Remote inspection device, remote inspection method and computer program

Abstract

To provide a remote inspection device capable of more accurately grasping a state of an inspection object at a remote place than a case in which sensation information measured at a site is simply reproduced.SOLUTION: A remote inspection device includes an acquisition part for acquiring measurement sensor data obtained by measuring an inspection object at a remote place by using a sensation sensor, a sensation reproduction part for reproducing sensation generated from the inspection object on the basis of the measurement sensor data, an operation part for receiving selection operation of sensation to be reproduced, and a control part for making the sensation reproduction part reproduce sensation based on the measurement sensor data acquired by the acquisition part and measurement sensor data obtained by measuring the inspection object in a prescribed reference state in accordance with the selection operation received by the operation part.SELECTED DRAWING: Figure 10

Description

[Technical Field]

[0001] The present disclosure relates to a remote inspection device, a remote inspection method, and a computer program. [Background technology]

[0002] In recent years, labor shortages have become a problem, and remote work support, in which skilled workers assist field workers in remote locations, is being used in a variety of situations.

[0003] Patent Document 1 discloses a remote inspection device that includes an acquisition unit that acquires sensory information measured at the site and the measurement position of the sensory information, a user input unit that accepts input from a support person, a display unit, a sensory reproduction unit that reproduces the sensory information, and a control unit that displays an icon representing the measurement position of the sensory information within the site or simulated site on the display unit based on the acquired measurement position, and causes the sensory reproduction unit to reproduce the sensory information when the support person selects an icon via the user input unit. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] International Publication No. 2023 / 276116 Summary of the Invention [Problem to be solved by the invention]

[0005] However, there are technical problems in that it is difficult to completely reproduce sensory information measured on-site at a remote location, and even an experienced person has difficulty understanding the meaning of the reproduced sensory information. For example, it is not necessarily easy to determine whether the reproduced tactile information of an inspection target during maintenance inspection is normal tactile information of the inspection target.

[0006] The object of the present disclosure is to provide a remote inspection device, a remote inspection method, and a computer program that can more accurately grasp the condition of an object being inspected in a remote location compared to simply reproducing sensory information measured on-site. [Means for solving the problem]

[0007] A remote inspection device according to one aspect of the present disclosure includes an acquisition unit that acquires measurement sensor data obtained by measuring an object to be inspected at a remote location using a sensory sensor, a sensory reproduction unit that reproduces a sensation arising from the object to be inspected based on the measurement sensor data, an operation unit that accepts a selection operation for the sensation to be reproduced, and a control unit that causes the sensory reproduction unit to reproduce a sensation based on the measurement sensor data acquired by the acquisition unit and a sensation based on the measurement sensor data obtained by measuring an object to be inspected in a predetermined reference state, in accordance with the selection operation accepted by the operation unit.

[0008] A remote inspection method according to one aspect of the present disclosure acquires measurement sensor data obtained by measuring an object to be inspected at a remote location using a sensory sensor, accepts a selection operation for the sensation to be reproduced, and, depending on the accepted selection operation, reproduces a sensation based on the acquired measurement sensor data and a sensation based on the measurement sensor data obtained by measuring an object to be inspected in a predetermined reference state.

[0009] A computer program according to one aspect of the present disclosure causes a computer that controls the operation of a sensory reproduction unit that reproduces sensations arising from an object being inspected at a remote location to acquire measurement sensor data obtained by measuring the object being inspected using a sensory sensor, accept a selection operation for the sensation to be reproduced, and, in accordance with the accepted selection operation, cause the sensory reproduction unit to reproduce a sensation based on the acquired measurement sensor data and a sensation based on the measurement sensor data obtained by measuring an object being inspected in a predetermined reference state. [Effects of the Invention]

[0010] According to the present disclosure, the state of an object to be inspected in a remote location can be grasped more accurately than when sensory information measured on-site is simply reproduced. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a schematic diagram illustrating a configuration example of a remote inspection system according to a first embodiment. [Figure 2] FIG. 10 is a conceptual diagram showing an example of measurement data. [Figure 3] FIG. 10 is a conceptual diagram showing an example of sensation reproduction data based on measurement data. [Figure 4] FIG. 2 is a conceptual diagram showing sensation reproduction data for a normal test subject according to the first embodiment. [Figure 5] FIG. 10 is a schematic diagram showing a state in which the sensation of an object to be inspected is reproduced. [Figure 6] FIG. 10 is a schematic diagram showing a state in which the sensation of a normal test subject is reproduced. [Figure 7] 10 is a flowchart showing a processing procedure relating to sensation reproduction of an inspection object. [Figure 8] 10 is a flowchart showing a processing procedure relating to sensation reproduction of an inspection object. [Figure 9] FIG. 10 is a conceptual diagram showing an example of sensation reproduction data according to the second embodiment. [Figure 10] 10A and 10B are schematic diagrams showing the state in which the sensation of an object under inspection is reproduced in normal and abnormal states. [Figure 11] FIG. 10 is a schematic diagram showing a configuration example of a remote inspection system according to a third embodiment. [Figure 12] FIG. 11 is a conceptual diagram showing an example of measurement data and sensation reproduction data in the third embodiment. [Figure 13] FIG. 11 is a conceptual diagram showing sensation reproduction data for a normal test subject according to the third embodiment. [Figure 14] 10 is a flowchart showing a processing procedure relating to sensation reproduction of an inspection object. DETAILED DESCRIPTION OF THE INVENTION

[0012] A remote inspection device, a remote inspection method, and a computer program according to an embodiment of the present disclosure will be described below with reference to the drawings.

[0013] (Embodiment 1) 1 is a schematic diagram illustrating a configuration example of a remote inspection system according to embodiment 1. The remote inspection system includes a remote inspection device 1 according to embodiment 1, one or more sensory sensors 3 that measure an inspection target 2 located in a remote location from an inspection site, and a communication device 4 equipped with a camera.

[0014] <Remote Inspection System Overview> The remote inspection system is outlined as follows: The sensory sensor 3 and communication device 4 are located at a remote location from the site where the inspection object 2 is installed. An on-site worker uses the sensory sensor 3 to measure the inspection object 2. The sensory sensor 3 is connected to the communication device 4 via a wired or wireless connection, and the communication device 4 acquires measurement sensor data obtained by measuring the inspection object 2. The camera-equipped communication device 4 also acquires inspection object image data by capturing an image of the inspection object 2. The communication device 4 transmits the measurement data, including the measurement sensor data and inspection object image data, to the remote inspection device 1. The remote inspection device 1 acquires the measurement data transmitted from the communication device 4. The remote inspection device 1 displays an image of the inspection object 2 based on the acquired inspection object image data, reproduces the sensations generated by the inspection object 2 based on the acquired measurement sensor data, and reproduces the sensations generated by the inspection object 2 under normal conditions for comparison. The inspector can recognize the state of the object 2 to be inspected from the reproduced sensation of the object 2 to be inspected at a remote location and the reproduced sensation of the object 2 to be inspected in a normal state, and diagnose the abnormal part, the cause of the abnormality, etc. The remote inspection system will be described in detail below.

[0015] <Details of the remote inspection system> The inspection object 2 is an object that can be inspected for abnormalities using the five human senses. Examples of the inspection object 2 include industrial machinery requiring maintenance and inspection, household appliances, products under inspection, and any other object under inspection. The inspection object 2 may be equipped with, for example, a power source, a heat source, a light source, a speaker, a control circuit, etc. If an abnormality occurs, the inspection object 2's feel, movement, vibration, temperature, appearance, driving sound, etc. change. If these can be perceived or measured, the inspection object 2 can be inspected for abnormalities. The inspection object 2 can also be a static object without a driving source, such as a pipe, pillar, or wall, or a fixed object on land. Tapping, pushing, etc. on the inspection object 2 generates vibrations or a reaction force, and by perceiving or measuring this vibration or reaction force, the inspection object 2 can be inspected for abnormalities. This remote inspection system can also be used for remote palpation, etc., when the inspection object 2 is an animal, including a human.

[0016] The inspection object 2 is provided with an inspection object ID identifier 21 that indicates the type of the inspection object 2. The identifier 21 is, for example, a two-dimensional code, a barcode, or a graphic representation of the inspection object ID that stores the inspection object ID in an optically readable manner and indicates the type of the inspection object 2. The identifier 21 may be characters or symbols such as alphanumeric characters that represent the inspection object ID. The inspection object ID may be read by the communication device 4 reading and decoding the identifier 21 with the camera 41, or by an optical character recognition (OCR) function to obtain the inspection object ID of the inspection object 2, or the remote inspection device 1 may be configured to extract the inspection object ID from the inspection object image data. A contactless tag such as an IC tag or RF tag recording the ID of the inspection object may be attached to the inspection object 2. The communication device 4 may include an RFID (Radio Frequency Identification) reader that acquires the ID of the inspection object from the contactless tag, reads the ID of the inspection object of the remote inspection device 1 from the contactless tag, and transmits the ID of the inspection object to the remote inspection device 1 together with the measurement sensor data.

[0017] The sensory sensor 3 is a sensor that converts information sensed by a field worker who comes into contact with the inspection target 2 through touch, sight, hearing, smell, or taste into an electrical signal and outputs the electrical signal. The communication device 4 acquires the electrical signal as measurement sensor data.

[0018] The tactile sensor 3 is, for example, a tactile sensor, pressure sensor, vibration sensor, temperature sensor, etc., and outputs tactile data, force data, vibration data, and temperature data obtained by measuring the inspection object 2 to the communication device 4. The auditory sensor 3 is, for example, a microphone, and outputs sound data obtained by collecting sound from the inspection object 2 to the communication device 4. The sensory sensor 3 relating to the sense of smell is, for example, an odor sensor, an odor sensor, or a gas sensor, and outputs olfactory data obtained by measuring the odor emitted from the inspection object 2 to the communication device 4.

[0019] The communication device 4 is, for example, a terminal having an image capturing function and a communication function, such as a smartphone, a tablet terminal, or a personal computer. The communication device 4 includes, for example, a processor, a memory, a communication circuit, a display, a touch panel, a speaker, a microphone, and a camera 41. Note that, although an example in which the camera 41 is provided in the communication device 4 will be described, the camera 41 that captures the image of the inspection object 2 may be separate from the communication device 4, similar to the sensory sensor 3.

[0020] The communication device 4 accepts operations by the on-site staff via the touch panel. For example, the communication device 4 accepts an operation to capture an image of the inspection object 2 and the inspection object ID, and captures a still image or video of the inspection object 2. The communication device 4 also accepts an operation to collect measurement sensor data output from one or more sensory sensors 3, and receives the measurement sensor data output from each sensory sensor 3. Furthermore, the communication device 4 accepts data transmission operations related to the remote inspection of the inspection object 2. Upon accepting the data transmission operation, the communication device 4 transmits measurement data including the measurement sensor data of the inspection object 2 and inspection object image data obtained by capturing an image of the inspection object 2 to the remote inspection device 1 via the communication circuit.

[0021] 2 is a conceptual diagram showing an example of measurement data. The measurement data includes the date and time when the inspection object 2 was measured (measurement date and time), the type of sense such as tactile or force sense, the type of sensory sensor 3, measurement sensor data, and inspection object image data. The measurement date and time includes the year, month, day, and time (hour and minute) indicating the date and time of measurement.

[0022] The remote inspection device 1 is a computer including a control unit 10, a memory unit 11, a communication unit (acquisition unit) 12, a display unit 13, an operation unit 14, and a sensation reproduction unit 15. The remote inspection device 1 may be configured to perform distributed processing using multiple computers, may be realized by multiple virtual machines provided in a single server, or may be realized using a cloud server.

[0023] The control unit 10 is a processor including one or more arithmetic circuits such as CPUs (Central Processing Units), internal storage devices such as ROMs (Read Only Memory) and RAMs (Random Access Memory), input / output terminals, timers, and the like.

[0024] The storage unit 11 includes a nonvolatile memory such as a hard disk, a flash memory, etc. The storage unit 11 stores a computer program 11a executed by the control unit 10, a basic information DB (Data Base) 16, and a sensory DB (Data Base) 17.

[0025] The basic information DB 16 stores a correspondence relationship between the type of sensory sensor 3 and the type of sensory reproduction unit 15. The correspondence relationship is stored, for example, in a correspondence device table that associates the type of sensory sensor 3 with the type of sensory reproduction unit 15. The correspondence relationship between the sensory sensor 3 and the sensory reproduction unit 15 may be one-to-one, many-to-one, or one-to-many. The sensory reproduction unit 15 corresponding to a tactile sensor and a pressure sensor is a tactile presentation device. The sensory reproduction unit 15 corresponding to a vibration sensor is a vibrator. The sensory reproduction unit 15 corresponding to a temperature sensor is a heater, a Peltier element, a fan, an air conditioner, a ventilation fan, etc. The sensory reproduction unit 15 corresponding to a microphone is a speaker. The sensory reproduction unit 15 corresponding to an odor sensor, an odor sensor, or a gas sensor is an olfactory reproduction device.

[0026] The basic information DB 16 also stores a data conversion table that associates the measurement data with the drive data for driving the corresponding sensory reproduction unit 15, for example, the values ​​of the measurement data with the values ​​of the drive data. The data conversion table is associated with an ID indicating the type of the sensory sensor 3 or an ID indicating the type of the sensory reproduction unit 15.

[0027] Furthermore, the basic information DB 16 stores information that associates the inspection object ID of each of the multiple inspection objects 2 with basic information about the inspection object 2. The basic information includes, for example, information such as the name and model number of the inspection object 2. Furthermore, when the measurement positions M1 and M2 (see FIG. 5) of the inspection object 2 are fixed, information defining the coordinate system and scale on the inspection object 2, and coordinate values ​​indicating the measurement positions M1 and M2 in the coordinate system are stored. If the inspection object 2 is a rectangular parallelepiped, the information defining the coordinate system may use one vertex as the origin and lines extending from the origin along each side in a predetermined direction as the coordinate axes. The method for setting the coordinate system is not particularly limited. The information defining the scale is, for example, information that associates the length of a predetermined portion of the inspection object 2 with a predetermined value. If the inspection object 2 includes a label, pattern, etc. that serves as a reference for determining the scale, a predetermined value defining the size of the label, pattern, etc. may be stored as information defining the scale. In addition, when the measurement positions M1 and M2 can be easily identified from an image of the object to be inspected 2, such as the shape and pattern of the object to be inspected 2, the image features corresponding to the measurement positions M1 and M2 may be stored as the measurement positions M1 and M2.

[0028] The sensation DB 17 stores sensation reproduction data created based on measurement data obtained by measuring the test object 2, and sensation reproduction data of a normal test object.

[0029] 3 is a conceptual diagram showing an example of data for reproducing sensations based on measurement data. The data for reproducing sensations is data created by the remote inspection device 1 based on the measurement data. In addition to the measurement data, the data for reproducing sensations includes an inspection object ID, measurement position data, and icon data.

[0030] The inspection object ID is an ID that uniquely indicates the type of the inspection object 2. For example, if the inspection object 2 is a device, the inspection object ID is a symbol that indicates the model. The inspection object ID is information that can be read from the identifier 21 attached to the inspection object 2.

[0031] The measurement position data indicates a position on the inspection object 2 measured when obtaining the measurement sensor data. The measurement positions M1 and M2 indicated by the measurement position data can be identified, for example, based on the inspection object image data. The measurement positions M1 and M2 can be expressed as coordinate positions in a coordinate system that has a predetermined portion of the inspection object 2 as the origin and is orthogonal in a predetermined direction. Since the shape and dimensions of each inspection object 2 identified by the inspection object ID are known, a coordinate system based on the inspection object 2 can be set from images of the inspection object 2 included in multiple images obtained by capturing the inspection object 2. If the position of the sensor image included in multiple images of the inspection object 2 can be identified, the coordinate values ​​in the coordinate system can be determined. Of course, if there are images of stationary objects that serve as references, such as floors, walls, and ceilings, that appear in multiple images of the inspection object 2, a world coordinate system can be set, and the position and orientation of the inspection object 2 and the position and orientation of the sensory sensor 3 in the world coordinate system can be identified and stored as measurement position data.

[0032] The icon data includes a reproduction icon for visualizing the type of sensation indicated by the measurement sensor data. For example, the reproduction icon may be set as an icon with an image of a human hand for touch and force, or an icon with an image of a thermometer for temperature. The icon data also includes a switching icon for switching between the touch based on the measurement data and the touch of a normal test object.

[0033] The sensory reproduction data may be configured to include drive data corresponding to the measurement sensor data instead of the measurement sensor data. The drive data is data for driving the sensory reproduction unit 15 and reproducing the sensation obtained from the test object 2 from which the measurement sensor data was obtained.

[0034] 4 is a conceptual diagram showing sensory reproduction data for a normal test object according to embodiment 1. The sensory reproduction data for a normal test object includes a test object ID, measurement position data, a sensor type, and normal state data. The test object ID, measurement position data, and sensor type are the same as those in the reproduction data described above. The normal state data is measurement sensor data obtained by measuring a normal test object 2 with a sensory sensor 3.

[0035] The computer program 11a may be provided by a non-transitory recording medium 5 on which the computer program 11a is readably recorded. The storage unit 11 stores the computer program 11a read from the recording medium 5 by a reading device (not shown). The recording medium 5 is, for example, a magnetic disk, an optical disk, or a semiconductor memory. The remote inspection device 1 may also download the computer program 11a from an external server connected to the communication network N and store it in the storage unit 11. The computer program 11a may be a single computer program or may be composed of multiple computer programs, and may be executed on a single computer or multiple computers interconnected by the communication network N.

[0036] The communication unit 12 includes a communication circuit connected to the communication device 4 via the communication network N. The communication unit 12 transmits and receives various information in accordance with instructions from the control unit 10. For example, the control unit 10 receives measurement data obtained by measuring and capturing an image of the inspection object 2.

[0037] The display unit 13 is a display device such as a liquid crystal display, an organic EL display, or a CRT display. The display unit 13 displays an image of the inspection object 2 based on the inspection object image data under the control of the control unit 10. The display unit 13 also displays reproduction icons A1 and A2 on the captured image of the inspection object 2 to instruct reproduction of the sensation caused by the inspection object 2 (see FIG. 5). Furthermore, the display unit 13 displays switching icons B1 and B2 to switch the sensation to be reproduced. The display unit 13 displays a pointer image P for operating the reproduction icons A1 and A2 and the switching icons B1 and B2. The display function of the display unit 13 is not particularly limited, and is not particularly limited as long as it is a device that can visually display the inspection target 2, such as projection onto a screen, retinal projection onto the user, virtual image projection, etc. For example, the display unit 13 may be an HMD (Head Mounted Display), a projector, a 3D hologram display, or the like.

[0038] The operation unit 14 is an interface that accepts operations such as data input. The operation unit 14 includes, for example, a keyboard, a mouse, a touch panel device, etc. The operation unit 14 sends a control signal to the control unit 10 according to the accepted operation. For example, the operation unit 14 accepts an instruction to reproduce the feel of the inspection object 2. The instruction to reproduce the feel of the inspection object 2 is, for example, a tap operation on reproduction icons A1 and A2. The operation unit 14 also accepts an operation to switch the feel to be reproduced. The switching operation is, for example, a tap operation on switching icons B1 and B2. By tapping switching icons B1 and B2, it is possible to switch between a feel based on the acquired measurement sensor data and a feel based on the measurement sensor data of the inspection object 2 in a normal state.

[0039] The sensation reproducing unit 15 is a device that reproduces the sensation caused by the inspection object 2 based on the measurement sensor data.

[0040] The tactile sensation reproduction unit 15 is, for example, a tactile presentation device that presents a tactile or kinematic sensation obtained from the inspection object 2 based on tactile data or kinematic data. The tactile presentation device includes a displacement unit that is displaced by a user's operation and a magnetorheological fluid (MRF) device that presents the tactile sensation of a virtual object by applying a displacement resistance to the displacement unit. Magneto-rheological fluid (RMF) is a fluid in which magnetic particles are dispersed in a dispersion medium, and its viscosity changes when a magnetic field is applied. The tactile presentation device presents the feel of a virtual object by controlling the magnetic field applied to the magnetorheological fluid. The tactile presentation device may also include a motor that applies a reaction force against the displacement of the displacement unit. Note that tactile presentation using a magnetorheological fluid is just one example, and the configuration of the tactile presentation device is not particularly limited as long as it has a tactile presentation function. For example, a tactile presentation device that presents a tactile sensation using ultrasound, piezoelectric elements, etc. may also be used. The tactile sensation reproducing unit 15 is a vibrator that reproduces vibrations occurring in the inspection object 2 based on the vibration data. Furthermore, the tactile sensation reproducing unit 15 is a heater, a Peltier element, a fan, an air conditioner, and a ventilation fan that reproduce the hot and cold sensation of the inspection object 2 based on the temperature data.

[0041] The auditory sensation reproducing unit 15 is a speaker that reproduces the sound generated from the inspection object 2 based on the sound data.

[0042] The olfactory sensation reproducing unit 15 is an olfactory reproduction device that reproduces, based on olfactory data, the odor obtained from the inspection object 2. For example, the olfactory reproduction device may be the odor device "VAQSO VR" manufactured by VAQSO.

[0043] Figure 5 is a schematic diagram showing the state in which the sensation of the test object 2 is reproduced, Figure 6 is a schematic diagram showing the state in which the sensation of a normal test object is reproduced, and Figures 7 and 8 are flowcharts showing the processing procedure for reproducing the sensation of the test object 2.

[0044] First, the sensory sensor 3 measures the inspection object 2 in a remote location and outputs the measurement sensor data obtained through the measurement to the communication device 4 (step S111). The sensory sensor 3 is operated by the on-site person in charge of the site, and measures the inspection object 2. The on-site person in charge of the site may directly operate the sensory sensor 3 to measure the inspection object 2, or may operate the communication device 4 to indirectly control the operation of the sensory sensor 3 and measure the inspection object 2.

[0045] Next, the communication device 4 captures an image of the inspection object 2 (step S112). When capturing an image of the inspection object 2, the communication device 4 also captures an image of the identifier 21 of the object ID attached to the inspection object 2.

[0046] Then, the communication device 4 transmits the measurement data associated with the measurement sensor data of the inspection object 2, the inspection object image data, etc. to the remote inspection device 1 (step S113).

[0047] The control unit 10 of the remote inspection device 1 receives the measurement data transmitted from the communication device 4 (step S121). The control unit 10 that executes step S121 functions as an acquisition unit that acquires measurement sensor data obtained by measuring the inspection target 2 at a remote location using the sensory sensor 3.

[0048] Next, the control unit 10 identifies the type of the inspection object 2 based on the inspection object image data included in the measurement data (step S122). Specifically, the control unit 10 extracts the inspection object ID from the two-dimensional code included in the image of the inspection object 2.

[0049] Next, the control unit 10 identifies measurement positions M1 and M2 based on the inspection object image data included in the measurement data (step S123). When the captured image of the inspection object 2 is to be displayed directly on the display unit 13 based on the captured image data, the control unit 10 only needs to identify the coordinates of the sensory sensor 3 in the image of the inspection object 2. When the inspection object 2 in a virtual space is to be reproduced and displayed three-dimensionally, the control unit 10 identifies the coordinate values ​​of the sensory sensor 3 in a coordinate system set for the inspection object 2 or in a world coordinate system. For example, the control unit 10 reads basic information of the inspection object 2 from the basic information DB 16 using the inspection object ID as a key from the storage unit 11, and sets a coordinate system for the inspection object 2. Then, the control unit 10 identifies the coordinates of the sensor position based on the position of the sensor image included in the image of the inspection object 2.

[0050] 3, the control unit 10 generates reproduction data by adding the inspection object ID identified in steps S122 and S123, the measurement position data, and icon data corresponding to the type of inspection object 2 to the received measurement data (step S124). The control unit 10 stores the generated reproduction data in the storage unit 11 (step S125).

[0051] Next, the control unit 10 displays an image of the inspection object 2 on the display unit 13 based on the inspection object image data (step S126). Furthermore, as shown in FIGS. 5 and 6, the control unit 10 displays reproduction icons A1 and A2 for instructing reproduction of sensations based on the measurement sensor data and switching icons B1 and B2 for switching the sensation to be reproduced (step S127). Furthermore, the control unit 10 displays an image or symbol indicating the type of sensation to be reproduced (step S128). For example, when reproducing a sensation using sensation reproduction data based on the measurement data received in step S121, the control unit 10 displays the measurement date and time. By displaying the measurement date and time, the inspector can recognize that the sensation of the inspection object 2 was measured on-site at that date and time. The numbers in the measurement date and time are merely an example, and other symbols or images may be used to indicate that the sensation is based on measurement data.

[0052] Specifically, the control unit 10 identifies measurement positions M1 and M2 in the image of the test object 2 based on the measurement position data included in the sensory reproduction data. The control unit 10 then displays reproduction icons A1 and A2 at the measurement positions M1 and M2 based on the icon data included in the sensory reproduction data. That is, the control unit 10 displays reproduction icons A1 and A2 according to the type of sensory sensor 3. For example, if the sensory sensor 3 is a tactile sensor, the control unit 10 displays reproduction icons A1 and A2 that resemble a human hand, and if the sensory sensor 3 is a temperature sensor, the control unit 10 displays reproduction icons A1 and A2 that resemble a thermometer. Furthermore, the control unit 10 displays switching icons B1 and B2 near the reproduction icons A1 and A2 based on the icon data, respectively, for switching the corresponding sensor to be reproduced. The switching icons B1 and B2 are icons for switching the sensor to be reproduced between a sensor based on measurement sensor data obtained by measuring at a remote location and a sensor based on measurement sensor data obtained by measuring a normal test object 2 in advance.

[0053] When measurements are being taken at multiple locations, the control unit 10 refers to the respective sensation reproduction data, identifies multiple measurement locations M1 and M2, and displays reproduction icons A1 and A2 corresponding to the sensations to be reproduced at each measurement location M1 and M2. Also, it displays switching icons B1 and B2 near each reproduction icon A1 and A2.

[0054] Next, the control unit 10 determines whether the reproduction icons A1 and A2 have been operated (step S129). If it is determined that the reproduction icons A1 and A2 have been operated (step S129: YES), the control unit 10 causes the sensation reproduction unit 15 to reproduce a sensation based on the measurement sensor data corresponding to the operated reproduction icons A1 and A2 (step S130). The sensation reproduced in step S130 is switched in the processing of step S132, which will be described later. Here, a case will be described in which a sensation is reproduced using sensation reproduction data created based on the measurement data received in step S121. Specifically, the control unit 10 identifies the type of sensory sensor 3 corresponding to the operated reproduction icons A1 and A2 based on the sensation reproduction data. The control unit 10 refers to a corresponding device table stored in the basic information DB 16 and identifies the sensation reproduction unit 15 corresponding to the sensory sensor 3. The control unit 10 also refers to a data conversion table stored in the basic information DB 16 and converts the measurement sensor data into drive data. Then, the control unit 10 outputs drive data to the identified sensation reproducing unit 15, thereby reproducing the sensation corresponding to the measured sensor data.

[0055] When the process of step S130 is completed, or when it is determined in step S129 that the reproduction icons A1 and A2 have not been operated (step S129: NO), the control unit 10 determines whether the switching icons B1 and B2 have been operated (step S131). When it is determined that the switching icons B1 and B2 have been operated (step S131: YES), the control unit 10 switches the sensation to be reproduced (step S132). Specifically, when the sensation is reproduced using sensation reproduction data based on the measurement data received in step S121, the control unit 10 changes the data used for sensation reproduction to data for reproduction of a normal test subject. Furthermore, when the sensation is reproduced using data for reproduction of a normal test subject, the control unit 10 changes the data used for sensation reproduction to data for reproduction of a normal test subject based on the measurement data received in step S121. Such switching is performed every time the switching icons B1 and B2 are operated.

[0056] A specific example will be described below in which, in step S132, sensory reproduction using data for sensory reproduction based on measurement data is switched to reproduction using data for reproduction of a normal test subject. When the switching icons B1 and B2 are operated, the control unit 10 identifies the test subject ID, positioning position data, and type of sensory sensor 3 corresponding to the operated switching icons B1 and B2 based on the data for sensory reproduction based on measurement data. Then, using the identified information as a key, the control unit 10 acquires the corresponding normal state data from the data for sensory reproduction of the normal test subject. The control unit 10 refers to the corresponding device table stored in the basic information DB 16 and identifies the sensation reproduction unit 15 that corresponds to the identified sensory sensor 3. The control unit 10 also refers to the data conversion table stored in the basic information DB 16 and converts the normal state data into drive data. Then, the control unit 10 outputs the drive data to the identified sensation reproduction unit 15, thereby reproducing the sensation corresponding to the normal state data.

[0057] Next, as shown in Figures 5 and 6, the control unit 10 changes the display mode of the switching icons B1 and B2 according to the sense to be reproduced (step S133). For example, the control unit 10 changes the color of the switching icons B1 and B2. The image of the switching icons B1 and B2 may also be changed. Note that the control unit 10 may be configured to change the display mode of the reproduction icons A1 and A2.

[0058] Furthermore, the control unit 10 changes the image or symbol indicating the type of sensation to be reproduced (step S134). When changing the data used for sensation reproduction to data for reproduction of a normal test subject, the control unit 10 changes the numbers of the measurement date and time to the word "normal." When changing the data used for sensation reproduction to data for sensation reproduction based on the measurement data received in step S121, the control unit 10 changes the words "normal" to the numbers of the measurement date and time.

[0059] When the processing of step S134 is completed, or when it is determined in step S131 that the switching icons B1 and B2 have not been operated (step S131), the control unit 10 determines whether or not to terminate the processing for reproducing the sensation of the inspection object 2 (step S135). For example, when a predetermined termination operation is received by the operation unit 14, the control unit 10 determines to terminate the sensation reproduction processing. When it is determined not to terminate the sensation reproduction processing (step S135: NO), the control unit 10 returns the processing to step S129 and continues the processing related to the reproduction and switching of the sensation of the inspection object 2. When it is determined to terminate the sensation reproduction processing (step S135: YES), the control unit 10 terminates the sensation reproduction processing.

[0060] The remote inspection device 1, remote inspection method, and computer program 11a configured in this manner make it possible to more accurately grasp the condition of the object 2 to be inspected at a remote location than by simply reproducing the sensory information measured on-site.

[0061] (Variation) The control unit 10 may be configured to change the display mode of the reproduction icons A1 and A2 of the suspected fault location. For example, the control unit 10 may be configured to change the color of the reproduction icons A1 and A2. Specifically, the control unit 10 changes the display mode of the reproduction icons A1 and A2 depending on whether the difference between the measurement sensor data acquired in step S121 and the normal data of the same location is less than a predetermined value or whether the difference is abnormal by the predetermined value. The inspector can recognize the suspected fault location by the color of the reproduction icons A1 and A2. In addition, in the sensory reproduction data based on measurement data and the sensory reproduction data of a normal test object, the measurement sensor data of the same location is compared with the normal data by using the "test object ID," "measurement position data," and "sensor type" as keys.

[0062] The control unit 10 may be configured to display operating method guidance for the sensory reproduction unit 15 on the display unit 13 when using the sensory reproduction unit 15 to confirm the sensations generated by the test object 2. The way in which the sensory reproduction unit 15 is held, posed, and moved varies depending on the tester, which may result in an inaccurate sensation being reproduced depending on the operation method. By providing operating method guidance on the standard, correct operation method for the sensory reproduction unit 15, the tester can more accurately confirm the sensations generated by the test object 2 and more accurately detect abnormalities or malfunctions in the test object 2. The control unit 10 may also be configured to change the operating method guidance depending on the measurement positions M1 and M2. For example, when reproducing a sensation measured at a position above the test object 2, the sensory reproduction unit 15 should be operated from above, and when reproducing a sensation measured at a position on the side of the test object 2, the sensory reproduction unit 15 should be operated from the side. Specifically, when the sense is tactile, in order to reproduce the tactile sensation measured at the top position of the test object 2, the tactile presentation device should be operated from above, and in order to reproduce the tactile sensation measured at the side position, the tactile presentation device should be operated from the side.

[0063] (Embodiment 2) The remote inspection system according to the second embodiment differs from the first embodiment in that it can reproduce the sensations produced by the object 2 to be inspected at a remote location, the sensations produced by the object 2 to be inspected in a normal state, and the sensations produced by the object 2 to be inspected in a plurality of different abnormal states. The inspector can compare the sensations of the object 2 to be inspected measured at a remote location and reproduced with the sensations of the object 2 to be inspected in a normal state or in a plurality of abnormal states, and can more accurately grasp and inspect the condition of the object 2 to be inspected at a remote location. The other configurations of the remote inspection system are the same as those of the remote inspection system according to the first embodiment, and therefore similar parts are designated by the same reference numerals and detailed description thereof will be omitted.

[0064] FIG. 9 is a conceptual diagram showing an example of sensory reproduction data according to the second embodiment. The sensory DB 17 of the remote inspection device 1 according to the second embodiment stores reference inspection object sensory reproduction data instead of sensory reproduction data for a normal inspection object. The reference inspection object sensory reproduction data includes an inspection object ID, measurement position data, a sensor type, reference data, and a fault name. The inspection object ID and measurement position data are the same as those in the first embodiment in terms of the sensor type. The reference data includes measurement sensor data obtained by measuring a normal inspection object 2 with the sensory sensor 3 and measurement sensor data obtained by measuring an abnormal inspection object 2 with the sensory sensor 3. The reference data also includes measurement sensor data obtained by measuring the inspection object 2 with the sensory sensor 3 for each of multiple types of abnormalities. The fault name is the name of the abnormal inspection object 2.

[0065] Fig. 10 is a schematic diagram showing the state where the feel of the inspection object 2 in normal and abnormal states is reproduced. Fig. 10A shows the state where the feel of the inspection object 2 in a normal state is reproduced, Fig. 10B shows the state where the feel of the inspection object 2 in an abnormal state with "fault name xxx" is reproduced, and Fig. 10C shows the state where the feel of the inspection object 2 in an abnormal state with "fault name yyy" is reproduced.

[0066] As in the first embodiment, the control unit 10 can change the sensation to be reproduced by operating the switching icons B1 and B2 as shown in steps S131 to S134 of Fig. 8. However, instead of switching between two options, "measured" and "normal," as in the first embodiment, the control unit 10 changes the sensation to be presented to the inspector via the screen display and sensation reproduction unit 15 in the following order each time the switching icons B1 and B2 are operated: "normal," "fault name xxx," "fault name yyy," "fault name zzz," "measured," "normal," etc. In the second embodiment, the inspector can select the sensation of the inspection object 2 in each of the states of "normal," "fault name xxx," "fault name yyy," and "fault name zzz."

[0067] In this embodiment, a specific example will be described in which, in step S132, the sensory reproduction (measured object) using sensory reproduction data based on measurement data is switched to a reproduction (normal) using reproduction data of a normal test object, and then the state is further switched to "Fault name xxx." When the switch icons B1 and B2 are operated from the "measured object" state, the control unit 10 identifies the test object ID, positioning position data, and type of sensory sensor 3 corresponding to the operated switch icon B1 or B2 based on the sensory reproduction data based on measurement data. Then, using the identified information as a key, the control unit 10 extracts the corresponding record from the sensory reproduction data of the reference test object. The "normal state data" at the top of the extracted record is obtained. The control unit 10 refers to the corresponding device table stored in the basic information DB 16 and identifies the sensation reproduction unit 15 that corresponds to the identified sensory sensor 3. The control unit 10 also refers to the data conversion table stored in the basic information DB 16 and converts the acquired "normal data" into drive data. Then, the control unit 10 outputs the drive data to the identified sensation reproduction unit 15, thereby reproducing the sensation corresponding to the normal data.

[0068] When the switching icons B1 and B2 are operated from the "normal" state, the control unit 10 identifies the inspection object ID, positioning position data, and type of sensory sensor 3 corresponding to the operated switching icon B1 or B2 based on the sensory reproduction data based on the measurement data. Then, using the identified information as a key, it acquires the "abnormal X time data" stored in the record next to the currently selected "normal time data" from the sensory reproduction data of the reference inspection object. The control unit 10 refers to the corresponding device table stored in the basic information DB 16 and identifies the sensory reproduction unit 15 that corresponds to the identified sensory sensor 3. The control unit 10 also refers to the data conversion table stored in the basic information DB 16 and converts the "abnormal X-time data" in the record next to the currently selected "normal time data" into drive data. Then, the control unit 10 outputs the drive data to the identified sensory reproduction unit 15, thereby reproducing a sensation corresponding to the normal time data. Each time the switching icons B1 and B2 are operated, the reference data is switched in the same manner.

[0069] 10, in step S134, the control unit 10 acquires the fault name from the corresponding record of the sensation reproduction data of the reference inspection object as an image or symbol indicating the type of sensation to be reproduced, and displays the acquired fault name. The inspection object 2 can recognize the state of the inspection object 2 to be reproduced.

[0070] According to embodiment 2, the state of the object under test 2 can be determined more accurately by comparing the sensations reproduced based on measurement sensor data measured at a remote location with the sensations produced by a normal object under test 2 and the sensations produced by the object under test 2 in multiple different abnormal states.

[0071] (Embodiment 3) The remote inspection system according to the third embodiment differs from the first embodiment in that it can reproduce the sensation of the object 2 under inspection in a normal or abnormal state, taking into consideration the surrounding environment of the object 2 at a remote location. The inspector can compare the sensation of the object 2 under inspection measured and reproduced at a remote location with the sensation of the object 2 under inspection in a normal or abnormal state reproduced taking into consideration the surrounding environment of the remote location, and can grasp and inspect the state of the object 2 under inspection, taking into consideration the influence of the environment. The other configurations of the remote inspection system are the same as those of the remote inspection system according to the first embodiment, and therefore similar parts are designated by the same reference numerals and detailed description thereof will be omitted.

[0072] 11 is a schematic diagram showing an example of the configuration of a remote inspection system according to embodiment 3. The remote inspection system according to embodiment 3 further includes an environmental sensor 6 that measures the state of the environment surrounding the inspection target 2. The environmental sensor 6 is, for example, a temperature sensor, a humidity sensor, or the like that detects the ambient temperature, humidity, etc. of the inspection target 2, and outputs the measured environmental data to the communication device 4.

[0073] The communication device 4 acquires the measured environment data output from the environmental sensor 6 and transmits the measurement data including the measured environment data to the remote inspection device 1. The remote inspection device 1 receives the measurement data transmitted from the communication device 4 and creates tactile reproduction data including the measured environment data in the same manner as in the embodiment.

[0074] 12 is a conceptual diagram showing an example of measurement data and sensory reproduction data in embodiment 3. The measurement data includes the measurement date and time, the type of sensory sensor 3, measurement sensor data, measurement environment data, and inspection object image data. The sensory reproduction data includes the above-mentioned measurement data as well as the inspection object ID, measurement position data, and icon data.

[0075] FIG. 13 is a conceptual diagram showing sensory reproduction data for a normal test object according to the third embodiment. The sensory reproduction data for a normal test object includes a test object ID, measurement position data, a sensor type, normal state data, and environmental data. The sensory sensations generated by the test object 2 vary depending on the environment. For example, if the test object 2 is made of resin, its softness varies depending on the temperature. Therefore, the sensory DB 17 stores measurement sensor data obtained by measuring the test object 2 for each different environmental data.

[0076] 14 is a flowchart showing a processing procedure for reproducing the sensation of the inspection object 2. The sensory sensor 3 measures the inspection object 2 at a remote location and outputs the measurement sensor data obtained by the measurement to the communication device 4 (step S311). Next, the communication device 4 captures an image of the inspection object 2 (step S312). The communication device 4 also measures the environment of the inspection object 2 using the environmental sensor 6 and obtains environmental measurement data (step S313). Then, the communication device 4 transmits measurement data including the measurement sensor data of the inspection object 2, inspection object image data, and environmental measurement data to the remote inspection device 1 (step S314).

[0077] The remote inspection device 1 receives measurement data including measurement sensor data, inspection object image data, environmental measurement data, etc. (step S321). The contents of the processing by the control unit 10 (steps S331 to S335, etc.) are the same as those in the first embodiment, but the contents of the selection processing of reproduction data for normal inspection objects (step S332) when the switching icons B1 and B2 are operated differ from those in the first embodiment. The other processing is the same as in the first embodiment, so detailed explanations will be omitted.

[0078] In step S332, the control unit 10 selects reproduction data for a normal test object at the measurement positions M1 and M2 corresponding to the operated switching icons B1 and B2, and which is associated with environmental data similar to the environmental data included in the received measurement data (step S332). Regarding the similarity of the environmental data, if the environmental data is a single number, the control unit 10 may select the measurement sensor data associated with the environmental data whose value is closest. If the environmental data includes multiple numerical values, the control unit 10 may select, for example, the measurement sensor data associated with the environmental data with the highest cosine similarity.

[0079] According to embodiment 3, by reproducing the feel of the object under test 2 under normal conditions according to the surrounding environment of the object under test 2, the inspector can more accurately grasp and inspect the state of the object under test 2.

[0080] In each embodiment and modified example, one type of sensation is provided for one sensation, but this is not limited to this. It is also possible to provide a plurality of the same sensation reproducing units 15 corresponding to the feel of one type of sensation. When applied to embodiments 1 and 3, one sensation reproducing unit 15 reproduces the sensation based on sensation reproducing data based on measurement data, and another sensation reproducing unit 15 reproduces the sensation based on data for reproducing the tactile sensation of a normal test subject. This eliminates the need to switch sensations, makes it possible to simultaneously compare the sensation based on the measurement and the normal sensation, and makes it easier to compare the states. Furthermore, when applied to embodiment 2, one sensation reproducing unit 15 reproduces the sensation based on the data for sensation reproducing based on the measurement data, and another sensation reproducing unit 15 reproduces the sensation based on the data for tactile reproduction of the reference test object. There is no need to switch the sensation based on the data for sensation reproducing based on the measurement data, and switching the sensation based on the data for tactile reproduction of the reference test object can be performed by operating the switching icons B1 and B2, as described in embodiment 3. However, unlike embodiment 3, it does not switch to "what was measured."

[0081] In each embodiment and modification, there is one inspector, but there can also be multiple inspectors. In this case, a sensory reproduction unit 15 is provided for each inspector. As in each embodiment and modification, each tactile reproduction unit 15 (including a set) presents the same tactile sensation, and when the switching icons B1 and B2 are operated, the tactile sensations in each tactile presentation unit 15 are switched all at once. This modification can be used, for example, for on-the-job training (OJT) purposes.

[0082] The embodiments disclosed herein should be considered to be illustrative in all respects and not restrictive. The technical features described in each embodiment can be combined with each other, and the scope of the present invention is intended to include all modifications within the scope of the claims and the scope equivalent to the claims. The sequences shown in each embodiment are not limited, and the order of each process may be changed within a range consistent with the present invention, and multiple processes may be executed in parallel. The entity that performs each process is not limited, and the process of each device may be executed by another device within a range consistent with the present invention.

[0083] The matters described in each embodiment can be combined with each other. In addition, the independent claims and dependent claims described in the claims can be combined with each other in any combination, regardless of the reference format. Furthermore, although the claims use a format in which a claim references two or more other claims (multiple claim format), this is not limited to this format. A multiple claim (multi-multi claim) that references at least one other multiple claim may also be used.

[0084] The means for solving the problems of the present disclosure are described below. (Appendix 1) an acquisition unit that acquires measurement sensor data obtained by measuring an object to be inspected at a remote location using a sensory sensor; a sensation reproducing unit that reproduces a sensation caused by the object to be inspected based on the measurement sensor data; an operation unit that accepts an operation for selecting a sensation to be reproduced; a control unit that causes the sensation reproducing unit to reproduce, in response to a selection operation received by the operation unit, a sensation based on the measurement sensor data acquired by the acquisition unit and a sensation based on the measurement sensor data obtained by measuring an object to be inspected that is in a predetermined reference state; A remote inspection device comprising: (Appendix 2) a storage unit that stores the type of the test object and measurement sensor data obtained by measuring the test object in the predetermined reference state or data for sensation reproduction based on the measurement sensor data, in association with each other; the acquisition unit acquires information for identifying the type of the inspection object, The control unit Identify the type of object to be inspected based on the acquired information, The measurement sensor data or the data for sensation reproduction corresponding to the identified type of the test object is read out, and the sensation generated from the test object in the predetermined reference state is reproduced by the sensation reproduction unit. 10. The remote inspection device of claim 1. (Appendix 3) The information for identifying the type of the inspection object includes image data obtained by capturing an image of the inspection object. 10. The remote inspection device of claim 1 or 2. (Appendix 4) a display unit that displays an icon for instructing reproduction of a sensation caused by the object to be inspected and a switching icon for switching the sensation to be reproduced on a captured image or a virtual image of the object to be inspected; The control unit When the switching icon is operated, the sensation of the object to be reproduced is switched from the sensation based on the acquired measurement sensor data to the sensation based on the measurement sensor data of the object to be inspected in the predetermined reference state, or switched from the sensation based on the measurement sensor data of the object to be inspected in the predetermined reference state to the sensation based on the acquired measurement sensor data. 4. The remote inspection device of any one of Supplementary Notes 1 to 3. (Appendix 5) The predetermined reference state is: Includes the state of the object under test under normal conditions or the state of the object under test under one or more abnormal conditions. 5. The remote inspection device of any one of Supplementary Notes 1 to 4. (Appendix 6) The predetermined reference state is: The state of the object under test when normal and the state of the object under test when one or more abnormalities occur, 6. The remote inspection device of any one of Supplementary Notes 1 to 5. (Appendix 7) a display unit that displays an icon on a captured image or a virtual image of the object to be inspected to instruct reproduction of a sensation caused by the object to be inspected; The control unit The display mode of the icon is changed depending on whether the sensation based on the acquired measurement sensor data is being reproduced or the sensation based on the measurement sensor data of the inspection object in the predetermined reference state is being reproduced, or an image or symbol indicating the difference between the sensations to be reproduced is displayed. 6. The remote inspection device according to any one of appendices 1 to 6, comprising: (Appendix 8) The measurement sensor data includes measurement date and time information of the inspection object, a display unit that displays an icon on a captured image or a virtual image of the object to be inspected to instruct reproduction of a sensation caused by the object to be inspected; The control unit When reproducing a sensation based on the acquired measurement sensor data, the icon and a measurement date and time image showing the measurement date and time information are displayed; When reproducing the sensation caused by the test object in the predetermined reference state, an image or symbol indicating that the sensation is caused by the test object in the predetermined reference state is displayed instead of the measurement date and time image. 4. The remote inspection device of any one of Supplementary Notes 1 to 3. (Appendix 9) The measured sensor data includes at least one of tactile data, force data, vibration data, temperature data, sound data, and olfactory data. 4. The remote inspection device of any one of Supplementary Notes 1 to 3. (Appendix 10) The acquisition unit acquiring environmental data indicative of an environment that influences sensations generated by the test object; the sensations generated by the test object in the predetermined reference state vary depending on the environment; The control unit The sensation generated from the test object in the predetermined reference state is reproduced by the sensation reproducing unit in accordance with the environmental data. 4. The remote inspection device of any one of Supplementary Notes 1 to 3. [Explanation of symbols]

[0085] 1: Remote inspection device 2: Inspection object 3: Sensory sensor 4: Communication equipment 5: Recording media 6: Environmental sensor 10: Control section 11: Storage section 11a: Computer Program 12: Communications Department 13: Display section 14:Operation section 15: Sensory Reproduction Section 21: Identifier 41: Camera A1, A2: Reproduction icon B1, B2: Switch icon 16:Basic information DB 17: Sensory DB

Claims

1. an acquisition unit that acquires measurement sensor data obtained by measuring an object to be inspected at a remote location using a sensory sensor; a sensation reproducing unit that reproduces a sensation caused by the object to be inspected based on the measurement sensor data; an operation unit that accepts an operation for selecting a sensation to be reproduced; a control unit that causes the sensation reproducing unit to reproduce, in response to a selection operation received by the operation unit, a sensation based on the measurement sensor data acquired by the acquisition unit and a sensation based on the measurement sensor data obtained by measuring an object to be inspected that is in a predetermined reference state; A remote inspection device comprising:

2. a storage unit that stores the type of the test object and measurement sensor data obtained by measuring the test object in the predetermined reference state or data for sensation reproduction based on the measurement sensor data, in association with each other; the acquisition unit acquires information for identifying the type of the inspection object, The control unit Identify the type of object to be inspected based on the acquired information, The measurement sensor data or the data for sensation reproduction corresponding to the identified type of the test object is read out, and the sensation generated from the test object in the predetermined reference state is reproduced by the sensation reproduction unit.

10. The remote inspection device of claim 1.

3. The information for identifying the type of the inspection object includes image data obtained by capturing an image of the inspection object.

3. The remote inspection device of claim 2.

4. a display unit that displays an icon for instructing reproduction of a sensation caused by the object to be inspected and a switching icon for switching the sensation to be reproduced on a captured image or a virtual image of the object to be inspected; The control unit When the switching icon is operated, the sensation of the object to be reproduced is switched from the sensation based on the acquired measurement sensor data to the sensation based on the measurement sensor data of the object to be inspected in the predetermined reference state, or switched from the sensation based on the measurement sensor data of the object to be inspected in the predetermined reference state to the sensation based on the acquired measurement sensor data.

3. The remote inspection device according to claim 1 or 2.

5. The predetermined reference state is: Includes the state of the object under test under normal conditions or the state of the object under test under one or more abnormal conditions.

3. The remote inspection device according to claim 1 or 2.

6. The predetermined reference state is: The state of the object under test when normal and the state of the object under test when one or more abnormalities occur, 3. The remote inspection device according to claim 1 or 2.

7. a display unit that displays an icon on a captured image or a virtual image of the object to be inspected to instruct reproduction of a sensation caused by the object to be inspected; The control unit The display mode of the icon is changed depending on whether the sensation based on the acquired measurement sensor data is being reproduced or the sensation based on the measurement sensor data of the inspection object in the predetermined reference state is being reproduced, or an image or symbol indicating the difference between the sensations to be reproduced is displayed.

3. The remote inspection device according to claim 1 or 2.

8. The measurement sensor data includes measurement date and time information of the inspection object, a display unit that displays an icon on a captured image or a virtual image of the object to be inspected to instruct reproduction of a sensation caused by the object to be inspected; The control unit When reproducing a sensation based on the acquired measurement sensor data, the icon and a measurement date and time image showing the measurement date and time information are displayed; When reproducing the sensation caused by the test object in the predetermined reference state, an image or symbol indicating that the sensation is caused by the test object in the predetermined reference state is displayed instead of the measurement date and time image.

3. The remote inspection device according to claim 1 or 2.

9. The measured sensor data includes at least one of tactile data, force data, vibration data, temperature data, sound data, and olfactory data.

3. The remote inspection device according to claim 1 or 2.

10. The acquisition unit acquiring environmental data indicative of an environment that influences sensations generated by the test object; the sensations generated by the test object in the predetermined reference state vary depending on the environment; The control unit The sensation generated from the test object in the predetermined reference state is reproduced by the sensation reproducing unit in accordance with the environmental data.

3. The remote inspection device according to claim 1 or 2.

11. Acquire measurement sensor data obtained by measuring an object to be inspected at a remote location using a sensory sensor; Accepts selection of sensations to be reproduced, In response to the received selection operation, a sensation based on the acquired measurement sensor data and a sensation based on the measurement sensor data obtained by measuring the inspection object in a predetermined reference state are reproduced. Remote inspection methods.

12. a computer that controls the operation of a sensation reproducing unit that reproduces a sensation generated from an object to be inspected at a remote location; Acquire measurement sensor data obtained by measuring the inspection object using a sensory sensor; Accepts selection of sensations to be reproduced, In response to the received selection operation, the sensation based on the acquired measurement sensor data and the sensation based on the measurement sensor data obtained by measuring the inspection object in a predetermined reference state are reproduced by the sensation reproducing unit. A computer program that executes a process.

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