Detection system, management system, and information processing system

Abstract

To confirm a gas concentration and a position where the gas concentration is detected in real time.SOLUTION: A detection system 20 comprises: a flying body 23 flying in an area to be a gas detection object and including a first communication device and an acquisition section for acquiring position information; and a detection device 21 arranged in the flying body 23 and including a gas detection section for detecting a gas concentration. The first communication device transmits gas information P1 indicating a concentration detected by the gas detection section and the position information P2 corresponding to the gas information P1 to a management system 30.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to techniques for detecting gases using flying objects. [Background technology]

[0002] There are places where it is desirable to detect harmful gases. For example, in underground spaces such as completed water supply and sewerage pipelines or dam inspection galleries, harmful gases such as hydrogen sulfide, methane, or carbon monoxide may be present. When workers inspect such underground spaces, there is a risk of accidents caused by harmful gases. Furthermore, even in mountain tunnels where construction has been suspended or shield tunnels after the first lining has been completed, workers carry gas detectors and enter the tunnel or underground space to conduct inspections. Therefore, there is a need for a method to safely detect harmful gases without requiring workers to enter.

[0003] Therefore, Patent Document 1 discloses a technology for mounting a gas sensor on an aircraft (drone). The technology of Patent Document 1 can be used to detect gases in various locations. The gas detected by the gas sensor must also be confirmed with its location. The aircraft is equipped with a GPS receiver that can acquire location information indicating its current flying position. The location information acquired by the aircraft and the gas concentration acquired by the gas sensor can be transmitted separately to a management system located in a remote location. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 6758120 Summary of the Invention [Problem to be solved by the invention]

[0005] In this case, the management system had to manually associate location information with gas concentrations. Therefore, it was not possible to confirm the gas concentration and the location where the gas concentration was acquired immediately after the gas concentration was detected (i.e., in real time) without delay. In consideration of the above circumstances, the present invention aims to confirm the gas concentration and the location where the gas concentration was detected in real time. [Means for solving the problem]

[0006] [1] A detection system comprising: an aircraft that flies over an area where gas is to be detected, the aircraft having a first communication device and an acquisition unit that acquires location information; and a detection device that is installed on the aircraft and has a gas detection unit that detects the concentration of the gas, wherein the first communication device transmits gas information including concentration information indicating the concentration detected by the gas detection unit, and the location information corresponding to the gas information, to a management system.

[0007] [2] The detection system of [1], wherein the aircraft further has a second communication device, the detection device further has a third communication device, the third communication device transmits the gas information to the second communication device, the second communication device acquires the gas information transmitted from the third communication device, and the first communication device transmits the gas information acquired by the second communication device to the management system.

[0008] [3] A detection system according to [1] or [2], wherein the gas information includes time information indicating the time at which the concentration was detected, and the first communication device transmits to the management system the location information obtained at a time corresponding to the time indicated by the time information.

[0009] [4] A detection system according to any one of [1] to [3], wherein the aircraft further has an imaging device that generates an image of the surrounding area while flying, and the first communication device transmits the image generated by the imaging device to the management system at a time corresponding to the time information contained in the gas information when the concentration indicated by the concentration information contained in the gas information exceeds a reference value.

[0010] [5] A management system comprising: a fourth communication device that acquires the gas information and the location information transmitted from the detection systems of [1] to [4]; and a display device that displays the concentration indicated by the gas information in association with the location indicated by the location information.

[0011] [6] A management system according to [5], in which a marker representing flight control information indicating flight control is installed within the area, the aircraft further has an imaging device capable of capturing images of the surroundings while flying, flies according to the marker captured by the imaging device, and, if the position information is not transmitted from the detection device along with the gas information, is equipped with an identification unit that identifies the position of the aircraft according to information regarding the marker captured by the imaging device.

[0012] [7] The management system of [5] or [6], wherein the display device displays the concentration in an area where a concentration axis and a distance axis are set, in correspondence with the distance from when the aircraft started flight.

[0013] [8] An information processing system comprising a detection system and a management system, wherein the detection system includes an aircraft that flies over an area where gas is to be detected and has a first communication device and an acquisition unit that acquires location information, and a detection device that is installed on the aircraft and has a gas detection unit that detects the concentration of the gas, wherein the first communication device transmits gas information indicating the concentration detected by the gas detection unit and the location information corresponding to the gas information to the management system, and the management system includes a fourth communication device that acquires the gas information and the location information transmitted from the detection system, and a display device that displays the concentration indicated by the gas information in correspondence with the location indicated by the location information. [Effects of the Invention]

[0014] According to the present invention, it is possible to check the gas concentration and the location where the gas concentration is detected in real time. [Brief explanation of the drawings]

[0015] [Figure 1]FIG. 1 is an explanatory diagram of an information processing system according to an embodiment. [Figure 2] FIG. 2 is a block diagram illustrating a functional configuration of a detection device according to an embodiment. [Figure 3] FIG. 2 is a block diagram illustrating the functional configuration of an aircraft according to an embodiment. [Figure 4] FIG. 2 is a schematic diagram illustrating a flight path of an aircraft according to an embodiment. [Figure 5] FIG. 2 is a block diagram illustrating a functional configuration of a management system according to an embodiment. [Figure 6] 1A and 1B are schematic diagrams illustrating images displayed by a display device according to an embodiment. [Figure 7] FIG. 10 is a schematic diagram of another example of an image displayed by the display device according to the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0016] <Information Processing System 100> FIG. 1 is an explanatory diagram of an information processing system 100 according to this embodiment. The information processing system 100 is a system for determining the concentration of gas in an area to be detected (hereinafter referred to as the "target area"). The target area may be, for example, an underground space such as a completed water supply and sewerage pipeline or a dam inspection gallery, the inside of a mountain tunnel, or the inside of a shield tunnel after primary lining. However, the target area is not limited to the above examples. This embodiment particularly assumes a situation in which the concentration of gas is detected in a non-GNSS (Global Navigation Satellite System) environment.

[0017] 1, the information processing system 100 of this embodiment includes a detection system 20 and a management system 30. The detection system 20 and the management system 30 are capable of communicating with each other.

[0018] <Detection System 20> The detection system 20 is a system for detecting the concentration of a gas within a target area. Specifically, the detection system 20 includes a detection device 21 for detecting the concentration of a specific gas and an air vehicle 23 that flies over the target area.

[0019] [Detection Device 21] The detection device 21 is installed on the flying vehicle 23. The location where the detection device 21 is mounted is not particularly limited as long as it does not interfere with the flight of the flying vehicle 23. Gases that are detected by the detection device 21 include, for example, hydrogen sulfide, methane, and carbon monoxide.

[0020] 2 is a block diagram illustrating the functional configuration of the detection device 21. As shown in FIG. 2, the detection device 21 includes a control device 211, a storage device 213, a gas detection unit 215, and a communication device 217.

[0021] The gas detection unit 215 is a detection element that detects the concentration of a gas. Specifically, the gas detection unit 215 generates a detection signal corresponding to the concentration of the gas. The detection signal is generated in parallel with the flight of the flying object 23. The detection signal is repeatedly generated at predetermined intervals (for example, every 1 second).

[0022] The type of gas detector 215 is not particularly limited and may be changed appropriately depending on the type of gas. For example, various types of gas detectors 215, such as infrared, semiconductor, and electrochemical detectors, may be used. The detection device 21 may be equipped with multiple gas detectors 215 capable of detecting different gases.

[0023] The control device 211 is one or more processors that control the operation of the detection device 21. Specifically, the control device 211 is configured by one or more types of processors, such as a central processing unit (CPU), a graphics processing unit (GPU), a sound processing unit (SPU), a digital signal processor (DSP), a field programmable gate array (FPGA), or an application specific integrated circuit (ASIC).

[0024] The control device 211 of this embodiment generates information about gas (hereinafter referred to as "gas information") P1. The gas information P1 of this embodiment includes information indicating the concentration of the gas (hereinafter referred to as "concentration information") P11 and time information P12 indicating the time at which the concentration was detected. The concentration information P11 is information indicating the concentration detected by the gas detection unit 215 (the concentration represented by the detection signal). The time information P12 is generated, for example, by a clock (not shown) installed in the detection device 21. For example, every time the detection device 21 generates a detection signal, gas information P1 is generated for the detection signal.

[0025] The storage device 213 is one or more memories that store programs executed by the control device 211 and various data used by the control device 211. For example, a known recording medium such as a semiconductor recording medium or a magnetic recording medium, or a combination of multiple types of recording media, is used as the storage device 213.

[0026] The communication device 217 (an example of a "third communication device") is a communication device that communicates with the flying object 23. The communication with the flying object 23 may be either wired communication or wireless communication. In the case of wireless communication, short-range wireless communication such as Bluetooth (registered trademark) or Wi-Fi (registered trademark) is assumed. Note that the communication device 217, which is separate from the detection device 21, may be connected to the detection device 21 by wire or wirelessly.

[0027] The communication device 217 of this embodiment transmits the gas information P1 to the flying object 23 under the control of the control device 211. The communication device 217 transmits the gas information P1 to the flying object 23 every time the gas information P1 is generated.

[0028] [Flying object 23] 3 is a block diagram illustrating the functional configuration of the aircraft 23 of this embodiment. The aircraft 23 is a small unmanned aerial vehicle capable of autonomous flight, typically a drone. The flight of the aircraft 23 is controlled by remote control from the ground or by a program. As described above, this embodiment assumes that the aircraft 23 flies in a non-GNSS environment.

[0029] 4, in this embodiment, for example, markers M (M1-M4) representing flight control information are placed on a predetermined known flight path in the target area F, and autonomous flight is enabled by reading the markers M1-M4 with an imaging device mounted on the flying vehicle 23. On the flight path, the flight start (takeoff) position, flight end (landing) position, and the distance of the path are also known.

[0030] Flight control information is information indicating flight control, such as the distance to travel to the next marker M, the direction of travel, flight altitude, takeoff instructions, or landing instructions. Marker M is, for example, an object (e.g., a diagram, pattern, or letter) set according to the content of the flight control information. That is, marker M (object) is used to identify the content of the control indicated by the flight control information. Marker M (object) is analyzed using known image analysis processing of the captured image, and the aircraft 23 flies based on the flight control information indicated by the marker M. Multiple markers M1-M4 are placed on the flight path. The position of each marker M is known. The position of marker M is a relative position from a predetermined reference point within the target area F, and is expressed, for example, in three-dimensional (X, Y, Z) coordinates.

[0031] The flying vehicle 23 takes off from the charging port SH by remote control via the Internet and wireless LAN, flies within the target area according to flight control information, and then lands at the charging port GH after completing the flight path. The positions (relative positions) of the charging ports SH and GH are known, as is the marker M. Note that the configuration of the flying vehicle 23 other than that described below is not particularly limited as long as it is capable of autonomous flight.

[0032] As illustrated in FIG. 3, the flying object 23 of this embodiment includes a control device 231, a storage device 232, an imaging device 233, a first communication device 235, and a second communication device 236.

[0033] The imaging device 233 is a camera capable of capturing images of the surroundings while flying. For example, the imaging device 233 includes an optical system such as a photographing lens and an imaging element that receives incident light from the optical system. Specifically, the imaging device 233 captures images of the surroundings around which the flying object 23 is flying, thereby generating images (hereinafter referred to as "captured images"). Note that the captured images can be generated continuously at predetermined intervals.

[0034] The control device 231 is one or more processors that control the operation of the flying object 23. Specifically, the control device 231 is configured by one or more types of processors, such as a central processing unit (CPU), a graphics processing unit (GPU), a sound processing unit (SPU), a digital signal processor (DSP), a field programmable gate array (FPGA), or an application specific integrated circuit (ASIC).

[0035] The control device 231 of this embodiment functions as an acquisition unit that acquires position information P2 representing the position (current location) of the aircraft 23. Any known technology may be employed to acquire the position information P2 in a non-GNSS environment. For example, the position information P2 may be acquired (identified) by a visual odometry technique using images captured by the imaging device 233. Specifically, the position information P2 representing the current location of the aircraft 23 is acquired using the travel distance and travel direction identified by visual odometry. The position information P2 is typically a relative position from a predetermined reference point (e.g., the initial position of the aircraft 23) and is typically expressed in three-dimensional (X, Y, Z) coordinates. That is, the position information P2 preferably includes information representing height (Z coordinate). However, the position information P2 may also be information on two-dimensional (X, Y) coordinates.

[0036] The method for acquiring the location information P2 in a non-GNSS environment is not limited to the above examples. For example, the location information P2 may be determined by a known technique using an inertial measurement unit, an optical distance sensor, or an ultrasonic sensor.

[0037] The position information P2 is repeatedly generated at predetermined intervals (for example, every second). In addition to the position information P2, the control device 231 also acquires information indicating the time when the position information P2 was acquired (identified) (hereinafter referred to as "position time information"). The position time information can be acquired, for example, by a clock (not shown) mounted on the flying object 23.

[0038] The storage device 232 is one or more memories that store programs executed by the control device 231 and various data used by the control device 231. For example, a known recording medium such as a semiconductor recording medium or a magnetic recording medium, or a combination of multiple types of recording media, is used as the storage device 232. For example, for each of the multiple markers M, the marker M and flight control information corresponding to the marker M are stored in advance in the storage device 232. Information regarding the reference points used to identify the position information P2 is also stored in the storage device 232.

[0039] Second communication device 236 is a communication device capable of communicating with detection device 21. Specifically, second communication device 236 acquires gas information P1 (concentration information P11, time information P12) transmitted from detection device 21 (communication device 217) under the control of control device 231. The communication method between communication device 217 and second communication device 236 is as described above.

[0040] The first communication device 235 is a communication device capable of communicating with the management system 30. The communication with the management system 30 is wireless communication. The wireless communication method is not particularly limited, but is typically short-range wireless communication such as Wi-Fi (registered trademark). However, other wireless communication methods (for example, satellite communication or dedicated radio frequencies) may also be used.

[0041] Specifically, under the control of the control device 231, the first communication device 235 transmits the gas information P1 acquired by the second communication device 236 and the identified location information P2 to the management system 30. The first communication device 235 of this embodiment transmits the gas information P1 (concentration information P11, time information P12) and the location information P2 corresponding to the gas information P1 to the management system 30.

[0042] Specifically, the control device 231 causes the first communication device 235 to transmit the gas information P1 (P11, P12) and the location information P2 acquired at a time corresponding to the time indicated by the time information P12 included in the gas information P1. As described above, location time information indicating the time at which the location information P2 was acquired is also acquired along with the location information P2. Therefore, the control device 231 causes the first communication device 235 to transmit, together with the gas information P1, the location information P2 associated with location time information indicating a time corresponding to (for example, the same as or closest to) the time indicated by the time information P12. Note that the first communication device 235 may transmit the gas information P1 including the time information P12 indicating a time corresponding to the time of the location time information, and the location information P2 acquired at the time of the location time information.

[0043] The first communication device 235 and the second communication device 236 may be a common communication device. That is, the air vehicle 23 may have one communication device that has the functions of the first communication device 235 and the second communication device 236. Furthermore, the first communication device 235 and the second communication device 236, which are separate from the air vehicle 23, may be connected to the air vehicle 23 by wire or wirelessly.

[0044] All or some of the control device 231, memory device 232, imaging device 233, first communication device 235, and second communication device 236 described above may be configured as modules that can be retrofitted to the flying object 23.

[0045] As can be understood from the above explanation, after the gas information P1 is generated, the gas information P1 and the position information P2 corresponding to the gas information P1 are normally transmitted to the management system 30 (i.e., in real time). That is, in addition to the gas concentration, the position information P2 indicating the position of the flying vehicle 23 when the gas concentration was detected is transmitted to the management system 30. Note that, although the above example illustrates a configuration in which time information P12 is transmitted to the management system 30, transmitting the time information P12 to the management system 30 is not essential.

[0046] <Management System 30> 5 is a block diagram illustrating the functional configuration of the management system 30. The management system 30 is a computer system that enables visual confirmation of the gas concentration detected by the detection system 20. The management system 30 is typically located in a remote location away from the target area.

[0047] As illustrated in FIG. 5, the management system 30 includes a control device 31, a storage device 33, a communication device 35 (an example of a “fourth communication device”), and a display device 37.

[0048] The control device 31 is one or more processors that control the operation of the management system 30. Specifically, the control device 31 is configured by one or more types of processors, such as a central processing unit (CPU), a graphics processing unit (GPU), a sound processing unit (SPU), a digital signal processor (DSP), a field programmable gate array (FPGA), or an application specific integrated circuit (ASIC).

[0049] The storage device 33 is one or more memories that store programs executed by the control device 31 and various data used by the control device 31. For example, a well-known recording medium such as a semiconductor recording medium or a magnetic recording medium, or a combination of multiple types of recording media, may be used as the storage device 12. For example, a portable recording medium that is detachable from the management system 30, or a recording medium that the communication device 35 can access via a communication network such as the Internet (for example, cloud storage) may be used as the storage device 33.

[0050] The communication device 35 is a communication device that communicates with the detection system 20 via a communication network such as the Internet. Note that the communication device 35, which is separate from the management system 30, may be connected to the management system 30 via a wired or wireless connection. The communication device 35 of this embodiment acquires the gas information P1 and the location information P2 transmitted from the detection system 20. If the storage device 33 is a cloud storage, the communication device 35 functions as an element that acquires the gas information P1 and the location information P2 from the cloud storage via a communication network.

[0051] The display device 37 displays various information under the control of the control device 31. For example, various display panels such as a liquid crystal display panel or an organic EL panel are used as the display device 37.

[0052] The display device 37 of this embodiment displays the concentration indicated by the gas information P1 (concentration information P12) transmitted from the detection system 20 in association with the position indicated by the position information P2. The position indicated by the position information P2 displayed on the display device 37 may be the position itself or information corresponding to the position. The information corresponding to the position indicated by the position information P2 is, for example, the distance from a specific position on the flight path (e.g., the flight start position) to the position indicated by the position information P2. In other words, the distance traveled by the flying object 23 in the direction of travel on the flight path may be the information corresponding to the position indicated by the position information P2. Similarly, the concentration indicated by the concentration information P12 displayed on the display device 37 may be the concentration itself or information corresponding to the concentration (e.g., high, normal, low, etc.).

[0053] Fig. 6 is a schematic diagram of an example of image R displayed by display device 37. As illustrated in Fig. 6, for example, a region is assumed in which a concentration axis and a distance axis (an axis indicating the distance traveled by aircraft 23 in the direction of travel) are set. Image R is an image in which objects (diamond-shaped markers in the example of Fig. 6) corresponding to both the gas concentration represented by concentration information P12 and the distance from the start of flight to the acquisition of said concentration information P12 (i.e., the distance from the flight start position to the position where said concentration information P12 is acquired) are added to this region.

[0054] The distance from the start of flight to the acquisition of gas information P1 (concentration information P12) can be determined, for example, from the flight start position (known) and the position indicated by position information P2 associated with the gas information P1. The configuration that displays image R has the advantage that it is easy to visually grasp the relationship between the gas concentration and the position where the gas concentration is detected.

[0055] Displaying the concentration represented by the gas information P1 and the position represented by the position information P2 in association with each other means that the concentration represented by the gas information P1 and the position information P2 corresponding to the gas information P1 (i.e., the position where the concentration was detected) are displayed in a manner that allows the user to grasp the concentration, and is not limited to the above example. Furthermore, as illustrated in FIG. 7, the image R may also display the height indicated by the position information P2 (typically, the height indicated by the most recently acquired position information P2). The height indicated by the position information P2 displayed in the image R may be the height itself (i.e., the Z coordinate), or may be information corresponding to the height (e.g., the distance from the ground).

[0056] Image R may be, for example, an image in which an area having a concentration axis and a time axis is set, and objects corresponding to both the gas concentration represented by concentration information P12 and the time from the start of flight to acquisition of the concentration information P12 are attached. The time from the start of flight to acquisition of the concentration information P12 is, for example, the difference between the flight start time (e.g., the time when the aircraft 23 takes off from the charging port SP) and the position indicated by the time information P12 of the gas information P1.

[0057] Furthermore, the display device 37 may display an image on a map prepared in advance for the target area, to which the density indicated by the density information P11 is added using the position indicated by the position information P2. For example, the density indicated by the density information P12 is displayed on the map in a manner that makes it identifiable by color shading or numerical values. Note that any known technology (e.g., a Geographic Information System) may be used to embed (map) the density indicated by the density information P12 on the map using the position information P2. If the density indicated by the density information P12 exceeds a predetermined reference value, the location on the map where the density is detected may be displayed in a manner (e.g., blinking) different from other locations.

[0058] Furthermore, when a specific point (location or area) on the map is designated, the concentration at that point and the time when the concentration was acquired may be displayed. That is, the concentration indicated by the concentration information P11 and the time indicated by the time information P12 may be associated with each other and embedded on the map.

[0059] The image displayed by the display device 37 is updated every time gas information P1 and position information P2 are transmitted from the detection system 20. The image is updated in real time in parallel with the detection of gas concentrations in the flying object 23. Note that the various images displayed by the display device 37 described above can be realized without the need for the detection system 20 of this embodiment.

[0060] As can be understood from the above description, in this embodiment, gas information P1 (P11, P12) and location information P2 corresponding to the gas information P1 are transmitted to management system 30. In other words, an administrator does not need to manually associate location information P2 with gas information P1. Therefore, immediately after a gas concentration is detected, the gas concentration and the location where the gas concentration was detected can be confirmed without delay (i.e., in real time). In reality, since there is processing within each system (detection system 20, management system 30) and communication between detection system 20 and management system 30, a certain degree of delay is acceptable even when referring to real time.

[0061] In this embodiment, the gas information P1 acquired by the detection device 21 is transmitted to the flying object 23 by the communication device 217. This has the advantage that, for example, even if the communication device 217 is only capable of very short-range wireless or wired communication, the gas information P1 can be transmitted to the management system 30 in a remote location via the first communication device 235 of the flying object 23. However, for example, if the control device 231 of the flying object 23 can transmit the gas information P1 acquired by the detection device 21 via the first communication device 235, the communication device 217 of the detection device 21 and the second communication device 236 of the flying object 23 are not essential. Furthermore, the functions of the control device 211 and the storage device 213 of the detection device 21 may be realized by the control device 231 and the storage device 232 of the flying object 23.

[0062] <Modification> The above-described exemplary embodiments can be modified in various ways. Specific modified embodiments are exemplified below. Two or more embodiments selected from the following examples can also be combined as appropriate.

[0063] (1) In the above-described embodiment, the detection system 20 may transmit a captured image to the management system 30 when the concentration indicated by the concentration information P11 detected by the detection device 21 exceeds a reference value. For example, when the control device 231 of the flying object 23 determines that the concentration indicated by the concentration information P11 included in the detection system 20 exceeds a preset reference value, the control device 231 instructs the first communication device 235 to transmit the captured image generated by the imaging device 233. For example, the control device 231 causes the first communication device 235 to transmit, to the management system 30, gas information P1 including concentration information P11 indicating a concentration exceeding the reference value and time information P12, and a captured image corresponding to the gas information P1 (typically, a captured image generated at a time corresponding to (e.g., closest to) the time indicated by the time information P12 included in the gas information P1). However, as long as the management system 30 can determine the time and location at which the captured image was captured, the configuration of transmitting the captured image in association with the gas information P1 is not essential. The display device 37 of the management system 30 displays, for example, the captured image together with the gas information P1 and the position information P2. The manner in which the captured image is displayed is not particularly limited. With the above configuration, for example, in addition to the concentration indicated by the concentration information P12 (concentration exceeding the reference value) and the position indicated by the position information P2, the state of the surroundings of the flying object 23 when the concentration was detected can also be grasped.

[0064] (2) In the above-described embodiment, it is possible that the aircraft 23 cannot acquire the position information P2 (for example, when the travel distance cannot be determined by visual odometry). Below, we will explain a method for determining the position of the detection system 20 (aircraft 23) when the aircraft 23 cannot acquire the position information P2.

[0065] First, as a premise, if a captured image generated by the captured image contains a marker M, the control device 231 of the flying object 23 flies based on flight control information represented by the marker M. Furthermore, if the captured image contains a marker M, the control device 231 causes the first communication device 25 to transmit information about the marker M (hereinafter referred to as "marker information") to the management system 30. Whether or not the captured image contains the marker M is determined by a known image analysis process. The marker information includes, for example, a captured image containing the marker M and information indicating the time when the marker M was captured (hereinafter referred to as "imaging time information"). In other words, the imaging time information is the time when the flying object 23 was flying near the marker M.

[0066] When marker information is transmitted from the detection system 20 (aircraft 23), the control device 31 (an example of an "identification unit") of the management system 30 identifies the position of the aircraft 23 according to the marker information (captured image + imaging time information). The control device 31 identifies, for example, by image analysis processing, which of the multiple markers M1-M4 the marker M included in the captured image is. As described above, the position of each marker M is known, so it is possible to identify the position of the marker M included in the captured image and the time at which the aircraft 23 flew near that marker M (the time indicated by the imaging time information). Furthermore, since the speed of the aircraft 23 is known, if marker information can be acquired, it is possible to identify the position of the aircraft 23 after the time at which the marker information was acquired (hereinafter referred to as the "estimated position") and the time at which the aircraft 23 flew at that estimated position (hereinafter referred to as the "estimated time").

[0067] On the other hand, if the position information P2 cannot be acquired (identified) by the air vehicle 23, the first communication device 235 of the air vehicle 23 will transmit the gas information P1 (concentration information P11, time information P12) without transmitting the position information P2. If the position information P2 is not transmitted together with the gas information P1, the management system 30 can identify the estimated position at the estimated time corresponding to the time indicated by the time information P12 of the gas information P1 as the position where the concentration indicated by the concentration information P11 of the gas information P1 was detected (i.e., the position of the air vehicle 23 at the time the concentration was detected).

[0068] The configuration for determining the position of the aircraft 23 using marker information has the advantage that it is possible to determine the gas concentration and the position where that concentration was detected even when the position information P2 cannot be acquired. Note that a configuration for determining the position of the aircraft 23 from the marker information may also be employed, regardless of whether the position information P2 can be acquired. In this configuration, the position of the aircraft 23 is determined with high accuracy using both the position indicated by the position information P2 and the position determined from the marker information.

[0069] (3) In the above-described embodiment, the management system 30 may notify the administrator by any means (such as an alert email) of information to warn the administrator when the concentration indicated by the concentration information P12 exceeds a predetermined reference value.

[0070] (4) In the above embodiment, the flying object 23 may be flown in a GNSS environment. In the GNSS environment, the position information P2 (e.g., GPS coordinates) may be acquired by analyzing radio waves received from multiple positioning satellites of a satellite positioning system. [Explanation of symbols]

[0071] 12:Storage device 20: Detection system 21:Detection device 23: Flying object 30: Management System 31: Control device 33: Storage device 35: Communication equipment 37:Display device 100: Information Processing Systems 211: Control device 213 :Storage device 215: Gas detection unit 217:Communication equipment 231: Control device 232: Storage device 233: Imaging device 235: First communication device 236: Second communication device P1: Gas information P2: Location information

Claims

1. an aircraft that flies in an area where gas is to be detected and has a first communication device and an acquisition unit that acquires location information; a detection device that is installed on the aircraft and has a gas detection unit that detects the concentration of the gas; The first communication device transmits, to a management system, gas information including concentration information indicating the concentration detected by the gas detection unit and the location information corresponding to the gas information. Detection system.

2. the air vehicle further includes a second communication device; the detection device further comprises a third communication device; the third communication device transmits the gas information to the second communication device; the second communication device acquires the gas information transmitted from the third communication device; The first communication device transmits the gas information acquired by the second communication device to the management system. The detection system of claim 1 .

3. the gas information includes time information indicating a time when the concentration was detected, The first communication device transmits the location information acquired at a time corresponding to the time indicated by the time information to the management system. The detection system of claim 1 .

4. The flying object further includes an imaging device that generates an image of the surroundings while flying, When the concentration indicated by the concentration information included in the gas information exceeds a reference value, the first communication device transmits the image generated by the imaging device at a time corresponding to the time information included in the gas information to the management system. The detection system of claim 1 .

5. a fourth communication device that acquires the gas information and the location information transmitted from the detection system of claim 1; and a display device that displays the concentration represented by the gas information in association with the position represented by the position information. Management system.

6. A marker representing flight control information indicative of flight-related controls is placed within the area; The flying object further has an imaging device capable of imaging the surroundings in parallel with flight, and flies according to the marker imaged by the imaging device, If the location information is not transmitted from the detection device together with the gas information, an identification unit is provided to identify the location of the aircraft based on information about the marker captured by the imaging device. The management system of claim 5.

7. The display device displays the density and the distance from the start of flight of the flying object in association with each other in an area where a density axis and a distance axis are set. The management system of claim 5.

8. a detection system and a management system; The detection system comprises: an aircraft that flies in an area where gas is to be detected and has a first communication device and an acquisition unit that acquires location information; a detection device installed on the aircraft and having a gas detection unit that detects the concentration of the gas; the first communication device transmits gas information indicating the concentration detected by the gas detection unit and the location information corresponding to the gas information to the management system; the management system includes a fourth communication device that acquires the gas information and the location information transmitted from the detection system; a display device that displays the concentration represented by the gas information and the position represented by the position information in association with each other. Information processing system.

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