Monitoring device, monitoring system, monitoring method, and recording medium
A monitoring device includes a progress execution unit that causes a combination of an irradiation unit and a light reception unit to progress inside a space that is tubular inside, the irradiation unit being for irradiating, with laser light, an exposed object that is an object exposed in the space of a tubular object being an object having the space, the light reception unit converting return light of the laser light from the exposed object into an electric signal; and a section specification unit that specifies, based on the electric signal, a predetermined-state section position being a position of a predetermined-state section that is, among sections of the exposed object that are irradiated with the laser light, the section indicating a predetermined state, and outputs the resultant.
1 . A monitoring device comprising:
a progress execution unit configured to cause a combination of an irradiation unit and a light reception unit to progress inside a space that is tubular inside, the irradiation unit being for irradiating, with laser light, an exposed object being an object exposed in the space of a tubular object that is an object having the space, the light reception unit being for converting return light of the laser light from the exposed object into an electric signal; and
a section specification unit configured to specify, based on the electric signal, a predetermined-state section position being a position of a predetermined-state section that is, among sections of the exposed object that are irradiated with the laser light, the section indicating a predetermined state, and output a resultant, wherein
the section specification unit is further configured to derive, as the predetermined-state section position, a distance of the predetermined-state section from a reference position, based on a mark installed in the space and a first distance indicating a length of a progress route relating to the progress from the reference position.
2 . The monitoring device according to claim 1 , wherein the section specification unit executes the specification, based on difference information indicating a difference between an irradiation time of the laser light from the irradiation unit and a light reception time of the return light of the laser light at the light reception unit.
3 . The monitoring device according to claim 1 , wherein the section specification unit executes the specification, based on information indicating intensity of the electric signal.
4 . The monitoring device according to claim 1 , wherein the predetermined state is suspicion regarding abnormality.
5 . The monitoring device according to claim 1 , wherein the output is three-dimensional display of the predetermined-state section position.
6 . The monitoring device according to claim 1 , wherein the progress execution unit includes a wheel and a drive unit configured to drive the wheel.
7 . The monitoring device according to claim 6 , wherein the space is provided with a defining object that defines a direction of the progress.
8 . The monitoring device according to claim 7 , wherein the defining object is a railroad track.
9 . The monitoring device according to claim 1 , wherein the progress execution unit includes a propeller and a drive unit configured to rotate the propeller.
10 . The monitoring device according to claim 1 , wherein the progress execution unit includes a rope connected to the combination in the space and a drive unit configured to drive the rope in a direction of the progress.
11 . The monitoring device according to claim 1 , wherein the section specification unit is further configured to, in the specification, when the progress is stopped, change an irradiation direction of the laser light in two different rotation directions, and when the progress is being executed, change the irradiation direction in one of the two rotation directions while maintaining the other rotation direction of the irradiation direction of the laser light constant.
12 . The monitoring device according to claim 1 , wherein the tubular object is a tunnel.
13 . The monitoring device according to claim 12 , wherein the exposed object is at least any one of an inner wall of the tubular object, a road, and a railroad track.
14 . The monitoring device according to claim 1 , wherein the tubular object is a conduit.
15 . The monitoring device according to claim 14 , wherein the exposed object is an inner wall of the tubular object.
16 . The monitoring device according to claim 1 , wherein
the mark has a shape different from other marks, and
the section specification unit is further configured to specify the first distance of the mark based on the shape.
17 . The monitoring device according to claim 1 , wherein
The mark has a predetermined projection-recess pattern.
18 . The monitoring device according to claim 1 , wherein the section specification unit is configured to derive the position of the predetermined-state section, based on a third distance being derived from the reference position to the predetermined-state section, based on a second distance and the first distance, the second distance being a distance between the mark and the predetermined-state section.
19 . A monitoring system comprising:
a monitoring device; and
a mark, wherein
the monitoring device includes
a progress execution unit configured to cause a combination of an irradiation unit and a light reception unit to progress inside a space that is tubular inside, the irradiation unit being for irradiating, with laser light, an exposed object being an object exposed in the space of a tubular object that is an object having the space, the light reception unit being for converting return light of the laser light from the exposed object into an electric signal; and
a section specification unit configured to specify, based on the electric signal, a predetermined-state section position being a position of a predetermined-state section that is, among sections of the exposed object that are irradiated with the laser light, the section indicating a predetermined state, and output a resultant, and wherein
the mark is installed in the space, the mark being an object for which a first distance being a distance indicating a length of a progress route relating to the progress from a reference position is derived, and
the section specification unit is further configured to derive, as the predetermined-state section position, a distance of the predetermined-state section from the reference position based on the mark.
20 . A monitoring method comprising:
causing a combination of an irradiation unit and a light reception unit to progress inside a space that is tubular inside, the irradiation unit being for irradiating, with laser light, an exposed object being exposed in the space of a tubular object that is an object having the space, the light reception unit being for converting return light of the laser light from the exposed object into an electric signal; and
specifying, based on the electric signal, a predetermined-state section position being a position of a predetermined-state section that is, among sections of the exposed object that are irradiated with the laser light, the section indicating a predetermined state, and outputting a resultant, wherein
a distance of the predetermined-state section from a reference position is derived as the predetermined-state section position, based on a mark installed in the space and indicating a first indicating a length of a progress route relating to the progress from the reference position.