Inspection device, port, aircraft, inspection method and program

Abstract

Autonomously inspect the exterior of a drone. [Solution] The inspection device comprises an imaging unit that images the aircraft, an analysis unit that analyzes the condition of the aircraft based on specified inspection items by image analysis of the image information of the aircraft imaged by the imaging unit, a judgment unit that determines whether the aircraft is capable of flying based on the analysis results by the analysis unit, and an output unit that outputs the results determined by the judgment unit.

Description

[Technical Field]

[0001] The present invention relates to an inspection device, a port, an aircraft, ,point This invention relates to a detection method and program. [Background technology]

[0002] Conventionally, it has become common to use unmanned aerial vehicles such as drones to inspect and monitor structures such as steel towers. In particular, when the inspection or monitoring area is large, it is useful to use unmanned aerial vehicles such as drones to inspect and monitor. For example, Patent Document 1 describes a technology for an inspection method using a drone. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-196980 Summary of the Invention [Problem to be solved by the invention]

[0004] Here, it is desirable that drones used for such inspection and monitoring work be inspected periodically to ensure safe autonomous flight. Conventionally, it has been possible to autonomously inspect the internal condition of a drone, such as checking the battery, but manual inspection has been required to inspect the drone's exterior. However, manual inspection is time-consuming, so there is a demand for an autonomous inspection of the drone's exterior.

[0005] The present invention has been made in consideration of the above circumstances, and its purpose is to provide an inspection device, a port, an air vehicle, and an inspection system capable of autonomously inspecting the exterior of a drone. ,point The present invention provides a detection method and program. [Means for solving the problem]

[0006] (1) One aspect of the present invention is an inspection device that includes an imaging unit that images an aircraft to be inspected; an analysis unit that analyzes the condition of the aircraft based on predetermined inspection items by image analysis of the image information of the aircraft imaged by the imaging unit; a determination unit that determines whether the aircraft is flyable based on the analysis results by the analysis unit; a flight control unit that transmits predetermined control signals to the aircraft to cause it to perform desired flight control in accordance with the predetermined inspection items; and an output unit that outputs the results determined by the determination unit. (2) Furthermore, in one aspect of the present invention, in the inspection device of (1) described above, the output unit outputs a control signal for cleaning the area where the foreign matter is attached when the analysis by the analysis unit determines that analysis is not possible due to the presence of foreign matter attached to the aircraft. (3) Furthermore, one aspect of the present invention is that in the inspection device of (1) or (2) described above, the output unit outputs a signal to notify an administrator when the determination unit determines that the aircraft is unable to fly. (4) Furthermore, one aspect of the present invention is that, in the inspection device of any of (1) to (3) above, the determination unit, when inspecting the internal functions of the aircraft, also determines whether the aircraft is capable of flying based on the analysis results by the analysis unit. (5) Furthermore, one aspect of the present invention is an inspection device according to any one of (1) to (4) above, wherein the analysis unit further comprises a creation unit that generates text data by inputting image information of the aircraft captured by the imaging unit into a generation model that uses image information of the aircraft as input data and generates text data that verbalizes the state of the aircraft for each predetermined inspection item, 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 including the inspection device according to any one of (1) to (5) above and a storage section for storing the aircraft. (7) Furthermore, in one aspect of the present invention, in the port of (6) described above, the output unit outputs a control signal for cleaning the area where the foreign matter is attached when the analysis by the analysis unit determines that analysis is not possible due to the presence of foreign matter attached to the aircraft, and further includes a cleaning device that cleans the aircraft based on the control signal for cleaning the area where the foreign matter is attached. (8) Another aspect of the present invention is an aircraft equipped with the inspection device according to any one of (1) to (5) above. (9) Furthermore, in one aspect of the present invention, in the aircraft of (8) described above, the aircraft equipped with the inspection device is a different aircraft from the aircraft to be inspected. (10) Furthermore, one aspect of the present invention is the aircraft of (9) above, The flight control unit It controls its own flight so as to capture images of inspection points of other flying vehicles different from itself. (11) Another aspect of the present invention is an inspection method executed using a computer, comprising: an imaging step of imaging an aircraft to be inspected; an analysis step of analyzing the condition of the aircraft based on predetermined inspection items by image analysis of the image information of the aircraft imaged by the imaging step; a determination step of determining whether the aircraft is flyable based on the analysis results of the analysis step; a flight control step of transmitting predetermined control signals to the aircraft to cause the aircraft to perform desired flight control in accordance with the predetermined inspection items; and an output step of outputting the results determined by the determination step. (12) Another aspect of the present invention is a program that causes a computer to execute the following steps: an imaging step of imaging an aircraft to be inspected; an analysis step of analyzing the condition of the aircraft based on predetermined inspection items by performing image analysis on the image information of the aircraft imaged by the imaging step; a determination step of determining whether the aircraft is flyable based on the analysis results of the analysis step; a flight control step of transmitting predetermined control signals to the aircraft to cause the aircraft to perform desired flight control in accordance with the predetermined inspection items; and an output step of outputting the results determined by the determination step. [Effects of the Invention]

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

[0008] [Figure 1] 1 is a diagram illustrating an overview of a system according to an embodiment. [Figure 2] FIG. 2 is a functional configuration diagram showing an example of the functional configuration of the inspection device according to the present embodiment. [Figure 3] FIG. 2 is a functional configuration diagram showing an example of the functional configuration of a port in the case where the inspection device according to the present embodiment is included in the port. [Figure 4] FIG. 10 is a diagram schematically illustrating an image of imaging when the inspection device according to the present embodiment is included in a port. [Figure 5] FIG. 10 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] FIG. 1 is a first diagram schematically illustrating an image of imaging when the inspection device according to this embodiment is included in a drone. [Figure 7] FIG. 2 is a second diagram schematically illustrating an image of imaging when the inspection device according to this embodiment is included in a drone. [Figure 8] FIG. 10 is a diagram for explaining information communication during imaging when the inspection device according to this embodiment is included in a drone. [Figure 9] FIG. 1 is a diagram illustrating an outline of a system in which an inspection device according to the present embodiment is included in a server. [Figure 10] 1 is a flowchart showing a series of steps in an inspection method according to the present embodiment. [Figure 11] 1 is a block diagram showing an example of an internal configuration of an inspection device according to an embodiment of the present invention; DETAILED DESCRIPTION OF THE INVENTION

[0009] [Embodiment] Preferred embodiments of an inspection device, port, aircraft, flight system, inspection method, and program according to the present invention are described in detail below with reference to the accompanying drawings. The present invention is not limited to these embodiments and includes various modifications and improvements. In other words, the components described below include those that would be easily conceivable to a person skilled in the art or that are substantially identical, and the components described below can be combined as appropriate. Furthermore, various omissions, substitutions, or modifications of the components can be made without departing from the spirit of the present invention. In addition, in the drawings, the scale and number of components may differ from the scale and number of the actual structures to facilitate understanding of each component.

[0010] [System Configuration] FIG. 1 is a diagram illustrating an overview of a system according to one embodiment. The system 1 includes a drone 10 and a flight management device 30, and monitors or inspects a facility 50. While the diagram illustrates a single facility 50 for ease of explanation, the system 1 may monitor multiple facilities 50. Although the diagram illustrates a single drone 10 for ease of explanation, multiple drones 10 may be provided. In this case, the multiple drones 10 may each communicate wirelessly with a common flight management device 30, or each may communicate wirelessly with an independent flight management device 30. In other words, the relationship between the flight management device 30 and the drones 10 may be 1:N (N is a natural number greater than or equal to 1) or N:N.

[0011] The facility 50 is a facility that is the target of monitoring, inspection, etc. by the system 1. The facility 50 may be a communication tower (which may also be called a base station) used for wireless communication. The facility 50 may also be an outdoor facility that is fixed to land, such as a solar power generation facility. Other examples of facilities that the system 1 monitors include power transmission lines and towers, as well as bridges, tunnels, industrial facilities, etc. The system 1 may also be used in areas where some kind of facility exists, such as farmland, forests, rivers, coastlines, etc.

[0012] The flight management device 30 manages the flight of the drone 10. Specifically, the flight management device 30 issues flight instructions to the drone 10 and monitors the facility 50. Monitoring the facility 50 may, for example, involve monitoring to ensure that items provided in the facility 50 are not stolen. Specifically, if the facility 50 is a solar power generation facility, the items provided in the facility 50 may include electric wires, solar panels, and the like. In addition to flying around the facility 50, monitoring the facility 50 may also include, for example, capturing images of the area around the facility 50 and detecting intruders around the facility 50.

[0013] The drone 10 flies around the facility 50 and performs surveillance based on instructions from the flight management device 30. The drone 10 may also take images of the area around the facility 50 and detect intruders around the facility 50 based on instructions from the flight management device 30. Note that in this embodiment, it is assumed that the drone 10 is capable of flying. In the following description, the drone 10 may also be referred to as an air vehicle.

[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 above-described system 1. However, this embodiment is not limited to this example, and may be used to determine candidate takeoff and landing points for various aircraft.

[0015] In the following embodiments, when "takeoff or landing" is described, it means at least one of takeoff or landing, and does not necessarily mean both takeoff and landing.

[0016] Although the system 1 describes the facility 50 as an object to be monitored or inspected by the drone 10, the present embodiment does not necessarily require the facility 50. In other words, the present embodiment can be widely applied to any system in which the drone 10 takes off and lands, and the purpose of the drone 10's takeoff and landing is not limited to monitoring, inspection, or the like.

[0017] [Inspection equipment] FIG. 2 is a functional configuration diagram showing an example of the functional configuration of an inspection device according to this embodiment. An example of the functional configuration of the inspection device 71 will be described with reference to the same 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 provided is not particularly limited, and may be provided, 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 present will be described later.

[0018] The inspection device 71 mainly inspects the appearance of the drone 10. However, the present embodiment is not limited to this example, and for example, the inspection device 71 may inspect the internal state (e.g., the remaining capacity of the battery) in addition to inspecting the appearance of the drone 10.

[0019] The inspection device 71 includes an imaging unit 72, an analysis unit 73, a determination unit 74, and an output unit 75. Each of these functional units is implemented using, for example, electronic circuits. Each functional unit may include internal storage means such as a semiconductor memory or a magnetic hard disk drive, as necessary. Each function may be implemented by a computer having a CPU (Central Processing Unit) and software. All or part of each functional unit may be implemented using hardware (e.g., circuitry) such as an ASIC (Application Specific Integrated Circuit), a PLD (Programmable Logic Device), or an FPGA (Field-Programmable Gate Array). 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 exterior of the drone 10. Specifically, the imaging unit 72 may acquire an image of the exterior of the drone 10 by including an optical lens, an image sensor, or the like (not shown). Note that the imaging unit 72 only needs to acquire an image of the exterior of the drone 10, and may acquire an image captured by a configuration external to the inspection device 71 (for example, an imaging device provided outside the inspection device 71).

[0021] It is preferable that the image captured by the imaging unit 72 is an image having RGB pixel values ​​as components, but this embodiment is not limited to this example. The image may be a monochrome image. The image may also be a distance image having distance information, a temperature image (thermography) having temperature information, or a polarization image having polarization information. The image may also 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 determined in advance. Specific examples of inspection items include appearance, damage, distortion, etc. The analysis unit 73 may analyze each inspection item to determine whether it is a binary value of "good" or "bad," or may analyze the degree of the value.

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

[0024] Here, the inspection device 71 according to this embodiment may inspect internal functions in addition to inspecting the external appearance. When the inspection device 71 inspects internal functions, the determination unit 74 may also determine whether the drone 10 is flyable based on the analysis results by the analysis unit 73 when inspecting the internal functions of the drone 10. By inspecting the external appearance and the internal functions substantially simultaneously, the drone 10 can be inspected comprehensively.

[0025] The output unit 75 outputs the result of the determination made by the determination unit 74. For example, when 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 an administrator or the like that manages the system 1 that the drone 10 is unable to fly. In other words, when the determination unit 74 determines that the drone 10 is unable to fly, the output unit 75 may output a signal to notify the administrator. Upon receiving a notification that the drone 10 is unable to fly, the administrator or the like of the system 1 may perform maintenance on the drone 10 and head to the site where the drone 10 is located.

[0026] In this embodiment, the output unit 75 is not limited to outputting whether the drone 10 is unable to fly, but may also output inspection results. In this case, the inspection results are preferably 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, a generative model is assumed to use image information captured of the drone 10 as input data and generate text data that verbalizes the state of the drone 10 for each predetermined inspection item. The analysis unit 73 inputs image information of the drone 10 captured by the imaging unit 72 into the generative model. The generative model generates text data based on the image information of the drone 10. The analysis unit 73 creates inspection results by inputting the inspection results into a predetermined format based on the generated text data. The output unit 75 outputs the inspection results created by the analysis unit 73.

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

[0028] The port 40 includes a port control device 41 and a storage unit 45. The port control device 41 includes the inspection device 71 and cleaning device 411 described above. The storage unit 45 is a mechanical configuration that stores the drone 10. The storage unit 45 is only required to enable the drone 10 to take off and land, 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 on 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, enabling the drone 10 to fly from the storage section 45. Furthermore, the port control device 41 closes the lid after the drone 10 takes off. Furthermore, when the drone 10 lands, the port control device 41 opens the lid again, enabling the drone 10 to land in the storage section 45. Note that the control of opening and closing the lid may be performed after it is confirmed by the inspection device 71 that flight is possible. In other words, if the inspection device 71 determines that flight is impossible, 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] Here, the inspection device 71 may detect that dirt such as foreign matter is attached to the exterior of the drone 10. In such a case, it may be determined that the drone is unable to fly, but by removing the dirt and performing a reassessment after the removal, it may be determined that the drone is able to fly. Therefore, by providing the cleaning device 411 to the port 40, it is possible to obtain the effect of making the drone 10 able to fly even in cases where it has been determined that the drone is unable to fly. In this case, when the analysis by the analysis unit 73 determines that analysis is not possible due to the presence of foreign matter 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] 4 is a diagram illustrating an image of imaging when the inspection device according to this embodiment is included in a port. With reference to the figure, an example of how to image the drone 10 when the inspection device 71 is included in the port 40 will be described. In the figure, imaging unit 72A is illustrated 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 portion 721 and may be movable based on instructions from the port control device 41. For example, when the inspection device 71 is not inspecting the drone 10, the extendable portion 721 may be stored inside the port 40, and the imaging unit 72A may be in a state where it is unable to capture images. Furthermore, when the inspection device 71 is inspecting the drone 10, the extendable portion 721 may extend outside the port 40 as illustrated, based on instructions from the port control device 41 or the like, and the imaging unit 72A may be in a state where it is able to capture images.

[0034] The imaging unit 72A captures images at an angle of view α. When the drone 10 is stored in the storage unit 45, it is preferable that the drone 10 be within the range of the angle of view α. When capturing an image of the entire drone 10, the drone 10 may change its posture based on instructions from the inspection device 71 or the like, or the imaging unit 72A may operate around the drone 10 to capture multiple images from multiple points. Furthermore, if the drone 10 has a movable part, the movable part may be moved to capture images in multiple states.

[0035] Note that when the inspection device 71 is included in the port 40, the method for capturing an image of the exterior of the drone 10 is not limited to this example, and various other methods are possible. For example, the imaging unit 72A may capture an image of the drone 10 when the drone 10 has not landed in the storage unit 45. Examples of a state in which the drone 10 has not landed in the storage unit 45 include a state in which the drone 10 has landed near the imaging unit 72A, or a state in which the drone 10 is flying. Furthermore, the imaging unit 72A does not necessarily need to be provided in the port 40; if there is some kind of imaging device near the port 40, the imaging device may be used to capture an image during inspection.

[0036] [When the drone includes inspection equipment] 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. With reference 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 includes 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 the drone 10 is equipped with. The drone control device 11 determines whether inspection is necessary 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 (weather and temperature) before and after flight. If inspection is necessary, the drone control device 11 instructs the inspection device 71 to start 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 an image of the exterior of the drone 10. Below, a specific example of the first imaging method will be described with reference to Fig. 6, and a specific example of the second imaging method will be described with reference to Figs. 7 and 8.

[0039] 6 is a first diagram that schematically illustrates an image of imaging when the inspection device according to this embodiment is included in a drone. With reference to the same figure, a first imaging method for imaging the exterior of the drone 10 will be described. In the first imaging method, a mirror M is used to image the exterior of the drone 10.

[0040] As shown in the figure, the port 40 includes a mirror M that reflects the exterior of the drone 10. The mirror M may be disposed, for example, on the side of the port 40. In addition, in order to prevent dirt from adhering to the mirror surface of the mirror M, the port 40 may be configured to store the mirror M inside the port 40 when not being inspected and expose the mirror M during inspection.

[0041] Although not shown, the mirror M may have a configuration similar to the cleaning device 411 described above to deal with foreign matter or dirt adhering to the mirror M. The cleaning device 411 uses water, air, a brush, or the like to suitably remove foreign matter or dirt adhering to the mirror M.

[0042] In the same figure, imaging unit 72B is shown as an example of the imaging unit 72 provided in the drone 10. Imaging unit 72B may be exposed only when capturing an image, or may be exposed at all times. As shown in the figure, imaging unit 72B captures an image of its own exterior by capturing an image of mirror M at an angle of view α. Note that, as described above, if it is desired to capture an image of the entire exterior of the drone 10, the drone 10 may capture images multiple times with different attitudes.

[0043] FIG. 7 is a second diagram that schematically illustrates an image of imaging when the inspection device according to this embodiment is included in a drone. With reference 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, the drone 10 can also be said to 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 captures an image of the exterior of drone 10-2. Drone 10-1 can also be said to be the imager, and drone 10-2 to be the imaged. Drone 10-1 approaches drone 10-2 to a position where drone 10-2 fits within the angle of view α, and captures an image of drone 10-2. Drone 10-1 may pre-store the distance at which it should approach, or may adjust the distance depending on the angle of view. Drone 10-1 may also analyze the size of drone 10-2 currently captured by appropriately processing the captured image, and adjust its position so that the size becomes a predetermined size.

[0045] Here, when capturing images of each other's drones 10, the drones 10 may be in a stationary state after landing on the ground (for example, in a storage section 45 provided in the port 40), or may be in a flying state. For example, when capturing images while stationary on the ground, it is preferable that inspection be performed around the port 40. It is also more preferable if the port 40 is capable of storing two drones 10.

[0046] When capturing images of each drone 10 during flight, the images are captured while changing the relative attitude. Therefore, when capturing images during flight, it is possible to easily capture an image of the entire exterior of the drone 10. "During flight" may mean that the drone is stationary in the air or may be moving.

[0047] Alternatively, the image may be captured while either the photographer or the person being photographed is stationary on the ground and the other is flying.

[0048] 8 is a diagram for explaining information communication during imaging when the inspection device according to this embodiment is included in a drone. With reference to the same figure, an example of information communication when the second imaging method is adopted will be described.

[0049] In the illustrated example, first, drone 10-2 transmits an inspection start instruction to drone 10-1, requesting that drone 10-1 inspect 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 controls the flight of drone 10-1 so as to capture an image of an inspection location of another drone 10 different from drone 10-2. The component of drone control device 11 that controls the flight of drone 10 may also be referred to as a flight control unit. In the second imaging method, imaging unit 72B captures an image of another drone 10. Therefore, analysis unit 73 analyzes the state of another drone 10 different from drone 10, imaged by imaging unit 72B. Output unit 75 of drone 10-1 outputs the inspection results to drone 10-2.

[0050] [When the inspection device is included in the server] FIG. 9 is a diagram showing an outline of a system in which the inspection device according to this embodiment is included in a server. With reference to the diagram, an example in which the inspection device 71 is included in the server 70 will be described. In the case in which the inspection device 71 is included in the server 70, it is preferable that the system 1 includes multiple drones 10. In the diagram, drones 10-1 and 10-2 are shown as examples of the multiple drones 10. However, this embodiment is not limited to this example, and the system 1 may include multiple (a large number of) drones 10.

[0051] As shown in the figure, the inspection device 71 is provided in a server 70. The server 70 communicates information with a plurality of drones 10 via a predetermined communication network NW. The inspection device 71 provided in the server 70 transmits an image capturing instruction to each of the plurality of drones 10 via the communication network NW. The image capturing instruction is an instruction to capture an image of the drone's own appearance.

[0052] When the drone 10 receives an image capture instruction from the inspection device 71 via the communication network NW, the method of capturing an image of its own appearance can be a method using the image capture unit 72A provided in the port 40 as described with reference to Fig. 4, or a method using the image capture unit 72B provided in the drone 10 as described with reference to Figs. 6 to 8. The drone 10 transmits the results of capturing an image of its own appearance to the inspection device 71 via the communication network NW.

[0053] When the inspection device 71 receives an image of the drone 10's exterior from the drone 10, it inspects the drone 10. Depending on the inspection result, the inspection device 71 may issue a flight instruction or a standby instruction to the drone 10.

[0054] [Inspection procedure flow] 10 is a flowchart showing a series of steps in the inspection method according to this embodiment. With reference to this figure, the series of steps in the inspection method performed using the inspection device 71 described above will be described.

[0055] (Step S11) First, the inspection device 71 captures an image of the exterior of the drone 10. It is preferable that the exterior of the drone 10 be captured from multiple different points so that the entire drone 10 can be grasped. Since the image is captured from multiple different points, the relative position between the drone 10 and the imaging unit 72 changes. At this time, the drone 10 may move, the imaging unit 72 may move, or both may move. This process may also be referred to as an imaging process or an imaging step.

[0056] (Step S12) Next, the inspection device 71 performs image analysis on the image information of the exterior of the drone 10 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 is any attachment on the exterior, whether there are any damaged areas, whether there are any areas where distortion has occurred, etc. The inspection device 71 may analyze the extent of each item. This process may also be referred to as an analysis process or analysis step.

[0057] (Step S13) Next, the inspection device 71 determines whether the drone 10 is flyable 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 a determination process or a determination step.

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

[0059] [Internal configuration] FIG. 11 is a block diagram showing an example of the internal configuration of the inspection device according to this embodiment. The computer shown in FIG. 11 shows an example of a specific hardware configuration for implementing the inspection device 71. The computer includes a central processing unit (processor) 901, a RAM 902, an input / output port 903, input / output devices 904 and 905, and a bus 906. The computer itself can be implemented using existing technology. The central processing unit 901 executes instructions contained in a program read from the RAM 902 or the like. In accordance with each instruction, the central processing unit 901 writes data to the RAM 902, reads data from the RAM 902, and performs arithmetic and logical operations. The RAM 902 stores data and programs. Each element included in the RAM 902 has an address and can be accessed using the address. RAM is an abbreviation for "random access memory." The input / output port 903 is a port through which the central processing unit 901 exchanges data with external input / output devices. The 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 an input / output port 903. A bus 906 is a common communication path used within the computer. For example, the central processing unit 901 reads and writes data from and to the RAM 902 via the bus 906. Also, for example, the central processing unit 901 accesses the input / output port via the bus 906. All or part of the inspection device 71 may be realized using hardware such as an ASIC, a PLD, or an FPGA. All or part of each functional unit may be realized by a combination of software and hardware.

[0060] [Summary of the embodiment] According to the embodiment described above, the inspection device 71 includes 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 exterior of the drone 10. 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 flyable based on the analysis result by the analysis unit 73. The output unit 75 outputs the result determined by the determination unit 74. By employing such a configuration, the inspection device 71 can autonomously inspect the exterior of the drone 10 without human intervention.

[0061] Furthermore, according to this embodiment, when it is determined as a result of the analysis by the analysis unit 73 that analysis is not possible due to the presence of foreign matter on the drone 10, the output unit 75 outputs a control signal for cleaning the area where the foreign matter is attached. By employing such a configuration, the inspection device 71 can autonomously inspect the appearance of the drone 10 without requiring human intervention, even when analysis is not possible due to the presence of foreign matter on the drone 10.

[0062] Similarly, when it is determined that drone 10 is unable to fly due to the presence of a foreign object as a result of the scoring by determination unit 74, output unit 75 may output a control signal to clean the area where the foreign object is attached. By employing such a configuration, inspection device 71 can autonomously clean the exterior of drone 10 without human intervention and return it to a flyable state, even when it is determined that drone 10 is unable to fly due to the presence of a foreign object attached to drone 10.

[0063] Furthermore, according to this embodiment, when 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 employing such a configuration, when the inspection device 71 determines that the drone 10 is unable to fly, it is possible to contact the administrator and perform the necessary processing.

[0064] The inspection device 71 may first perform the above-mentioned cleaning process or other autonomous processes to return the drone from an unflyable state to a flyable state, and if the drone is still unable to fly, it may output a signal to notify the administrator. By adopting such a configuration, the drone first attempts to autonomously return to normal operation, rather than immediately relying on the administrator, and if it is still unable to return to normal operation, it can contact the administrator and take the necessary action.

[0065] Furthermore, according to this embodiment, when inspecting the internal functions of the drone 10, the determination unit 74 may also determine whether the drone 10 is flyable based on the analysis results by the analysis unit 73. By employing such a configuration, the inspection device 71 can perform a more accurate inspection by comprehensively considering the inspection of the internal functions of the drone 10 and the inspection of its external appearance. For example, if a malfunction is found as a result of the inspection of the internal functions, the reason for the malfunction may be identified from an image of the external appearance.

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

[0067] Moreover, according to the present embodiment, the port 40 includes an inspection device 71 and a cleaning device 411. When the analysis by the analysis unit 73 determines that analysis is not possible due to the presence of a foreign object on the drone 10, the output unit 75 included in the inspection device 71 outputs a control signal for cleaning the area where the foreign object is attached. The cleaning device 411 cleans the drone 10 based on the control signal for cleaning the area where the foreign object is attached. By employing such a configuration, the inspection device 71 can autonomously inspect the appearance of the drone 10 without requiring human intervention, even when analysis is not possible due to the presence of a foreign object on the drone 10.

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

[0069] Furthermore, according to this embodiment, the imaging unit 72 provided in the inspection device 71 captures an image of another drone 10 different from itself, and the analysis unit 73 provided in the inspection device 71 analyzes the state of the other drone 10 captured by the imaging unit 72. By adopting such a configuration, the drone 10 can autonomously and easily perform inspections without even needing a mirror. Furthermore, according to this embodiment, the position of both the inspection object and the inspected object can be freely changed by flight, making it possible to capture an overall image of the appearance of the drone 10.

[0070] Furthermore, according to this embodiment, the flight control unit provided in the drone 10 controls the flight of the drone 10 so as to capture an image of an inspection location of another drone 10 different from the drone itself. According to this embodiment, the imaging unit 72 is not fixed, and can be easily repositioned by the drone 10. Therefore, according to this embodiment, it is possible to capture an image of the overall appearance of the drone 10.

[0071] Furthermore, according to this embodiment, the flight control unit provided in the drone 10 transmits a predetermined control signal to the other aircraft so that the other aircraft performs the desired flight control depending on the inspection item. According to this embodiment, the drone 10 to be inspected is not stationary and can easily change its position by flying. Therefore, according to this embodiment, it is possible to capture an image of the overall appearance of the drone 10.

[0072] The above-described embodiment makes it possible to "autonomously inspect the appearance of a drone." The drones targeted by this embodiment are used to monitor or inspect infrastructure such as equipment used in wireless communication networks. Therefore, this embodiment can contribute to Goal 9 of the United Nations-led Sustainable Development Goals (SDGs), which is to "build resilient infrastructure, promote sustainable industrialization, and foster innovation."

[0073] Although an embodiment of the present invention has been described in detail above with reference to the drawings, the specific configuration is not limited to this embodiment, and design changes and the like are also included within the scope that does not deviate from the gist of the present invention.

[0074] In addition, a computer program for realizing the functions of each of the above-described devices may be recorded on a computer-readable recording medium, and the program recorded on the recording medium may be read and executed by a computer system. Note that the "computer system" here may also include hardware such as an OS and peripheral devices. In addition, "computer-readable recording medium" refers to writable non-volatile memory such as a flexible disk, optical magnetic disk, ROM, or flash memory, portable media such as a DVD (Digital Versatile Disc), or a storage device such as a hard disk built into a computer system.

[0075] Furthermore, the term "computer-readable recording medium" also includes a storage medium that stores a program for a certain period of time, such as a volatile memory (e.g., DRAM (Dynamic Random Access Memory)) within a computer system that serves as a server or client when the program is transmitted via a network such as the Internet or a communication line such as a telephone line. The program may also be transmitted from a computer system that stores the program in a storage device or the like to another computer system via a transmission medium or by transmission waves within the transmission medium. Here, the "transmission medium" that transmits the program refers to a medium that has the function of transmitting information, such as a network (communication network) such as the Internet or a communication line (communication line) such as a telephone line. The program may also be a program that realizes part of the aforementioned functions. Furthermore, the program may be a so-called differential file (differential program) that can realize the aforementioned functions in combination with a program already stored 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 an aircraft to be inspected; an analysis unit that analyzes the state of the aircraft based on predetermined inspection items by performing image analysis on image information of the aircraft captured by the imaging unit; a determination unit that determines whether the aircraft is capable of flying based on the analysis result by the analysis unit; A flight control unit that transmits a predetermined control signal to the aircraft so that the aircraft performs desired flight control according to the predetermined inspection items; an output unit that outputs the result of the determination by the determination unit; An inspection device equipped with:

2. When it is determined that analysis cannot be performed due to the presence of foreign matter attached to the aircraft as a result of the analysis by the analysis unit, the output unit outputs a control signal for cleaning the area where the foreign matter is attached. The inspection device according to claim 1.

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

4. When inspecting the internal functions of the aircraft, the determination unit also determines whether the aircraft is capable of flying based on the analysis results by the analysis unit. The inspection device according to claim 1.

5. the analysis unit generates text data by inputting 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 image information of the aircraft as input data, and creates an inspection result in which the inspection result is entered into a predetermined format based on the generated text data; The output unit outputs the inspection result created by the analysis unit. The inspection device according to claim 1.

6. The inspection device according to any one of claims 1 to 5; a storage unit for storing the aircraft; A port equipped with

7. When it is determined that analysis cannot be performed due to the presence of a foreign object on the aircraft as a result of the analysis by the analysis unit, the output unit outputs a control signal for cleaning the area where the foreign object is attached; Further, a cleaning device is provided that cleans the aircraft based on the control signal for cleaning the area where foreign matter is attached. The port of claim 6.

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

9. The aircraft equipped with the inspection device is a different aircraft from the aircraft to be inspected. The flying vehicle according to claim 8.

10. The flight control unit controls its own flight so as to capture an image of an inspection point of another flying object different from itself. The flying vehicle according to claim 9.

11. 1. A computer-implemented inspection method comprising: an imaging step of imaging the aircraft to be inspected; an analysis step of analyzing 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 step; a determination step of determining whether the aircraft is capable of flight based on the analysis result of the analysis step; a flight control process of transmitting a predetermined control signal to the aircraft so that the aircraft performs desired flight control in accordance with the predetermined inspection items; an output step of outputting the result of the determination step; An inspection method having the following.

12. On the computer, an imaging step of imaging an aircraft to be inspected; an analysis step of analyzing 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 step; a determination step of determining whether the aircraft is capable of flying based on the analysis result of the analysis step; a flight control step of transmitting a predetermined control signal to the aircraft so that the aircraft performs desired flight control according to the predetermined inspection items; an output step of outputting the result determined by the determination step; A program that executes the following.

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