Inspection equipment, ports, aircraft, inspection methods and programs

Abstract

The drone's exterior is inspected autonomously. [Solution] The inspection device comprises an imaging unit that images the aircraft; an analysis unit that analyzes the state of the aircraft based on predetermined inspection items by image analysis of the image information of the aircraft captured by the imaging unit; a determination unit that determines whether the aircraft is capable of flight based on the analysis results from the analysis unit; and an output unit that outputs the result determined by the determination unit.

Description

Technical Field

[0001] The present invention relates to an inspection device, a port, an aircraft, an aircraft system, an inspection method, and a program.

Background Art

[0002] Conventionally, for structures such as iron towers, it has been becoming common to perform inspections and monitoring using unmanned aircraft such as drones. In particular, when the range for inspection and monitoring is vast, it is useful to perform inspections and monitoring using an unmanned aircraft such as a drone. For example, Patent Document 1 describes a technique for an inspection method using a drone.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Here, drones used for such inspection and monitoring work are preferably inspected regularly in order to perform work by autonomous flight safely. Conventionally, it has been possible to autonomously inspect the internal state of a drone such as checking the battery, but in order to inspect the appearance of the drone, inspection by human hands has been required. However, since inspection by human hands is troublesome, there is a demand for autonomously inspecting the appearance of the drone.

[0005] The present invention has been made in consideration of such circumstances, and an object thereof is to provide an inspection device, a port, an aircraft, an aircraft system, an inspection method, and a program capable of autonomously inspecting the appearance of a drone.

Means for Solving the Problems

[0006] (1) One aspect of the present invention is an inspection device comprising: an imaging unit for imaging an aircraft; an analysis unit for analyzing the state of the aircraft based on predetermined inspection items by image analysis of the image information of the aircraft captured by the imaging unit; a determination unit for determining whether the aircraft is capable of flight based on the analysis results from the analysis unit; and an output unit for outputting the results determined by the determination unit. (2) In addition, in the inspection device described in (1) above, the output unit outputs a control signal for cleaning the area where the foreign matter is attached if the analysis unit determines, as a result of the analysis, that the analysis cannot be performed on the aircraft due to foreign matter being attached. (3) In addition, in one aspect of the present invention, in the inspection device of (1) or (2) described above, the output unit outputs a signal to notify the administrator when the determination unit determines that the aircraft is unable to fly. (4) In addition, in one aspect of the present invention, in any of the inspection devices described in (1) to (3) above, the determination unit, when inspecting the internal functions of the aircraft, also determines whether the aircraft is capable of flight based on the analysis results from the analysis unit. (5) In addition, in one aspect of the present invention, in any of the inspection devices described in (1) to (4) above, the analysis unit further comprises a creation unit which generates text data by inputting the image information of the aircraft captured by the imaging unit into a generation model that generates text data that verbalizes the state of the aircraft for each predetermined inspection item, using the image information of the aircraft captured by the imaging unit as input data, and creates an inspection result by inputting the inspection result into a predetermined format based on the generated text data. (6) Another aspect of the present invention is a port comprising any of the inspection devices described in (1) to (5) above, and a storage section for storing the aircraft. (7) In addition, in the port of (6) described above, the output unit further comprises a cleaning device that, if the analysis by the analysis unit determines that analysis is not possible due to foreign matter adhering to the aircraft, outputs a control signal for cleaning the area where the foreign matter is adhering, and cleans the aircraft based on the control signal for cleaning the area where the foreign matter is adhering. (8) Another aspect of the present invention is an aircraft equipped with any of the inspection devices described in (1) to (5) above. (9) In another aspect of the present invention, in the aircraft described in (8) above, the imaging unit images its own appearance by imaging a mirror. (10) In addition, in one aspect of the present invention, in the aircraft described in (8) or (9) above, the imaging unit provided in the inspection device images another aircraft different from itself, and the analysis unit provided in the inspection device analyzes the state of the other aircraft different from itself, which is imaged by the imaging unit. (11) Another aspect of the present invention further comprises a flight control unit that controls the flight of the aircraft described in (10) above so as to take images of inspection points of other aircraft different from itself. (12) In another aspect of the present invention, in the aircraft described in (11) above, the flight control unit transmits a predetermined control signal to another aircraft different from itself so that it can perform the desired flight control according to the inspection items. (13) Another aspect of the present invention is a flight system comprising the aircraft described in (9) above, a storage section for housing the aircraft, and a port having at least a mirror for reflecting the appearance of the aircraft. (14) Another aspect of the present invention is an inspection method performed using a computer, comprising: an imaging step of imaging an aircraft; an analysis step of analyzing the state of the aircraft based on predetermined inspection items by image analysis of the image information of the aircraft captured by the imaging step; a determination step of determining whether the aircraft is capable of flight based on the analysis results from the analysis step; and an output step of outputting the result determined by the determination step. (15) Another aspect of the present invention is a program that causes a computer to perform an imaging step of imaging an aircraft; an analysis step of analyzing the state of the aircraft based on predetermined inspection items by image analysis of the image information of the aircraft captured by the imaging step; a determination step of determining whether the aircraft is capable of flight based on the analysis results of the analysis step; and an output step of outputting the result determined by the determination step. [Effects of the Invention]

[0007] According to the present invention, it is possible to provide an inspection device, port, aircraft, flight system, inspection method, and program that can autonomously inspect the appearance of a drone. [Brief explanation of the drawing]

[0008] [Figure 1] This is a diagram illustrating a schematic of a system according to one embodiment. [Figure 2] This is a functional configuration diagram showing an example of the functional configuration of the inspection device according to this embodiment. [Figure 3] This is a functional configuration diagram showing an example of the functional configuration of a port when the inspection device according to this embodiment is included in the port. [Figure 4] This diagram schematically shows the image of the image being captured when the inspection device according to this embodiment is included in the port. [Figure 5] This is a functional configuration diagram showing an example of the functional configuration of a drone when the inspection device according to this embodiment is included in the drone. [Figure 6] The first figure schematically shows an image of the imaging when the inspection device according to this embodiment is included in a drone. [Figure 7] The second figure schematically shows an image of the imaging when the inspection device according to this embodiment is included in a drone. [Figure 8] This diagram illustrates information communication during image capture when the inspection device according to this embodiment is included in a drone. [Figure 9] This is a diagram showing an overview of a system when the inspection device according to this embodiment is included in a server. [Figure 10] This is a flowchart showing a series of processes of the inspection method according to this embodiment. [Figure 11] This is a block diagram showing an example of the internal configuration of the inspection device according to this embodiment.

Mode for Carrying Out the Invention

[0009] [Embodiment] Regarding an inspection device, a port, an aircraft, an aircraft system, an inspection method, and a program according to an aspect of the present invention, preferred embodiments will be described in detail below with reference to the accompanying drawings. Note that the aspects of the present invention are not limited to these embodiments, and also include those with various modifications or improvements added. That is, the components described below include those that can be easily assumed by those skilled in the art and substantially identical ones, and the components described below can be combined as appropriate. Also, various omissions, substitutions, or changes of the components can be made without departing from the gist of the present invention. Also, in the following drawings, in order to make each configuration easier to understand, the scale and number, etc. of each structure may be different from those in the actual structure.

[0010] [System Configuration] FIG. 1 is a diagram showing an overview of a system according to an embodiment. The system 1 includes a drone 10 and a flight management device 30, and performs monitoring or inspection of facilities 50. Note that in the figure, for simplicity of explanation, one facility 50 is shown, but the system 1 may monitor a plurality of facilities 50. Also, in the figure, for simplicity of explanation, one drone 10 is shown, but a plurality of drones 10 may be provided. In this case, the plurality of drones 10 may each perform wireless communication with a common flight management device 30, or may each perform wireless communication with an independent flight management device 30. That is, the relationship between the flight management device 30 and the drone 10 may be 1 to N (N is a natural number of 1 or more), or N to N.

[0011] The facility 50 is a facility that the system 1 targets for monitoring or inspection, etc. The facility 50 may be a communication tower (which can also be called a base station) used for wireless communication. Also, the facility 50 may be something fixed to the ground outdoors, such as a solar power generation facility. As another example of the facilities that the system 1 monitors, in addition to power transmission lines and towers, bridges, tunnels, industrial facilities, etc. may also be included. Further, the system 1 may be used in areas such as farmland, forests, rivers, coastlines, etc., where there are some facilities.

[0012] The flight management device 30 manages the flight of the drone 10. Specifically, the flight management device 30 gives a flight instruction to the drone 10 and monitors the facility 50. Monitoring the facility 50 may, for example, be monitoring that the items equipped on the facility 50 are not stolen. Specifically, the items equipped on the facility 50 may be, for example, electric wires, solar panels, etc. when the facility 50 is a solar power generation facility. Monitoring the facility 50 may include, in addition to flying around the facility 50, for example, imaging the images around the facility 50 and detecting intruders around the facility 50.

[0013] The drone 10 flies around the facility 50 and conducts monitoring based on the instruction from the flight management device 30. The drone 10 may image the images around the facility 50 or detect intruders around the facility 50 based on the instruction of the flight management device 30. In this embodiment, it is premised that the drone 10 is capable of flying. In the following description, the drone 10 may sometimes be described as a flying object.

[0014] The information processing device, information processing method, and program according to this embodiment are preferably applied to the flight of the drone 10 using the system 1 as described above. However, this embodiment is not limited to such an example and may also be used to determine candidates for the takeoff and landing points of various flying objects.

[0015] In the following embodiments, the term "takeoff and landing" refers to at least one of takeoff or landing, and does not necessarily refer to both takeoff and landing.

[0016] Although System 1 describes the equipment 50 as the object that the drone 10 monitors or inspects, the equipment 50 is not necessarily required in this embodiment. In other words, this embodiment can be broadly applied to any system in which the drone 10 takes off and lands, and does not limit the purpose of the drone 10's takeoff and landing to monitoring or inspection.

[0017] [Inspection device] Figure 2 is a functional configuration diagram showing an example of the functional configuration of the inspection device according to this embodiment. An example of the functional configuration of the inspection device 71 will be described with reference to this figure. The inspection device 71 is a device for inspecting the drone 10 used in the system 1 as described above. The location where the inspection device 71 is installed is not particularly limited and may be installed, for example, inside the drone 10 or in the port 40 where the drone 10 takes off and lands. The specific functional configuration for each location where the drone 10 is located will be described later.

[0018] The inspection device 71 primarily inspects the external appearance of the drone 10. However, this embodiment is not limited to this example, and for example, the inspection device 71 may also inspect the internal condition (e.g., battery capacity) of the drone 10 in addition to its external appearance.

[0019] The inspection device 71 comprises an imaging unit 72, an analysis unit 73, a determination unit 74, and an output unit 75. Each of these functional units is implemented, for example, using an electronic circuit. Each functional unit may also be equipped with internal storage means such as semiconductor memory or a magnetic hard disk drive, as needed. Furthermore, each function may be implemented by a computer with a CPU (Central Processing Unit) and software. In addition, all or part of each functional unit may be implemented using hardware (e.g., circuitry) such as an ASIC (Application Specific Integrated Circuit), PLD (Programmable Logic Device), or FPGA (Field-Programmable Gate Array). Furthermore, all or part of each functional unit may be implemented by a combination of software and hardware.

[0020] The imaging unit 72 acquires an image of the drone 10's exterior. Specifically, the imaging unit 72 may acquire an image of the drone 10's exterior by equipping it with an optical lens, image sensor, etc. (not shown). The imaging unit 72 only needs to acquire an image of the drone 10's exterior, and may acquire an image taken by an external component of the inspection device 71 (for example, an imaging device provided outside the inspection device 71).

[0021] The image captured by the imaging unit 72 is preferably an image having RGB pixel values ​​as constituent elements, but this embodiment is not limited to this example. The image may be a monochrome image. The image may also be a distance image containing distance information, a thermal image (thermography) containing temperature information, or a polarized image containing polarization information. Furthermore, the image may be a combination of these images.

[0022] The analysis unit 73 performs image analysis on the image information of the drone 10 captured by the imaging unit 72. By performing this image analysis, the analysis unit 73 analyzes the state of the drone 10 based on predetermined inspection items. Here, it is preferable that the predetermined inspection items are predetermined. Specific inspection points can be provided, such as the appearance, damage, and distortion. The analysis unit 73 may analyze each inspection item to determine whether it is "good" or "bad," or it may analyze the degree of the problem.

[0023] The determination unit 74 determines whether the drone 10 is capable of flight based on the analysis results from the analysis unit 73. For example, if the analysis unit 73 analyzes whether the result is "good" or "bad," the determination unit 74 may determine that the drone is not capable of flight if the distortion is bad. Also, if the analysis unit 73 analyzes the degree of each inspection item, the determination unit 74 may determine whether the drone 10 is capable of flight based on the results analyzed by the analysis unit 73 and a predetermined threshold. Furthermore, the determination unit 74 may comprehensively evaluate multiple inspection items to determine whether the drone 10 is capable of flight.

[0024] In this embodiment, the inspection device 71 may perform an inspection of internal functions in addition to an inspection of external appearance. When the inspection device 71 performs an inspection of internal functions, the determination unit 74 may, at the same time as inspecting the internal functions of the drone 10, determine whether the drone 10 is capable of flight based on the analysis results from the analysis unit 73. By performing an inspection of external appearance and an inspection of internal functions almost simultaneously, the drone 10 can be inspected comprehensively.

[0025] The output unit 75 outputs the result determined by the determination unit 74. For example, if the output unit 75 determines that the drone 10 is unable to fly, the determination unit 74 may notify the flight management device 30 that manages the flight of the drone 10, or the administrator that manages system 1, that the drone 10 is unable to fly. In other words, the output unit 75 can also output a signal to notify the administrator if the determination unit 74 determines that the drone 10 is unable to fly. Upon receiving notification that the drone 10 is unable to fly, the administrator of system 1 may perform maintenance on the drone 10 and proceed to the site where the drone 10 is located.

[0026] In this embodiment, the output unit 75 is not limited to outputting whether or not the drone 10 is unable to fly, but may also output inspection results. In that case, it is preferable that the inspection results are generated by the analysis unit 73. The analysis unit 73 may generate the inspection results using, for example, a known generation AI. In this case, the generation model is assumed to be one that takes image information of the drone 10 as input data and generates text data that verbalizes the state of the drone 10 for each predetermined inspection item. The analysis unit 73 receives the image information of the drone 10 captured by the imaging unit 72 as input to the generation model. The generation model generates text data based on the image information of the drone 10. Based on the generated text data, the analysis unit 73 creates an inspection result by inputting the inspection results in a predetermined format. The output unit 75 outputs the inspection result created by the analysis unit 73.

[0027] [If the inspection device is included in the port] Figure 3 is a functional configuration diagram showing an example of the functional configuration of a port when the inspection device according to this embodiment is included in the port. Referring to the same figure, an example of the functional configuration of port 40 when the inspection device 71 is included in port 40 on which the drone 10 takes off and lands will be described.

[0028] Port 40 comprises a port control device 41 and a storage unit 45. The port control device 41 comprises the inspection device 71 and cleaning device 411 described above. The storage unit 45 is a mechanical structure for housing the drone 10. The storage unit 45 only needs to be able to take off and land the drone 10, and does not necessarily need to be electrically connected to the port control device 41. However, it is also possible to adopt a configuration in which the port control device 41 and the storage unit 45 are electrically connected, and the drone 10 is stored inside the port 40 by opening and closing a lid or the like (not shown) provided in the storage unit 45.

[0029] The port control device 41 controls the port 40. For example, when the drone 10 takes off, the port control device 41 opens the lid, allowing the drone 10 to fly out of the storage compartment 45. The port control device 41 then closes the lid after the drone 10 has taken off. Furthermore, when the drone 10 lands, the port control device 41 opens the lid again, allowing the drone 10 to land in the storage compartment 45. The opening and closing of the lid may be controlled only after the inspection device 71 has determined that the drone is flyable. In other words, if the inspection device 71 determines that the drone is not flyable, the lid may not be opened or closed.

[0030] The cleaning device 411 cleans the drone 10 based on a control signal for cleaning areas where foreign matter is attached. Cleaning by the cleaning device 411 may be performed, for example, by spraying water onto the drone 10, by scrubbing with a brush, or by spraying air. Cleaning by the cleaning device 411 may also be performed by a combination of these methods.

[0031] In this case, the inspection device 71 may find that foreign matter or other contaminants are attached to the exterior of the drone 10. In such a case, it may be determined that the drone is not capable of flight, but by removing the contaminants and performing the inspection again afterward, it may be determined that the drone is capable of flight. Therefore, by equipping port 40 with a cleaning device 411, it is possible to make the drone 10 capable of flight even in cases where it has been determined that it is not capable of flight. In this case, if the analysis by the analysis unit 73 determines that analysis is not possible because foreign matter is attached to the drone 10, the output unit 75 of the inspection device 71 outputs a control signal to the cleaning device 411 to clean the area where the foreign matter is attached.

[0032] Figure 4 is a schematic diagram showing the image of the imaging when the inspection device according to this embodiment is included in the port. Referring to this figure, an example of how the drone 10 is imaged when the inspection device 71 is included in the port 40 will be explained. In the figure, an imaging unit 72A is shown as an example of the imaging unit 72.

[0033] In the illustrated example, the imaging unit 72A is physically fixed to the port 40. The imaging unit 72A may have, for example, an extendable section 721 that moves based on instructions from the port control device 41. For example, when the inspection device 71 is not inspecting the drone 10, the extendable section 721 may be stored inside the port 40, and the imaging unit 72A may be in a state where imaging is not possible. Also, when the inspection device 71 is inspecting the drone 10, the extendable section 721 may extend outside the port 40 as shown in the illustration based on instructions from the port control device 41, etc., and the imaging unit 72A may be in a state where imaging is possible.

[0034] The imaging unit 72A performs imaging at a field of view α. When the drone 10 is housed in the storage unit 45, it is preferable that the drone 10 is within the field of view α. When imaging the entire drone 10, the drone 10 may change its posture based on instructions from the inspection device 71, or the imaging unit 72A may move around the drone 10 to capture multiple images from multiple points. Furthermore, if the drone 10 has movable parts, the movable parts may be moved to capture images in multiple states.

[0035] The method for imaging the appearance of the drone 10 when the inspection device 71 is included in the port 40 is not limited to this example, and imaging can be performed by various other methods. For example, the imaging unit 72A may image the drone 10 when the drone 10 is not landed in the storage unit 45. Examples of when the drone 10 is not landed in the storage unit 45 include when the drone 10 is landed near the imaging unit 72A or when the drone 10 is flying. Furthermore, the imaging unit 72A does not necessarily have to be provided in the port 40; if there is some imaging device near the port 40, imaging may be performed by borrowing that imaging device during inspection.

[0036] [If the inspection equipment includes a drone] Figure 5 is a functional configuration diagram showing an example of the functional configuration of a drone when the inspection device according to this embodiment is included in the drone. Referring to the same figure, an example of the functional configuration of the drone 10 when the inspection device 71 is included in the drone 10 will be described.

[0037] The drone 10 comprises a drone control device 11 and an inspection device 71. The drone control device 11 controls the drone 10. Specifically, the drone control device 11 controls the flight of the drone 10 by driving motors, sensors, etc. (not shown) that are equipped in the drone 10. The drone control device 11 determines the necessity of an inspection based on the time since the last inspection, the flight time since the last inspection, the flight distance since the last inspection, or the environment before and after the flight (weather, temperature, etc.). If an inspection is required, the drone control device 11 instructs the inspection device 71 to start the inspection. The inspection device 71 returns the inspection results to the drone control device 11.

[0038] Here, when the inspection device 71 is included in the drone 10, there are several possible imaging methods for capturing images of the drone 10's appearance. A specific example of the first imaging method will be described below with reference to Figure 6, and a specific example of the second imaging method will be described with reference to Figures 7 and 8.

[0039] Figure 6 is a first diagram schematically showing an image of the imaging when the inspection device according to this embodiment is included in a drone. Referring to this figure, a first imaging method for imaging the exterior of the drone 10 will be described. In the first imaging method, the exterior of the drone 10 is imaged using a mirror M.

[0040] As shown in the figure, port 40 is equipped with a mirror M that reflects the appearance of the drone 10. The mirror M may be positioned, for example, on the side of port 40. In addition, to prevent dirt from adhering to the mirror surface of the mirror M, the port 40 may have a structure that allows the mirror M to be stored inside the port 40 when not in inspection and exposed when in inspection.

[0041] Furthermore, although not shown in the diagram, the mirror M may have a configuration similar to the cleaning device 411 described above to deal with foreign matter or dirt adhering to it. The cleaning device 411 uses water, air, brushes, etc., to suitably remove foreign matter or dirt adhering to the mirror M.

[0042] The figure shows an example of an imaging unit 72B provided by the drone 10. The imaging unit 72B may be exposed only when imaging, or it may be exposed at all times. As shown in the figure, the imaging unit 72B images its own appearance by imaging the mirror M at a field of view α. As mentioned above, if it is desired to image the entire appearance of the drone 10, the drone 10 may change its posture and perform multiple imagings.

[0043] Figure 7 is a second diagram schematically showing an image of the imaging when the inspection device according to this embodiment is included in a drone. Referring to this figure, a second imaging method for imaging the exterior of the drone 10 will be described. In the second imaging method, two drones 10 are used to image each other's exteriors. In the second imaging method, drone 10 can also image another drone 10 that is different from itself.

[0044] The figure shows two drones 10, drone 10-1 and drone 10-2. Drone 10-1 takes an image of the exterior of drone 10-2. Drone 10-1 can also be described as the imager, and drone 10-2 as the subject of the image. Drone 10-1 approaches drone 10-2 to a position where drone 10-2 is within the field of view α, and takes an image of drone 10-2. Drone 10-1 may have the distance to approach memorized in advance, or it may adjust according to the field of view. Drone 10-1 may also analyze the size of drone 10-2 currently being displayed by processing the captured image as appropriate, and adjust its position so that the size becomes a predetermined size.

[0045] Here, when imaging each other's drones 10, the drones 10 may be stationary on the ground (for example, in a storage compartment 45 provided by port 40) or they may be in flight. For example, when imaging is performed while stationary on the ground, it is preferable that inspections be carried out around port 40. Furthermore, it is even preferable if port 40 is capable of housing two drones 10.

[0046] When imaging each other's drones 10 during flight, the imaging will be performed while changing the relative attitudes. Therefore, when imaging is performed during flight, it becomes easy to image the entire exterior of the drones 10. "During flight" can refer to a state where the drones are stationary in the air or while they are moving.

[0047] In addition, imaging may be performed while either the imager or the subject is stationary on the ground, and the other is in flight.

[0048] Figure 8 is a diagram illustrating information communication during imaging when the inspection device according to this embodiment is included in a drone. Referring to this figure, an example of information communication when the second imaging method is adopted will be explained.

[0049] In the illustrated example, first, drone 10-2 transmits an inspection start instruction to drone 10-1, indicating that it wants to perform an inspection of itself. Upon receiving the inspection start instruction, drone 10-1 begins inspecting drone 10-2. Specifically, among the components of drone 10-1, the drone control device 11 described above controls its flight to image the inspection points of other drones 10 that are different from itself. The component of the drone control device 11 that controls the flight of drone 10 may also be referred to as the flight control unit. In the second imaging method, the imaging unit 72B images the other drones 10. Therefore, the analysis unit 73 analyzes the state of the other drones 10 that are different from itself, as imaged by the imaging unit 72B. The output unit 75 of drone 10-1 outputs the inspection results to drone 10-2.

[0050] [If the inspection device is included in the server] Figure 9 is a schematic diagram of the system when the inspection device according to this embodiment is included in a server. Referring to this figure, an example of when the inspection device 71 is provided in the server 70 will be described. When the inspection device 71 is provided in the server 70, it is preferable that the system 1 includes a plurality of drones 10. In the figure, drone 10-1 and drone 10-2 are shown as examples of a plurality of drones 10. However, this embodiment is not limited to this example, and the system 1 may include a plurality (many) of drones 10.

[0051] As shown in the figure, the inspection device 71 is provided on the server 70. The server 70 communicates with multiple drones 10 via a predetermined communication network NW. The inspection device 71 provided on the server 70 transmits imaging instructions to each of the multiple drones 10 via the said communication network NW. An imaging instruction is an instruction to take an image of its own appearance.

[0052] When the drone 10 receives an imaging instruction from the inspection device 71 via the communication network NW, it can image its own exterior using either the imaging unit 72A provided on port 40, as explained with reference to Figure 4, or the imaging unit 72B provided on the drone 10, as explained with reference to Figures 6 to 8. The drone 10 then transmits the image of its own exterior to the inspection device 71 via the communication network NW.

[0053] When the inspection device 71 receives an image of its own appearance from the drone 10, it performs an inspection of the drone 10. Depending on the inspection results, the inspection device 71 may issue flight instructions or standby instructions to the drone 10.

[0054] [A series of steps in the inspection process] Figure 10 is a flowchart showing the sequence of steps in the inspection method according to this embodiment. The sequence of steps in the inspection method performed using the inspection device 71 described above will be explained with reference to this figure.

[0055] (Step S11) First, the inspection device 71 takes an image of the drone 10. Preferably, the image of the drone 10 is taken from multiple different points so that the entire drone 10 can be captured. Because the image is taken from multiple different points, the relative position of the drone 10 and the imaging unit 72 changes. In this case, the drone 10 may move, the imaging unit 72 may move, or both may move. This process may also be called the imaging process or imaging step.

[0056] (Step S12) Next, the inspection device 71 performs image analysis on the image information of the drone 10's appearance acquired in step S11. Based on the results of this image analysis, the inspection device 71 analyzes the condition of the drone 10 for each predetermined inspection item. The predetermined inspection items include whether there are any foreign objects attached to the exterior, whether there are any damaged areas, and whether there are any areas where distortion has occurred. The inspection device 71 may also analyze the degree of each item. This process may also be called the analysis process or analysis step.

[0057] (Step S13) Next, the inspection device 71 determines whether the drone 10 is capable of flight based on the analysis results obtained in step S12. This determination is made comprehensively based on the analysis results for each of the multiple inspection items. This process may also be referred to as the determination process or determination step.

[0058] (Step S14) Finally, the inspection device 71 outputs the result determined in step S13. The inspection device 71 may also output the analysis results from step S12 as a report. This process may also be called the output process or output step.

[0059] [Internal structure] Figure 11 is a block diagram showing an example of the internal configuration of the inspection device according to this embodiment. The computer shown in the figure shows an example of a specific hardware configuration for realizing the inspection device 71. The computer consists of a central processing unit (processor) 901, RAM 902, input / output ports 903, input / output devices 904 and 905, etc., and a bus 906. The computer itself can be realized using existing technology. The central processing unit 901 executes instructions contained in programs read from RAM 902, etc. The central processing unit 901 writes data to RAM 902, reads data from RAM 902, and performs arithmetic and logical operations according to each instruction. RAM 902 stores data and programs. Each element contained in RAM 902 has an address and can be accessed using that address. RAM stands for "Random Access Memory". Input / output ports 903 are ports for the central processing unit 901 to exchange data with external input / output devices, etc. Input / output devices 904 and 905 are input / output devices. Input / output devices 904 and 905 exchange data with the central processing unit 901 via input / output ports 903. Bus 906 is a common communication channel used within the computer. For example, the central processing unit 901 reads and writes data to RAM 902 via bus 906. Also, for example, the central processing unit 901 accesses input / output ports via bus 906. Furthermore, all or part of the inspection device 71 may be implemented using hardware such as ASICs, PLDs, or FPGAs. Furthermore, all or part of each functional unit may be implemented by a combination of software and hardware.

[0060] [Summary of Embodiments] According to the embodiment described above, the inspection device 71 comprises an imaging unit 72, an analysis unit 73, a determination unit 74, and an output unit 75. The imaging unit 72 captures an image of the drone 10's appearance. The analysis unit 73 analyzes the state of the drone 10 based on predetermined inspection items by performing image analysis on the image information of the drone 10 captured by the imaging unit 72. The determination unit 74 determines whether the drone 10 is capable of flight based on the analysis results from the analysis unit 73. The output unit 75 outputs the result determined by the determination unit 74. By adopting this configuration, the inspection device 71 can autonomously inspect the appearance of the drone 10 without requiring human intervention.

[0061] Furthermore, according to this embodiment, if the analysis unit 73 determines that analysis is not possible due to foreign matter adhering to the drone 10, the output unit 75 outputs a control signal to clean the area where the foreign matter is adhering. By adopting this configuration, the inspection device 71 can autonomously inspect the appearance of the drone 10 without human intervention, even if analysis is not possible due to foreign matter adhering to the drone 10.

[0062] Similarly, if the output unit 75 determines, based on the scoring results from the determination unit 74, that the drone 10 is unable to fly due to foreign matter adhering to it, it may output a control signal to clean the area where the foreign matter is attached. By adopting such a configuration, even if the inspection device 71 determines that the drone 10 is unable to fly due to foreign matter adhering to it, it will be possible to autonomously clean the exterior of the drone 10 and make it flyable without requiring human intervention.

[0063] Furthermore, according to this embodiment, if the determination unit 74 determines that the drone 10 is unable to fly, the output unit 75 outputs a signal to notify the administrator. By adopting this configuration, if the inspection device 71 determines that the drone 10 is unable to fly, it can contact the administrator and perform the necessary processing.

[0064] Furthermore, the inspection device 71 may first perform the cleaning process described above, as well as other processes to autonomously restore the aircraft from an unflyable state to a flyable state, and if it is still unflyable, it may output a signal to notify the administrator. By adopting such a configuration, instead of immediately relying on the administrator, the aircraft can first attempt to restore itself autonomously, and only if it is still unsuccessful can it contact the administrator and perform the necessary actions.

[0065] Furthermore, according to this embodiment, when the determination unit 74 inspects the internal functions of the drone 10, it may also determine whether the drone 10 is capable of flight based on the analysis results from the analysis unit 73. By adopting such a configuration, the inspection device 71 can perform a more accurate inspection by comprehensively considering the inspection of the internal functions and the external appearance of the drone 10. For example, if a malfunction is found as a result of the inspection of the internal functions, the device may perform a process to identify the reason from the external image.

[0066] Furthermore, according to this embodiment, the analysis unit 73 generates text data by inputting the image information of the drone 10 captured by the imaging unit 72 into a generation model that generates text data that verbalizes the state of the aircraft for each predetermined inspection item, using the image information of the drone 10 as input data. Based on the generated text data, the analysis unit 73 creates an inspection result by inputting the inspection results in a predetermined format, and the output unit 75 outputs the inspection result created by the analysis unit 73. By adopting this configuration, the administrator of system 1 can obtain inspection results regarding the appearance of the drone 10.

[0067] Furthermore, according to this embodiment, port 40 includes an inspection device 71 and a cleaning device 411. The output unit 75 of the inspection device 71 outputs a control signal to clean the area where foreign matter is attached if the analysis unit 73 determines that analysis is not possible due to foreign matter being attached to the drone 10. The cleaning device 411 cleans the drone 10 based on the control signal to clean the area where foreign matter is attached. By adopting this configuration, the inspection device 71 can autonomously inspect the appearance of the drone 10 without human intervention, even if analysis is not possible due to foreign matter being attached to the drone 10.

[0068] Furthermore, according to this embodiment, the drone 10 is equipped with an inspection device 71. The imaging unit 72 of the inspection device 71 captures its own appearance by imaging a mirror. According to this embodiment, the drone 10 to be inspected is equipped with the imaging unit 72. By adopting this configuration, the drone 10 can perform inspections autonomously and easily without requiring special equipment or ports.

[0069] Furthermore, according to this embodiment, the imaging unit 72 provided in the inspection device 71 images other drones 10 that are different from itself, and the analysis unit 73 provided in the inspection device 71 analyzes the state of the other drones 10 that are different from itself, as imaged by the imaging unit 72. By adopting this configuration, the drone 10 can perform inspections autonomously and easily without even needing a mirror. In addition, according to this embodiment, since both the object to be inspected and the object being inspected can freely change their position through flight, it becomes possible to image the entire appearance of the drone 10.

[0070] Furthermore, according to this embodiment, the flight control unit of the drone 10 controls its flight to image inspection points of other drones 10 that are different from its own. According to this embodiment, the imaging unit 72 is not fixed and can be easily moved by the drone 10. Therefore, according to this embodiment, it is possible to image the entire exterior of the drone 10.

[0071] Furthermore, according to this embodiment, the flight control unit of the drone 10 transmits a predetermined control signal to another aircraft, different from itself, to perform the desired flight control according to the inspection items. According to this embodiment, the drone 10 being inspected is not stationary and can easily change its position by flight. Therefore, according to this embodiment, it is possible to image the entire appearance of the drone 10.

[0072] Furthermore, the above-described embodiment makes it possible to "autonomously inspect the appearance of the drone." The drone targeted by this embodiment is, for example, one used to monitor or inspect infrastructure such as equipment used in wireless communication networks. Therefore, according to this embodiment, it is possible to contribute to Goal 9 of the United Nations-led Sustainable Development Goals (SDGs), "Build resilient infrastructure, promote sustainable industrialization and expand innovation."

[0073] Although embodiments of the present invention have been described in detail above with reference to the drawings, the specific configuration is not limited to these embodiments, and design modifications and the like are also included within the scope of the gist of the present invention.

[0074] Alternatively, computer programs for realizing the functions of each of the above-mentioned devices may be recorded on a computer-readable recording medium, and the programs recorded on this recording medium may be loaded into a computer system and executed. Note that the term "computer system" here may include hardware such as an operating system and peripheral devices. Furthermore, "computer-readable recording media" refers to writable non-volatile memory such as flexible disks, magneto-optical disks, ROMs, and flash memory, portable media such as DVDs (Digital Versatile Discs), and storage devices such as hard disks built into computer systems.

[0075] Furthermore, "computer-readable recording media" also includes volatile memory (e.g., DRAM (Dynamic Random Access Memory)) within a computer system that acts as a server or client when a program is transmitted via a network such as the Internet or a communication line such as a telephone line, which retains the program for a certain period of time. In addition, the above program may be transmitted from the computer system that stores the program in a storage device, etc., to another computer system via a transmission medium or by transmission waves within the transmission medium. Here, the "transmission medium" for transmitting the program refers to a medium that has the function of transmitting information, such as a network such as the Internet or a communication line such as a telephone line. Furthermore, the above program may be for the purpose of realizing a part of the above-mentioned functions. Moreover, it may be a so-called differential file (differential program) that can realize the above-mentioned functions in combination with a program already recorded in the computer system. [Explanation of Symbols]

[0076] 1...System, 10...Drone, 30...Flight management device, 50...Equipment, 40...Port, 70...Server, 41...Port control device, 11...Drone control device, 71...Inspection device, 72...Imaging unit, 73...Analysis unit, 74...Determination unit, 75...Output unit, 411...Cleaning device, 45...Storage unit, M...Mirror

Claims

1. An imaging unit that images the aircraft, An analysis unit analyzes the state of the aircraft based on predetermined inspection items by performing image analysis on the image information of the aircraft captured by the imaging unit, A determination unit determines whether the aircraft is capable of flight based on the analysis results from the aforementioned analysis unit, An output unit that outputs the result determined by the determination unit, An inspection device equipped with the following features.

2. If the analysis unit determines that analysis is not possible due to foreign matter adhering to the aircraft, the output unit outputs a control signal to clean the area where the foreign matter is adhering. The inspection device according to claim 1.

3. The output unit outputs a signal to notify the administrator if the determination unit determines that the aircraft is unable to fly. The inspection device according to claim 1.

4. When the determination unit inspects the internal functions of the aircraft, it also determines whether the aircraft is capable of flight based on the analysis results from the analysis unit. The inspection device according to claim 1.

5. The analysis unit generates text data by inputting the image information of the aircraft captured by the imaging unit into a generation model that generates text data that verbalizes the state of the aircraft for each predetermined inspection item, using the image information of the aircraft captured as input data. Based on the generated text data, it creates an inspection result by inputting the inspection results into a predetermined format. The output unit outputs the inspection results created by the analysis unit. The inspection device according to claim 1.

6. An inspection device according to any one of claims 1 to 5, A storage compartment for storing the aforementioned aircraft, A port equipped with this feature.

7. If the analysis unit determines that analysis is impossible due to foreign matter adhering to the aircraft, the output unit outputs a control signal to clean the area where the foreign matter is adhering. The system further comprises a cleaning device for cleaning the aircraft based on the control signal for cleaning areas where foreign matter is attached. The port according to claim 6.

8. An aircraft equipped with an inspection device according to any one of claims 1 to 5.

9. The imaging unit captures its own appearance by imaging the mirror. The flying object according to claim 8.

10. The imaging unit provided in the aforementioned inspection device images other aircraft different from itself, The analysis unit provided in the inspection device analyzes the state of other aircraft different from itself, as captured by the imaging unit. The flying object according to claim 8.

11. The aircraft further comprises a flight control unit that controls its flight to image inspection points of other aircraft different from itself. The flying object according to claim 10.

12. The aforementioned flight control unit transmits a predetermined control signal to another aircraft, depending on the inspection items, to have that aircraft perform the desired flight control. The flying object according to claim 11.

13. The flying body according to claim 9, A port comprising at least a storage compartment for housing the aircraft and a mirror for reflecting the appearance of the aircraft, A flight system equipped with [the following features].

14. A computer-based inspection method, The imaging process involves taking images of the aircraft, An analysis step is performed to analyze the state of the aircraft based on predetermined inspection items by performing image analysis on the image information of the aircraft captured in the imaging step, A determination step is performed to determine whether the aircraft is capable of flight based on the analysis results from the above analysis step, An output step which outputs the result determined by the above determination step, An inspection method having

15. On the computer, The imaging step involves imaging the aircraft, An analysis step is performed to analyze the state of the aircraft based on predetermined inspection items by performing image analysis on the image information of the aircraft captured in the imaging step, A determination step is made to determine whether the aircraft is capable of flight based on the analysis results from the above analysis step, An output step which outputs the result determined by the above determination step, A program that executes the command.

Images