Facility inspection system and facility inspection method

1. A facility inspection system comprising:

a photographing device that photographs an image of a surrounding environment of a vehicle moving on a track;

a storage device that stores a reference alignment point cloud and a reference difference-extraction point cloud for each position on the track;

an alignment area separation unit that separates an alignment point cloud from a three-dimensional point cloud obtained from the image;

an alignment unit that performs an alignment of the reference alignment point cloud and the alignment point cloud, the alignment unit outputting alignment information;

a difference extraction unit that extracts a difference between the three-dimensional point cloud deformed based on the alignment information and the reference difference-extraction point cloud; and

an alignment area choosing unit that determines an area among a plurality of candidate areas as an alignment area, the area including a predetermined count or more of three-dimensional points detected via the photographing device, determining the area by

determining whether a count of three-dimensional points in a first area of the plurality of candidate areas is equal to or greater than a threshold,

selecting the first area as the alignment area when the count of three-dimensional points on the first area is equal to or greater than the threshold, and

selecting a different area of the plurality of candidate areas to be the alignment area when the count of three-dimensional points on the first area is less than the threshold,

wherein the alignment point cloud is present in the alignment area, and

wherein the plurality of candidate areas each have a different priority order.

2. The facility inspection system according to claim 1 ,

wherein the alignment area separation unit outputs a point cloud in the three-dimensional point cloud as the alignment point cloud, and the point cloud is present in a predetermined space including few moving objects.

3. The facility inspection system according to claim 2 ,

wherein the predetermined space is a space obliquely upward, upward, or on a side surface side of the vehicle.

4. The facility inspection system according to claim 3 ,

wherein the predetermined space is configured so as to include:

a part of a utility pole disposed along the track and a beam between the utility poles; or

a part of a slope on the side surface side of the vehicle.

5. The facility inspection system according to claim 1 ,

wherein the storage device stores alignment area candidate information for each position on the track, and

the alignment area separation unit outputs a point cloud in the three-dimensional point cloud as the alignment point cloud, the point cloud being included in the alignment area candidate information.

6. The facility inspection system according to claim 5 , further comprising

an area retrieval unit that retrieves the alignment area candidate information from the storage device based on a current position of the vehicle.

7. The facility inspection system according to claim 6 ,

wherein the area retrieval unit narrows the alignment area candidate information based on a measuring range of the photographing device.

8. The facility inspection system according to claim 1 , further comprising

a neighborhood retrieval unit that retrieves the reference alignment point cloud and the reference difference-extraction point cloud from the storage device based on a current position of the vehicle.

9. The facility inspection system according to claim 1 ,

wherein the alignment area choosing unit chooses the plurality of candidate areas in accordance with priority orders, such that an area of the plurality of candidate areas with a higher priority order than an other area of the plurality of candidate areas is chosen first.

10. A facility inspection method comprising:

a step of photographing an image of a surrounding environment of a vehicle moving on a track by a photographing device;

a step of separating an alignment point cloud from a three-dimensional point cloud obtained from the image by an alignment area separation unit;

a step of performing an alignment of a reference alignment point cloud stored in a storage device and the alignment point cloud and outputting alignment information by an alignment unit;

a step of extracting a difference between the three-dimensional point cloud deformed based on the alignment information and a reference difference-extraction point cloud stored in the storage device by a difference extraction unit; and

a step of determining an area among a plurality of candidate areas as an alignment area, via an alignment area choosing unit, the area including a predetermined count or more of three-dimensional points detected via the photographing device, the step of determining including

determining whether a count of three-dimensional points in a first area of the plurality of candidate areas is equal to or greater than a threshold,

selecting the first area as the alignment area when the count of three-dimensional points on the first area is equal to or greater than the threshold, and

selecting a different area of the plurality of candidate areas to be the alignment area when the count of three-dimensional points on the first area is less than the threshold,

wherein the alignment point cloud is present in the alignment area, and

wherein the plurality of candidate areas each have a different priority order.