector. Furthermore, a printer that prints information on paper media may be used instead of the display 9. In other words, the targets controlled by the output unit may include a head-mounted display, a projector, or a printer.

The management terminal 4 is connected to the inspection robot 2 and the management server 3 via the network 5. When the manager M remotely operates the inspection robot 2, communication is established between the management terminal 4 and the inspection robot 2 for sending and receiving signals for remote operation. The manager M can then manually operate the inspection robot 2 using the remote operation terminal 10. Note that communication between the management terminal 4 and the inspection robot 2 may be established via the management server 3, and the inspection robot 2 may be remotely operated via this management server 3.

The specified network 5 is exemplified by the Internet. Note that this network 5 may be a LAN (Local Area Network), a WAN (Wide Area Network), or a mobile (cell phone) communication network. Note that the inspection robot 2 is connected to the network 5 via wireless communication. Also, the target device 7 is connected to the network 5 via wireless communication or wired communication.

The inspection robot 2 can measure its own position and attitude. For example, it can measure its own position using a known satellite positioning system such as GPS (Global Positioning System). The inspection robot 2 can measure its own position and attitude using SLAM (Simultaneous Localization and Mapping) or VSLAM (Visual Simultaneous Localization and Mapping). It may also measure its own position and attitude using SfM (Structure from Motion) or the like.

As shown in FIG. 9, a large number of target devices 7 are placed in the inspection area of the plant 6. In this inspection area, a permitted area E is set to permit the entry (passage) of the inspection robot 2. In addition, around each target device 7, a prohibited area N is set to prohibit the entry of the inspection robot 2. Note that the prohibited area N is a planar area (two-dimensional area) in the vicinity of the periphery of the target device 7.

In addition, an obstacle 43 that impedes the passage of the inspection robot 2 is provided in this inspection area. A prohibited area N is also set around this obstacle 43. Furthermore, if a marker 45 (specific subject) is provided on a specific object 44 provided in the inspection area, a prohibited area N is also set around this object 44.

The specified object 44 may be, for example, temporary equipment or other items other than the target equipment 7 that are always present in the plant 6. It is necessary to prevent the inspection robot 2 from approaching or coming into contact with such temporarily placed equipment. Therefore, by providing a marker 45 on the object 44, a prohibited area N is also set around the object 44. By simply providing a marker 45 on the temporarily placed equipment, it is possible to manage it in the same way as the target equipment 7. Therefore, there is no need to register the temporarily placed equipment as the target equipment 7 in the inspection robot 2, making it easier to manage the temporarily placed equipment.

As shown in FIG. 11, when the manager M sets a specific point 47 on the management terminal 4 in the environmental map, which is the layout drawing 46 of the inspection area, a prohibited area N is also set around this specific point 47. In other words, the manager M can set the prohibited area N in a location where no target device 7 or obstacle 43 exists.

Next, how to use the specific point 47 will be explained. When performing automatic inspection of the target device 7 using the inspection robot 2, the manager M can use the management terminal 4 to arbitrarily set the position at which the inspection robot 2 will arrive. For example, the manager M specifies in the layout drawing 46 a first arrival position P1 where the inspection robot 2 is to arrive first, and a second arrival position P2 where the inspection robot 2 is to arrive next. The inspection robot 2 automatically generates a movement route R1 from its current position to the first arrival position P1. It then moves autonomously along this movement route R1 to the first arrival position P1.

Furthermore, the inspection robot 2 automatically generates the movement routes R2 and R3 from the first arrival position P1 to the second arrival position P2. Here, it is assumed that there are two possible movement routes R2 and R3 from the first arrival position P1 to the second arrival position P2. It is assumed that the manager M does not want to use one of the movement routes R2 and the other movement route R3, but wants to use the other movement route R3 instead. In such a case, the manager M sets a specific point 47 on the way of one of the movement routes R2. Then, since the periphery of this specific point 47 becomes a prohibited area N, the inspection robot 2 cannot move using one of the movement routes R2. Therefore, the inspection robot 2 moves autonomously using the other movement route R3. In this way, the manager M can arbitrarily adjust the movement route R3 of the autonomously moving inspection robot 2 by setting the specific point 47. When the inspection robot 2 automatically generates the movement routes R2 and R3, the manager M can set a predetermined area as a prohibited area N through which the inspection robot 2 cannot pass.

Next, the prohibited area N will be described. In this embodiment, an importance level is set for each target device 7. The range of the prohibited area N is then set according to the importance level. For example, target devices 7 that will have a large adverse effect on the plant 6 when the inspection robot 2 comes into contact with them are classified into levels, and target devices 7 that will have a small adverse effect when the inspection robot 2 comes into contact with them, and the prohibited area N is set within an appropriate range for each target device 7.

As shown in FIG. 10, there is a first target device 7A and a second target device 7B that is set to a lower importance than the first target device 7A. Here, a prohibited area N is set within a range of a first distance L1 from the surface of the first target device 7A. Also, a prohibited area N is set within a range of a second distance L2 from the surface of the second target device 7B. In this case, the second distance L2 is set to be shorter than the first distance L1.

In other words, the prohibited area N of the first target device 7A, which has a high level of importance, is set to be wider than the prohibited area N of the second target device 7B, which has a low level of importance. In this way, a wider prohibited area N can be set for the important first target device 7A, which is estimated to be adversely affected if the inspection robot 2 comes into contact with it. This reduces the possibility of the inspection robot 2 coming into contact with it.

Furthermore, by narrowing the range of the prohibited area N of the second target device 7B with low importance, it is possible to widen the permitted area E through which the inspection robot 2 can pass. Note that it is also possible to eliminate the prohibited area N of the second target device 7B with low importance. In other words, the second distance L2 may be set to zero.

In this way, in this embodiment, the prohibited area N can be appropriately set according to the importance of the target device 7. Furthermore, since the prohibited area N is automatically set according to the importance, the administrator M is spared the trouble of individually setting the prohibited area N of the target device 7. Furthermore, since the range of the prohibited area N is set according to the importance, an appropriate permitted area E that takes safety into consideration is set, and the inspection robot 2 can pass through the permitted area E.

When an abnormality occurs in a specific target device 7, the inspection robot 2 of this embodiment switches from a normal mode in which regular patrol inspections are performed to an emergency mode in which an emergency inspection of the target device 7 in which the abnormality occurs is performed.

Furthermore, if an abnormality occurs in the target device 7 while the inspection robot 2 is autonomously performing an inspection, the importance of that target device 7 is changed. Then, the setting of the prohibited area N for the target device 7 in which the abnormality occurred is changed. For example, by increasing the importance of the target device 7 in which the abnormality occurred, the prohibited area N for that target device 7 can be expanded.

Furthermore, when an abnormality occurs in one of the target devices 7, the prohibited area N of the other normal target device 7 is narrowed. For example, the prohibited area N of the normal target device 7 in the vicinity of the abnormal target device 7 is narrowed. In this way, when the inspection robot 2 rushes to the abnormal target device 7, the permitted area E through which the inspection robot 2 can pass is widened, and the inspection robot 2 can move autonomously smoothly.

In addition, if the inspection robot 2 comes into contact with a target device 7 that is experiencing an abnormality, there is a risk that the inspection robot 2 may be damaged or soiled. Therefore, by widening the prohibited area N of the target device 7 that is experiencing an abnormality, the possibility of damage to the inspection robot 2 can be reduced. Furthermore, by setting an appropriate prohibited area N depending on the state of the target device 7, safety can be increased when the inspection robot 2 performs an unmanned inspection.

When the manager M remotely controls the inspection robot 2, the inspection work can be performed with a higher degree of freedom than autonomous inspection work. For example, the inspection robot 2 can move faster and with a wider range of movement. In such an environment, depending on the state of the network 5, commands from the operator may be input to the inspection robot 2 with a delay. This may cause the inspection robot 2 to behave in a manner contrary to the intentions of the manager M. In addition, the inspection robot 2's increased freedom of movement increases the risk of approaching or coming into contact with target equipment 7, etc.

Therefore, if the network communication conditions deteriorate while the administrator M is remotely operating the inspection robot 2, the importance of the target devices 7 is changed. Then, the setting of the prohibited area N of the target devices 7 is changed. For example, if a communication delay occurs, the prohibited area N can be expanded by increasing the importance of each target device 7. By expanding the prohibited area N when this communication delay occurs, the target devices 7 are less likely to be contacted even if the operation of the inspection robot 2 is delayed. Furthermore, when the deterioration of the communication conditions is resolved, the prohibited area N of each target device 7 is returned to its original state. Note that if a change in the communication bandwidth occurs, the range of the prohibited area N of each target device 7 may be changed.

In addition to the target device 7, importance is set not only for the obstacle 43, the marker 45, and the specific point 47, but also for the obstacle 43, the marker 45, and the specific point 47. Then, importance is set for the obstacle 43, the marker 45, and the specific point 47, and a prohibited area N is set in a range corresponding to these importance levels.

Next, the system configuration of the inspection system 1 will be described with reference to the block diagrams shown in Figures 2 to 5.

As shown in FIG. 2, the target device 7 includes a status sensor 11 and a data transmission unit 12. The target device 7 may be a variety of devices such as a generator, a control panel, a cooler, a distribution board, or a substation. Furthermore, the configurations of these devices may vary, but here, only the configurations necessary for the inspection system 1 of this embodiment will be described.

The status sensor 11 is provided in the target device 7 and is a sensor that acquires status information indicating the status of the target device 7. For example, it detects the temperature, vibration, rotation speed, etc. of the target device 7. This status sensor 11 is used to detect events occurring in the target device 7, and the presence or absence of an abnormality in the target device 7 is determined based on the detection results. Various events can be detected by the status sensor 11 depending on the state of the target device 7. Therefore, the status sensor 11 can be a vibration sensor, a microphone, an RGB camera, a thermo camera, a thermometer, a pressure gauge, a tachometer, etc. At least one of these status sensors 11 is attached to the target device 7.

The data transmission unit 12 transmits data including the detection signal detected by the status sensor 11 to the management server 3 and the inspection robot 2 via the network 5. The data is transmitted to the management terminal 4 via the management server 3. Note that the data may be transmitted to the management server 3 once, and then transmitted from this management server 3 to the inspection robot 2.

As shown in FIG. 3, the management server 3 includes a memory unit 13, a communication unit 14, and a server control unit 15.

The management server 3 is configured as a computer having hardware resources such as a CPU, ROM, RAM, and HDD, and in which software-based information processing is realized using the hardware resources as the CPU executes various programs. Furthermore, the inspection method of this embodiment is realized by having the computer execute various programs.

The components of the management server 3 do not necessarily have to be installed on a single computer. For example, a single system may be realized using multiple computers connected to each other via the network 5.

The memory unit 13 stores various information required when inspecting the target device 7. For example, it stores images taken by the inspection robot 2 or data acquired by the inspection robot 2. The memory unit 13 may also include a database. A database is a collection of information stored in memory or a HDD and organized so that it can be searched or accumulated.

The communication unit 14 communicates with the inspection robot 2 and the management terminal 4 via the network 5.

The server control unit 15 includes a target device management unit 16 and a robot management unit 17. These are realized by the CPU executing programs stored in the memory or HDD.

The target equipment management unit 16 manages the target equipment 7 installed in the inspection area of the plant 6. For example, it receives data including a detection signal detected by the status sensor 11 of the target equipment 7, and records the status of the target equipment 7 based on this data.

The robot management unit 17 manages the inspection robot 2 installed in the inspection area of the plant 6. For example, it sets an environmental map including information indicating the position of the target equipment 7. The same environmental map set by the robot management unit 17 is set on the inspection robot 2.

As shown in FIG. 4, the inspection robot 2 includes a camera 18, an inspection sensor 19, a three-dimensional measurement sensor 20, a motion sensor 21, a movement mechanism 22, a memory 23, a communication unit 24, and a robot control unit 25.

The camera 18 is mounted on the inspection robot 2 and captures images of the target equipment 7 in the vicinity of the inspection robot 2 using visible light or infrared light. The images captured by the camera 18 are stored in the memory unit 23 and sent to the management server 3.

The inspection sensor 19 is a sensor used to inspect the target device 7. For example, it detects the temperature, vibration, noise, etc. of the target device 7. Possible inspection sensors 19 include a thermal camera, a thermometer, a microphone, etc.

The three-dimensional measurement sensor 20 measures the three-dimensional shape of objects around the inspection robot 2. For example, a depth sensor is used as the three-dimensional measurement sensor 20. Note that an infrared sensor or a laser sensor such as LiDAR may also be used as the three-dimensional measurement sensor 20.

The three-dimensional measuring sensor 20 can measure the distance from the inspection robot 2 to a surrounding object, for example, by projecting a laser onto the object and receiving the reflected light with a light receiving element. The shooting direction of the camera 18 and the measurement direction of the three-dimensional measuring sensor 20 are the same. Furthermore, the three-dimensional measuring sensor 20 measures the distance from the inspection robot 2 to the surrounding object using the ToF (Time of Flight) method, which converts the delay time between the projected pulse and the received pulse into distance. By using the three-dimensional measuring sensor 20, it is possible to generate three-dimensional point cloud data that includes information on the distance and shape from the inspection robot 2 to the surrounding object.

The motion sensor 21 is a nine-axis sensor that combines an inertial sensor (a three-axis acceleration sensor and a three-axis angular velocity sensor) and a three-axis geomagnetic sensor. This motion sensor 21 is mounted on the inspection robot 2 and detects the acceleration that occurs when the inspection robot 2 moves. This motion sensor 21 can also detect gravitational acceleration. Furthermore, the motion sensor 21 detects the angular velocity that occurs when the attitude (body orientation) of the inspection robot 2 changes. The attitude of the inspection robot 2 can also be grasped using geomagnetism. The acceleration and angular velocity values detected by the motion sensor 21 are input to the robot control unit 25. The inspection robot 2 can measure its own position and attitude using this motion sensor 21.

The movement mechanism 22 drives the rotation of the wheels required for the movement of the inspection robot 2. The movement mechanism 22 is composed of, for example, a motor that drives the wheels, or an actuator that changes the direction of the wheels.

The memory unit 23 stores various information necessary to inspect the target device 7. For example, it stores images captured by the camera 18 or data acquired by the inspection sensor 19.

The memory unit 23 also stores obstacle information regarding obstacles 43 in the inspection area, target equipment information regarding the target equipment 7, movement plan information regarding the movement of the inspection robot 2, patrol inspection plan information regarding patrol inspections, etc. The movement plan information includes information regarding the movement speed and movement range of the inspection robot 2.

In this embodiment, the same information as that stored in the inspection robot 2 is also stored in the management server 3. The information stored in the inspection robot 2 and the information stored in the management server 3 are synchronized with each other. The administrator M can also manage the inspection robot 2 via the management server 3.

The inspection robot 2 moves autonomously based on the information stored in the memory unit 23, and performs unmanned inspections of each target device 7 in the inspection area.

The communication unit 24 communicates with the management server 3 and the management terminal 4 via the network 5. The manager M can operate or manage the inspection robot 2 via the network 5. This eliminates the need for the manager M to visit the inspection area of the plant 6, reducing labor and management costs. Furthermore, when it becomes necessary to change certain settings, such as the importance of the target device 7, the manager M can quickly change these settings via the network 5.

As shown in FIG. 5, the robot control unit 25 includes a map setting unit 26, an importance setting unit 27, an area setting unit 28, a marker position acquisition unit 29, a marker setting unit 30, a point setting unit 31, a status information acquisition unit 32, an abnormality determination unit 33, an abnormality change unit 34, an operation change unit 35, a mode switching unit 36, an inspection switching unit 37, an automatic inspection unit 38, a remote inspection unit 39, a communication status monitoring unit 40, a communication change unit 41, and an autonomous movement control unit 42. These are realized by the CPU executing programs stored in the memory or HDD.

The map setting unit 26 sets an environmental map (map information) including information indicating the position of the target device 7. This environmental map is stored in the memory unit 23 and is used when the inspection robot 2 moves autonomously. For example, this environmental map is used to generate a movement path. In addition, an environmental map similar to the one held by the inspection robot 2 is stored in the management server 3.

The importance setting unit 27 sets the importance of each of the multiple target devices 7 to be inspected based on information about the plant 6 acquired in advance. Information about the target devices 7 and their importance is stored in the storage unit 23. The importance setting unit 27 registers various information in, for example, a target device management table (Figure 6).

The area setting unit 28 sets a prohibited area N (FIG. 9) around the target device 7 on the environmental map, where the inspection robot 2 is prohibited from entering, based on the importance (standard importance or changed importance) registered in the target device management table (FIG. 6). This area setting unit 28 sets the prohibited area N not only around the target device 7, but also around obstacles 43, objects 44 with markers 45, and specific points 47 on the environmental map. The area setting unit 28 also sets the range of the prohibited area N according to the importance.

For example, as shown in FIG. 10, when there is a first target device 7A and a second target device 7B that is set to a lower importance than the first target device 7A, the area setting unit 28 sets a prohibited area N within a range of a first distance L1 from the first target device 7A, and sets a prohibited area N within a range of a second distance L2 that is shorter than the first distance L1 from the second target device 7B.

As shown in FIG. 5, the marker position acquisition unit 29 acquires the position of the marker 45 (FIG. 9) provided on a specified object 44 in the inspection area by using the camera 18 mounted on the inspection robot 2 to capture the image of the marker 45. The marker position acquisition unit 29 has a function of recognizing the marker 45 using image processing technology. The area setting unit 28 sets a prohibited area N on the environmental map around the position of the marker 45 identified by the marker position acquisition unit 29, i.e., around the specified object 44.

The marker 45 is drawn as a figure that can be recognized by image recognition. For example, a matrix type two-dimensional code, a so-called QR code (registered trademark), is used as the marker 45. The marker 45 may be a so-called AR marker that uses AR (Augmented Reality) technology. Then, a piece of paper with the marker 45 drawn on it is attached to the specified object 44. In this way, a prohibited area N can be automatically set around the object 44 simply by providing the marker 45 on the specified object 44 in the inspection area.

The markers 45 also contain information indicating a marker ID that can identify each corresponding marker 45. In this way, it is possible to identify each of the multiple markers 45 and set the importance level for each one.

In this embodiment, the marker 45 is the specific subject. And the marker position acquisition unit 29 is the subject position acquisition unit.

In addition, the specified object 44 itself may be used as the specified subject (marker) without providing a marker 45. For example, the surface of the object 44 may be marked with information that can individually identify the object 44, such as specified characters or figures. By performing image recognition of these characters or figures, the individual objects 44 can be identified. By using the object 44 itself as the specified subject, the effort of providing a marker 45 on the object 44 can be eliminated.

The marker setting unit 30 sets the marker 45 as a specific subject based on information input in advance to the inspection robot 2 by the administrator M operating the management terminal 4. The importance setting unit 27 sets the importance of the marker 45. Information on the marker 45 and its importance is stored in the memory unit 23. The marker setting unit 30 registers various information in a marker management table (Figure 7), for example. When the marker position acquisition unit 29 acquires the position of the marker 45, the area setting unit 28 sets a prohibited area N around the object 44 (Figure 9) on which the marker 45 is provided in the environmental map based on the importance of the marker 45 (standard importance or changed importance). In this way, a prohibited area N suitable for the marker 45 as a specific subject can be set.

The point setting unit 31 sets a specific point 47 on the environmental map based on information input in advance to the inspection robot 2 by the administrator M operating the management terminal 4. The importance setting unit 27 sets the importance of the specific point 47. Information on the specific point 47 and its importance is stored in the memory unit 23. The point setting unit 31 registers various information in, for example, a point management table (Figure 8). The area setting unit 28 sets a prohibited area N around the specific point 47 on the environmental map based on the importance of the specific point 47 (standard importance or changed importance). In this way, a prohibited area N appropriate for the specific point 47 can be set.

The status information acquisition unit 32 acquires status information indicating the status of the target device 7. For example, the status sensor 11 provided in the target device 7 detects a specific event, and status information including the detected value is sent to the management server 3 and the inspection robot 2. The status information acquisition unit 32 acquires status information from the target device 7.

The status information includes information that can be used to determine whether the target device 7 is operating normally or whether an abnormality has occurred in the target device 7. It also includes information that can be used to determine the level of the abnormality that has occurred in the target device 7.

The abnormality determination unit 33 determines whether or not an abnormality has occurred in the target device 7 based on the status information acquired by the status information acquisition unit 32. If it is determined that an abnormality has occurred in the target device 7, inspection in normal mode is stopped and inspection in emergency mode is performed. The inspection robot 2 then rushes to the target device 7 where the abnormality has occurred. The inspection robot 2 photographs the target device 7 and transmits information including the image to the management terminal 4 of the management office 8. The manager M can then check the status of the target device 7 where the abnormality has occurred.

When an abnormality occurs in the target device 7, the abnormality change unit 34 changes the setting of the prohibited area N of the target device 7 in which the abnormality occurs. In this way, the prohibited area N of the target device 7 in which the abnormality occurs and which is estimated to have a negative effect when the inspection robot 2 comes into contact with it can be changed to a mode different from that in normal times. For example, the prohibited area N of the target device 7 in which the abnormality occurs can be widened to prevent the inspection robot 2 from coming into contact with the target device 7 in which the abnormality occurs.

When the setting of the prohibited area N is changed, the abnormality change unit 34 may notify the management server 3 or the management terminal 4 of the change in the setting of the prohibited area N. In this way, the administrator M can know that the setting of the prohibited area N has been changed.

The operation change unit 35 changes the setting of the prohibited area N based on the operation of the administrator M who manages the inspection by the inspection robot 2. In this way, the administrator M can change the setting of the prohibited area N at will. For example, the administrator M can change the value of the changed importance in the target equipment management table, marker management table, or point management table at will. The value of the basic importance may also be changed at will. This allows the administrator M to change the range of the prohibited area N for the target equipment 7, marker 45, or specific point 47.

The administrator M may change the settings of the prohibited area N by operating the inspection robot 2 via the management server 3. For example, the management server 3 may store a target device management table, a marker management table, or a point management table, and these tables of the management server 3 may be updated by the operation of the administrator M, thereby updating the corresponding tables of the inspection robot 2.

When an abnormality occurs in the target device 7, the mode switching unit 36 switches the inspection robot 2 from the normal mode to an emergency mode in which the inspection robot 2 inspects the target device 7 in which the abnormality occurs. In this embodiment, at the same time as switching to the emergency mode, the abnormality changing unit 34 expands the prohibited area N of the target device 7 in which the abnormality occurs.

The inspection switching unit 37 performs a process of switching between automatic inspection performed by the automatic inspection unit 38 and manual inspection performed by the remote inspection unit 39. For example, the inspection switching unit 37 accepts a switching operation by the administrator M based on information sent from the management terminal 4. Then, when the administrator M switches to automatic inspection, the automatic inspection settings are made. On the other hand, when the administrator M switches to manual inspection, the manual inspection (remote operation) settings are made.

The automatic inspection unit 38 performs processing related to automatic inspection in which the inspection robot 2 automatically inspects the target device 7. For example, the inspection robot 2 moves autonomously based on an environmental map and automatically photographs the specified target device 7.

The remote inspection unit 39 performs processing related to remote operation when the manager M, who manages inspections by the inspection robot 2, remotely operates the inspection robot 2 via the network 5.

The communication status monitoring unit 40 monitors the communication status of the network 5. This communication status monitoring unit 40 acquires the response speed of the communication of the network 5 and monitors the response speed. For example, the communication status monitoring unit 40 monitors whether or not a communication delay is occurring in the network 5 when the manager M remotely operates the inspection robot 2.

The communication status monitoring unit 40 may monitor communication delays and changes in communication bandwidth, and if a change occurs in the communication environment, may notify the management server 3 or the management terminal 4 of the change in the communication environment. In this way, the administrator M can grasp the change in the communication environment.

The communication change unit 41 changes the setting of the prohibited area N based on the communication conditions when the inspection robot 2 is being remotely operated. In this way, the state of the prohibited area N can be changed to one suitable for the communication conditions during remote operation. In this embodiment, when a communication delay occurs, the prohibited area N is widened. Therefore, even if the operation of the inspection robot 2 is delayed during remote operation, it becomes difficult for the target device 7 to be contacted.

When the setting of the prohibited area N is changed, the communication change unit 41 may notify the management server 3 or the management terminal 4 of the change in the setting of the prohibited area N. In this way, the administrator M can know that the setting of the prohibited area N has been changed.

The autonomous movement control unit 42 controls the autonomous movement of the inspection robot 2. The autonomous movement control unit 42 estimates the self-position of the inspection robot 2 and controls the movement of the inspection robot 2 by referring to the environmental map.

The autonomous movement control unit 42 generates a movement path for the inspection robot 2 to sequentially inspect the target devices 7. For example, when all of the target devices 7 are normal, the autonomous movement control unit 42 generates a movement path for the inspection robot 2 to perform inspection in normal mode. Furthermore, when an abnormality occurs in at least one of the target devices 7, the autonomous movement control unit 42 generates a movement path for the inspection robot 2 to perform inspection in emergency mode.

When performing an inspection in normal mode, the inspection robot 2 patrols the plant 6 according to a predetermined inspection sequence. The movement path in normal mode may be generated in advance. The movement path in emergency mode is generated each time depending on the abnormality situation. The inspection robot 2 moves autonomously along the generated movement path.

The movement route may be generated by the management server 3. The movement route received from the management server 3 is then set in the memory unit 23 of the inspection robot 2. The inspection robot 2 moves autonomously along this set movement route.

As shown in FIG. 6, the target device management table registers the type of target device 7, the basic importance of the target device 7, the changed importance after changing the basic importance, and the status of the target device 7 in association with the target device ID.

In the target device ID field, a target device ID, which is identification information that can individually identify each target device 7, is registered. A unique target device ID is assigned to each target device 7. These target device IDs are the primary keys of the target device management table.

The type of target device 7 corresponding to the target device ID is registered in the item of type of target device 7. For example, types of target device 7 include substation equipment, distribution boards, control panels, generators, shafts, etc.

In the basic importance item, a numerical value is registered as the initial value of the importance of the target device 7 corresponding to the target device ID. For example, a "1" is registered for the lowest importance, and a "10" is registered for the highest importance. The numerical value indicating the importance increases stepwise from low importance to high importance.

In normal operation (initial state), the region setting unit 28 sets the prohibited region N of the target device 7 based on the basic importance of the target device 7. For example, the prohibited region N of the target device 7 having a large basic importance value is made wider, and the prohibited region N of the target device 7 having a small basic importance value is made narrower.

In this embodiment, the importance of the target devices 7 that are essential to the operation of the plant 6 is set high. For example, the highest importance level of "10" is set for the target devices 7 that would cause the operation of the plant 6 to stop if they were stopped. The importance levels of each device are set in advance by the manager M. The importance levels may also be changed depending on the state of the target devices 7.

In this embodiment, the importance is indicated by a numerical value, but other forms are also possible. For example, the importance may be indicated by a rank. The highest importance may be registered as rank "A," and the lowest importance may be registered as rank "C."

The post-change importance field is where the importance is registered after it has been changed under certain conditions. Note that the initial value for these post-change importance fields is blank.

Here, if an abnormality occurs in the target device 7, if a communication delay occurs during remote operation, or if the administrator M arbitrarily changes the settings, the value of the changed importance is registered. When this value of the changed importance is registered, the area setting unit 28 sets the prohibited area N of the target device 7 based on the changed importance of the target device 7. For example, the prohibited area N of a target device 7 with a large value of the changed importance is widened, and the prohibited area N of a target device 7 with a small value of the changed importance is narrowed. Note that if an abnormality occurs in the target device 7, if a communication delay occurs, or if the settings are restored, the value of the changed importance is cleared.

The value of the changed importance may be registered in advance as the initial value. Then, it may be determined whether an abnormality has occurred in the target device 7, whether a communication delay has occurred during remote operation, or whether the administrator M has arbitrarily changed the settings, and if at least any of these events has occurred, the range of the prohibited area N may be set based on the value of the changed importance.

The current state of the target device 7 corresponding to the target device ID is registered in the status field. The result of the determination made by the abnormality determination unit 33 is registered in this status field.

For example, a value greater than the basic importance value is registered in the changed importance item of the target device 7 in which an abnormality has occurred. That is, the setting is changed so that the prohibited area N of the target device 7 in which an abnormality has occurred is wider. On the other hand, a value smaller than the basic importance value may be registered in the changed importance item of a normal target device 7 in the vicinity of the target device 7 in which an abnormality has occurred. That is, the setting is changed so that the prohibited area N of the normal target device 7 is narrower. In this way, when the inspection robot 2 rushes to the target device 7 in which an abnormality has occurred, the inspection robot 2 can smoothly pass through the permitted area E.

In addition, the target device management table may also register information indicating the position (coordinates) of the target device 7 on the environmental map, information regarding the shape, size, and volume of the target device 7, etc., in association with the target device ID.

As shown in FIG. 7, the marker management table registers the basic importance of marker 45 and the changed importance after the basic importance is changed, in association with the marker ID.

The marker ID field registers a marker ID, which is identification information that can individually identify each marker 45. Each marker 45 is assigned a unique marker ID. These marker IDs serve as the primary keys of the marker management table.

In the basic importance field, a numerical value that is the initial value of the importance of the marker 45 corresponding to the marker ID is registered. As with the basic importance of the target device 7, under normal circumstances (initial state), the area setting unit 28 sets the prohibited area N of the marker 45 based on the basic importance of the marker 45.

The post-change importance field is where the importance is registered after it has been changed under certain conditions. Note that the initial value for these post-change importance fields is blank.

Here, if an abnormality occurs in the target device 7, if a communication delay occurs during remote operation, or if the administrator M changes the settings at his own discretion, the value of the changed importance is registered. When this value of the changed importance is registered, the area setting unit 28 sets the prohibited area N of the marker 45 based on the changed importance of the marker 45.

For example, if an abnormality occurs in a specific target device 7, a value smaller than the basic importance value may be registered in the changed importance item of the marker 45. Note that a value larger than the basic importance value may also be registered.

In addition, the marker management table may also register information indicating the position (coordinates) of the marker 45 on the environmental map, information regarding the shape of the object 44 on which the marker 45 is placed, and the like, in association with the marker ID.

As shown in FIG. 6, the point management table registers the basic importance of a specific point 47 and the changed importance after the basic importance is changed, in association with the point ID.

In the point ID field, a point ID is registered, which is identification information that can individually identify each specific point 47. A unique point ID is assigned to each specific point 47. These point IDs serve as the primary key of the point management table.

In the basic importance field, a numerical value that is the initial value of the importance of the specific point 47 corresponding to the point ID is registered. As with the basic importance of the target device 7, under normal circumstances (initial state), the area setting unit 28 sets the prohibited area N of the specific point 47 based on the basic importance of the specific point 47.

The post-change importance field is where the importance is registered after it has been changed under certain conditions. Note that the initial value for these post-change importance fields is blank.

Here, if an abnormality occurs in the target device 7, if a communication delay occurs during remote operation, or if the administrator M changes the settings at his own discretion, the value of the changed importance is registered. When this value of the changed importance is registered, the area setting unit 28 sets a prohibited area N for the specific point 47 based on the changed importance of the specific point 47.

For example, if an abnormality occurs in a specific target device 7, a value smaller than the basic importance value may be registered in the post-change importance item of the specific point 47. Note that a value larger than the basic importance value may also be registered.

In addition, the point management table may also register information indicating the position (coordinates) of a specific point 47 on the environmental map in association with a point ID.

Although not shown in the figure, an obstacle management table for managing the obstacles 43 may be stored in the memory unit 23 of the inspection robot 2. In the obstacle management table, the basic importance of the obstacle 43 and the changed importance after changing the basic importance are registered in association with the obstacle ID.

As shown in FIG. 11, the manager M displays a layout drawing 46 of the inspection area on the display 9 of the management terminal 4. The manager M can then set specific points 47 at specific coordinate positions on the layout drawing 46 by using a mouse cursor or the like. Here, the specific points 47 may be color-coded. For example, specific points 47 with high basic importance are shown in red, and specific points 47 with low basic importance are shown in green. In this way, the manager M can understand the importance of the specific points 47 by their color.

In this embodiment, the layout drawing 46 is illustrated as a plan view of the inspection area. The layout drawing 46 may be 3D data that records the inspection area three-dimensionally. The specific point 47 may indicate a predetermined position in the three-dimensional coordinate position of the inspection area.

In addition, the specific point 47 in this embodiment is in the form of a point indicating a predetermined position on the layout drawing 46. However, this specific point 47 does not have to be in the form of a point. For example, a specific point 47 in the form of a line having a predetermined length may be provided on the layout drawing 46. Alternatively, a specific point 47 having a predetermined area may be provided. Furthermore, if the layout drawing 46 is 3D data, the specific point 47 may be in the form of a rod, cylinder, box, or sphere. A prohibited area N according to the shape of a specific point 47 of such a shape may be set around the periphery of the specific point 47.

Next, the inspection process performed by the inspection robot 2 will be explained using the flowchart in FIG. 12. Note that the block diagrams shown in FIG. 4 and FIG. 5 will be referred to as appropriate. The following steps are at least a part of the processes included in the inspection process, and other steps may also be included in the inspection process.

This inspection process is repeated at regular intervals. By repeating this inspection process, the inspection method is executed by the inspection robot 2. Note that this process may be executed as an interrupt while the inspection robot 2 is executing another main process.

As shown in FIG. 12, first, in step S11, the map setting unit 26 of the robot control unit 25 executes an environmental map setting process. In this environmental map setting process, an environmental map including information indicating the position of the target device 7 is set. The same environmental map is also set in the management server 3.

In the next step S12, the importance setting unit 27 of the robot control unit 25 executes an importance setting process. This importance setting unit 27 sets the basic importance of each of the multiple target devices 7 to be inspected, for example, based on information about the plant 6 acquired in advance. For example, the importance is registered in the target device management table (Figure 6).

In the next step S13, the marker setting unit 30 of the robot control unit 25 executes a marker setting process. In this marker setting process, a marker 45 is set as a specific subject based on information previously input to the inspection robot 2 by the manager M operating the management terminal 4. Here, various information is registered in the marker management table (Figure 7).

In the next step S14, the point setting unit 31 of the robot control unit 25 executes a point setting process. In this point setting process, a specific point 47 is set on the environmental map based on information previously input to the inspection robot 2 by the manager M operating the management terminal 4. Here, various information is registered in the point management table (Figure 8).

In the next step S15, the area setting unit 28 of the robot control unit 25 executes an area setting process. In this area setting process, a prohibited area N (FIG. 9) is set around the target device 7 on the environmental map, where the inspection robot 2 is prohibited from entering, based on the importance (reference importance) registered in the target device management table (FIG. 6). In addition, the prohibited area N is set not only around the target device 7, but also around obstacles 43 and specific points 47 on the environmental map, based on the importance (reference importance). Furthermore, when the marker position acquisition unit 29 acquires the position of a specific marker 45, a prohibited area N is also set around the object 44 on which the marker 45 is provided on the environmental map, based on the importance (reference importance).

In the next step S16, the inspection switching unit 37 of the robot control unit 25 executes an inspection switching process. In this inspection switching process, a process is performed to switch between an automatic inspection performed by the automatic inspection unit 38 and a manual inspection performed by the remote inspection unit 39.

In the next step S17, the operation change unit 35 of the robot control unit 25 executes an operation change process. In this operation change process, when the importance of the target device 7, marker 45, specific point 47, and obstacle 43 is changed based on the operation of the administrator M, the setting of the prohibited area N is changed based on the changed importance.

In the next step S18, the abnormality change unit 34 of the robot control unit 25 executes the abnormality change process (FIG. 13). In this abnormality change process, when an abnormality occurs in the target device 7, the setting of the prohibited area N of the target device 7 in which the abnormality occurs is changed.

In the next step S19, the communication change unit 41 of the robot control unit 25 executes a communication change process (FIG. 14). In this communication change process, the setting of the prohibited area N is changed based on the communication status when the inspection robot 2 is being remotely operated. Then, the inspection robot 2 ends the inspection process.

Next, the abnormality change process executed by the robot control unit 25 will be explained using the flowchart in Figure 13.

First, in step S21, the status information acquisition unit 32 acquires the status information sent from the target device 7.

In the next step S22, the abnormality determination unit 33 determines whether or not an abnormality has occurred in the target device 7 based on the status information acquired by the status information acquisition unit 32. Here, if no abnormality has occurred in the target device 7 (NO in step S22), the robot control unit 25 ends the abnormality change process. On the other hand, if an abnormality has occurred in the target device 7 (YES in step S22), the process proceeds to step S23.

In step S23, the abnormality change unit 34 changes the setting of the prohibited area N. For example, it changes the importance of the target device 7 in which an abnormality has occurred in the target device management table (Figure 6) and registers it as the changed importance. Based on this changed importance, the abnormality change unit 34 changes the range of the prohibited area N of the target device 7. The abnormality change unit 34 also changes the importance of the other target devices 7, markers 45, specific points 47, and obstacles 43. Based on these changed importance, it also changes the range of each prohibited area N.

In the next step S24, the mode switching unit 36 switches the inspection robot 2 from the normal mode to the emergency mode in which the inspection robot 2 inspects the target device 7 in which an abnormality has occurred. Then, the robot control unit 25 ends the abnormality change process.

Next, the communication change process executed by the robot control unit 25 will be explained using the flowchart in FIG. 14.

First, in step S31, the communication status monitoring unit 40 monitors the communication status of the network 5.

In the next step S32, the inspection switching unit 37 determines whether or not the inspection robot 2 is being remotely operated. If the inspection robot 2 is not being remotely operated (NO in step S32), the robot control unit 25 ends the communication change process. On the other hand, if the inspection robot 2 is being remotely operated (YES in step S32), the process proceeds to step S33.

In step S33, the communication change unit 41 determines whether or not a communication delay has occurred. If no communication delay has occurred (NO in step S33), the robot control unit 25 ends the communication change process. On the other hand, if a communication delay has occurred (YES in step S33), the process proceeds to step S34.

In step S34, the communication change unit 41 changes the setting of the prohibited area N. For example, it changes the importance of the target device 7 in the target device management table (Figure 6) and registers it as the changed importance. Based on this changed importance, the communication change unit 41 changes the range of the prohibited area N of the target device 7. The communication change unit 41 also changes the importance of the other target devices 7, markers 45, specific points 47, and obstacles 43. Based on these changed importance, it also changes the range of each prohibited area N. Then, the robot control unit 25 ends the communication change process.

In the flowchart of this embodiment, an example is shown in which each step is executed in series, but the order of steps is not necessarily fixed, and the order of some steps may be interchanged. Also, some steps may be executed in parallel with other steps.

The system of this embodiment includes a control device with a highly integrated processor such as a dedicated chip, FPGA (Field Programmable Gate Array), GPU (Graphics Processing Unit), or CPU (Central Processing Unit), a storage device such as ROM (Read Only Memory) or RAM (Random Access Memory), an external storage device such as HDD (Hard Disk Drive) or SSD (Solid State Drive), a display device such as a display, an input device such as a mouse or keyboard, and a communication interface. This system can be realized with a hardware configuration that uses a normal computer.

The program executed by the system of this embodiment is provided in advance in a ROM or the like. Alternatively, this program may be provided stored in an installable or executable file format on a non-transitory computer-readable storage medium such as a CD-ROM, CD-R, memory card, DVD, or flexible disk (FD).

The programs executed by this system may also be stored on a computer connected to a network such as the Internet and provided by downloading them via the network. This system may also be configured by combining separate modules that independently perform the functions of the components and connect them together via a network or dedicated lines.

In this embodiment, the inspection robot 2 equipped with wheels travels on the ground to perform the inspection, but other configurations are also possible. For example, the inspection robot 2 may be a drone equipped with a flying mechanism such as a propeller, and the inspection robot 2 may move through the air to inspect the target device 7. In this case, the movement path will be the flight path of the drone. Furthermore, the prohibited area will be the three-dimensional space in the vicinity of the periphery of the target device 7.

In this embodiment, in the target device management table (FIG. 6), two items related to importance, namely, basic importance and changed importance, are provided in association with one target device ID, but there may be only one item related to importance. For example, one importance item is provided in association with one target device ID, and an initial importance value is set. Then, if an abnormality occurs in the target device 7, if a communication delay occurs during remote operation, or if the administrator M arbitrarily changes the settings, the importance value may be changed. Also, if the event is resolved, the importance may be returned to the initial value.

According to the embodiment described above, by providing an area setting unit that sets a prohibited area around the target device on the environmental map, where the inspection robot is prohibited from entering, based at least on the importance, the prohibited area where the inspection robot is prohibited from entering can be appropriately set.

Although several embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, substitutions, modifications, and combinations can be made without departing from the spirit of the invention. These embodiments and their modifications are within the scope of the invention and its equivalents as set forth in the claims, as well as the scope and spirit of the invention.

1...inspection system, 2...inspection robot, 3...management server, 4...management terminal, 5...network, 6...plant, 7 (7A, 7B)...target equipment, 8...management office, 9...display, 10...remote control terminal, 11...status sensor, 12...data transmission unit, 13...memory unit, 14...communication unit, 15...server control unit, 16...target equipment management unit, 17...robot management unit, 18...camera, 19...inspection sensor, 20...3D measurement sensor, 21...motion sensor, 22...movement mechanism unit, 23...memory unit, 24...communication unit, 25...robot control unit, 26...map setting unit, 27...importance setting unit, 28...area Area setting unit, 29...marker position acquisition unit, 30...marker setting unit, 31...point setting unit, 32...status information acquisition unit, 33...abnormality determination unit, 34...abnormality change unit, 35...operation change unit, 36...mode switching unit, 37...inspection switching unit, 38...automatic inspection unit, 39...remote inspection unit, 40...communication status monitoring unit, 41...communication change unit, 42...autonomous movement control unit, 43...obstacle, 44...object, 45...marker, 46...layout drawing, 47...specific point, E...permitted area, L1...first distance, L2...second distance, M...manager, N...prohibited area, P1...first arrival position, P2...second arrival position, R1, R2, R3...movement route.

Claims (11)

a map setting unit that sets an environmental map used by an inspection robot that inspects a plurality of target devices to be inspected when the inspection robot moves autonomously, the map setting unit including information indicating positions of the target devices;
an importance setting unit that sets the importance of the target device;
an area setting unit that sets a prohibited area around the target device on the environmental map, the prohibited area prohibiting the inspection robot from entering, based on at least the importance;
a status information acquiring unit that acquires status information indicating a status of the target device from a sensor provided in the target device;
an abnormality determination unit that determines whether or not an abnormality has occurred in the target device based on the state information;
an abnormality change unit that changes a setting of the prohibited area of the target device when an abnormality occurs in the target device;
Equipped with
the abnormality change unit, when an abnormality occurs in one of the target devices, widens the prohibited area of the target device and narrows the prohibited area of the other normal target device;
Inspection system. The plurality of target devices include a first target device and a second target device having a lower importance than the first target device,
the region setting unit sets the prohibited region within a range of a first distance from the first target device, and sets the prohibited region within a range of a second distance from the second target device that is shorter than the first distance;
The inspection system of claim 1 . and a mode switching unit that switches the inspection robot from a normal mode to an emergency mode for inspecting the target device in which an abnormality has occurred when an abnormality has occurred in the target device.
The inspection system according to claim 1 or 2 . An operation change unit that changes the setting of the prohibited area based on an operation of an administrator who manages the inspection by the inspection robot,
The inspection system according to any one of claims 1 to 3 . a remote inspection unit that performs processing related to remote operation when an administrator who manages inspection by the inspection robot remotely operates the inspection robot via a network;
a communication status monitoring unit that monitors a communication status of the network;
a communication change unit that changes a setting of the prohibited area based on the communication state when the remote operation is being performed;
Equipped with
An inspection system according to any one of claims 1 to 4 . an object position acquisition unit that acquires a position of a specific object provided in an inspection area by photographing the specific object with a camera mounted on the inspection robot;
the region setting unit sets the prohibited region around the position of the specific subject on the environmental map.
An inspection system according to any one of claims 1 to 5 . the importance setting unit sets the importance of the specific subject;
the region setting unit sets the prohibited region around the specific subject on the environmental map based on the importance of the specific subject.
The inspection system of claim 6 . The specific subject includes a marker drawn as a figure capable of image recognition.
8. An inspection system according to claim 6 or claim 7 . a point setting unit that sets a specific point on the environmental map based on an operation of a manager who manages inspection by the inspection robot;
the region setting unit sets the prohibited region around the specific point on the environmental map.
An inspection system according to any one of claims 1 to 8 . the importance setting unit sets the importance of the specific point;
the region setting unit sets the prohibited region around the specific point on the environmental map based on the importance of the specific point.
The inspection system of claim 9 . a step of setting, by a map setting unit , an environmental map used by an inspection robot that inspects a plurality of target devices as inspection targets when the inspection robot moves autonomously, the environmental map including information indicating positions of the target devices;
a step of setting the importance of the target device by an importance setting unit ;
a step of setting a prohibited area around the target device on the environmental map, the prohibited area being configured to prohibit the inspection robot from entering, based on at least the importance level by an area setting unit ;
a state information acquisition unit acquiring state information indicating a state of the target device from a sensor provided in the target device;
an abnormality determination unit determining whether or not an abnormality has occurred in the target device based on the state information;
When an abnormality occurs in the target device, an abnormality change unit changes a setting of the prohibited area of the target device;
Including ,
the abnormality change unit, when an abnormality occurs in one of the target devices, widens the prohibited area of the target device and narrows the prohibited area of the other normal target device;
Inspection method.