Equipment inspection system, equipment inspection device, equipment inspection method, and equipment inspection program

Abstract

An equipment inspection system (500) inspects equipment (300) by using a robot (200). The equipment inspection system (500) includes an equipment status control unit (120). The equipment status control unit (120) acquires inspection locations to be inspected using the robot (200). The equipment status control unit (120) determines, for each inspection location (511) and on the basis of the status of the inspection locations (511), whether or not equipment control of the equipment (300) is necessary in order to enable inspection at the inspection locations (511). When it is determined that equipment control is necessary, the equipment status control unit (120) transmits control data (60) for performing equipment control to the equipment (300).

Description

Equipment inspection system, equipment inspection device, equipment inspection method, and equipment inspection program

[0001] The present disclosure relates to an equipment inspection system, an equipment inspection device, an equipment inspection method, and an equipment inspection program.

[0002] There is a system that inspects equipment using a robot such as a drone. Patent Document 1 discloses a drone that transmits an operation command to an asset to adjust the operation of the asset when approaching the asset to be inspected. After the inspection is completed, this drone transmits an operation command to the asset to return the asset to its normal operating state.

[0003] Japanese Patent Translation of PCT International Publication No. 2020-512629

[0004] In the technology of Patent Document 1, when the drone approaches the asset, it transmits a stop command to the asset. Then, when the inspection is completed, the drone transmits a restart command to the asset. Thus, in the technology of Patent Document 1, there is a problem that the equipment is stopped even when control of the equipment to be inspected is not necessary. For example, when applying the technology of Patent Document 1 to equipment with passengers such as an elevator, during passenger use, an operation stop command may be transmitted from the drone to the equipment, causing damage to the passengers. Passengers riding on an elevator or escalator may be stopped while in motion. Or, there is a possibility that passengers may be trapped inside an elevator car.

[0005] In the present disclosure, the purpose is to control the equipment to a state where inspection is possible without giving unnecessary control to the equipment by determining the necessity of equipment control for each inspection location.

[0006] The equipment inspection system according to the present disclosure is an equipment inspection system that inspects equipment using a robot, and obtains inspection locations to be inspected using the robot. For each inspection location, based on the state of the inspection location, it determines whether equipment control, which is the control of the equipment to enable inspection at the inspection location, is necessary. When it is determined that the equipment control is necessary, it includes an equipment state control unit that transmits control data for performing the equipment control to the equipment.

[0007] The equipment inspection system described in this disclosure aims to control equipment to a state where inspection is possible without applying unnecessary control, by determining whether equipment control is necessary for each inspection plan.

[0008] A diagram showing an example of the overall configuration of the equipment inspection system according to Embodiment 1. A diagram showing an example of the configuration of the equipment inspection device 100 according to Embodiment 1. A diagram showing an example of the configuration of the robot 200 according to Embodiment 1. A diagram showing an example of the configuration of the equipment 300 according to Embodiment 1. A flowchart showing an example of the operation of the equipment inspection process by the equipment inspection system according to Embodiment 1. A diagram showing an example of the configuration of inspection location information according to Embodiment 1. A diagram showing an example of the configuration of equipment data according to Embodiment 1. A diagram showing an example of the configuration of the equipment inspection device according to a modified version of Embodiment 1. A flowchart showing an example of the operation of the equipment inspection process by the equipment inspection system according to Embodiment 2. A diagram showing variations of the equipment inspection process in Embodiment 2. A diagram showing the effects of the equipment inspection process in Embodiment 2. A diagram showing an example of the overall configuration of the equipment inspection system in Embodiment 3. A flowchart showing an example of the operation of the equipment inspection process by the equipment inspection system according to Embodiment 3. A flowchart showing an example of the operation of the equipment inspection process by the equipment inspection system according to Embodiment 4. A flowchart showing an example of the operation of the equipment inspection process by the equipment inspection system according to Embodiment 5. A schematic diagram for explaining the functional overview of Embodiment 5. A flowchart showing an example of the operation of the equipment inspection process by the equipment inspection system according to Embodiment 6. A flowchart showing an example of the operation of the equipment inspection process by the equipment inspection system according to Embodiment 7.

[0009] The following description of this embodiment will be illustrated with reference to the figures. In each figure, identical or corresponding parts are denoted by the same reference numerals. In the description of the embodiment, descriptions of identical or corresponding parts will be omitted or simplified as appropriate. The arrows in the figures mainly indicate the flow of data or processing. Also, the size relationships of the components in the following figures may differ from those in reality. In addition, in the description of the embodiment, directions or positions such as up, down, left, right, front, back, front, and back may be indicated. These notations are for the convenience of explanation and do not limit the arrangement, direction, and orientation of devices, instruments, or parts.

[0010] Embodiment 1. ***Description of Configuration*** Figure 1 is a diagram showing an example of the overall configuration of the equipment inspection system 500 according to this embodiment. The equipment inspection system 500 comprises an equipment inspection device 100, a robot 200, and equipment 300. The equipment inspection device 100, the robot 200, and the equipment 300 are each equipped with a computer. The equipment inspection device 100 and the robot 200, as well as the equipment inspection device 100 and the equipment 300, are able to communicate with each other.

[0011] The equipment inspection device 100 is a cloud computer or a server device. The equipment inspection device 100 may also be built into the robot 200. The robot 200 is, for example, a drone. This embodiment is also applicable to robots other than drones. Furthermore, while this embodiment assumes a single robot 200, a configuration in which multiple robots cooperate to perform inspections is also possible.

[0012] Equipment 300 is an asset subject to inspection. There may be multiple pieces of equipment 300. Equipment 300 is, for example, equipment such as elevators or escalators installed in a building. Equipment 300 may also be other types of equipment. The functional elements of each device in the equipment inspection system 500 are described below.

[0013] Figure 2 shows an example configuration of the equipment inspection device 100 according to this embodiment. Figure 3 shows an example configuration of the robot 200 according to this embodiment. Figure 4 shows an example configuration of the equipment 300 according to this embodiment.

[0014] The equipment inspection device 100 is a computer. The equipment inspection device 100 includes a processor 910, as well as other hardware such as memory 921, auxiliary storage device 922, input interface 930, output interface 940, and communication device 950. The processor 910 is connected to the other hardware via signal lines and controls this other hardware.

[0015] The equipment inspection device 100 includes, as functional elements, an equipment data collection unit 110, an equipment status control unit 120, and a storage unit 150. The storage unit 150 stores inspection location information 51, equipment data 52, and inspection data 53.

[0016] The robot 200 is equipped with a computer. The robot 200 has a processor 910, as well as other hardware such as memory 921, auxiliary storage device 922, input interface 930, output interface 940, communication device 950, and imaging device. The processor 910 is connected to the other hardware via signal lines and controls this other hardware.

[0017] The robot 200 includes, as functional elements, a self-position estimation unit 210, a movement control unit 220, an inspection unit 230, and a storage unit 250. The inspection unit 230 acquires inspection data 53 using an inspection sensor. The storage unit 250 stores the inspection data 53.

[0018] The equipment 300 is equipped with a computer. The equipment 300 includes a processor 910, as well as other hardware such as memory 921, auxiliary storage device 922, input interface 930, output interface 940, communication device 950, and imaging device. The processor 910 is connected to the other hardware via signal lines and controls this other hardware.

[0019] The equipment 300 includes, as functional elements, an equipment data output unit 310, an equipment control unit 320, and a storage unit 350. Equipment data 52 is stored in the storage unit 350.

[0020] In the following, the equipment inspection device 100, the robot 200, and the equipment 300 may be referred to as the equipment inspection system 500. For the sake of simplicity, the hardware of each equipment inspection system 500 is given the same reference numerals, but it is self-evident that each equipment inspection system 500 has its own individual hardware.

[0021] The functions of each device in the equipment inspection system 500 are implemented by software. The storage unit for each device in the equipment inspection system 500 is provided in memory 921. Alternatively, the storage unit for each device in the equipment inspection system 500 may be provided in auxiliary storage device 922, or it may be distributed between memory 921 and auxiliary storage device 922.

[0022] The processor 910 is a device that executes the equipment inspection program. The equipment inspection program is a program that realizes the functions of each device in the equipment inspection system 500. The processor 910 is an IC that performs arithmetic processing. Specific examples of the processor 910 are the CPU, DSP, and GPU. IC is an abbreviation for Integrated Circuit. CPU is an abbreviation for Central Processing Unit. DSP is an abbreviation for Digital Signal Processor. GPU is an abbreviation for Graphics Processing Unit.

[0023] Memory 921 is a storage device that temporarily stores data. Specific examples of memory 921 include SRAM or DRAM. SRAM is an abbreviation for Static Random Access Memory. DRAM is an abbreviation for Dynamic Random Access Memory. Auxiliary storage device 922 is a storage device that stores data. Specific examples of auxiliary storage device 922 include HDD. Alternatively, auxiliary storage device 922 may be a portable storage medium such as an SD® memory card, CF, NAND flash, flexible disk, optical disk, compact disk, Blu-ray® disc, or DVD. HDD is an abbreviation for Hard Disk Drive. SD® is an abbreviation for Secure Digital. CF is an abbreviation for CompactFlash (registered trademark). DVD is an abbreviation for Digital Versatile Disk.

[0024] The input interface 930 is a port to which input devices such as a mouse, keyboard, or touch panel are connected. Specifically, the input interface 930 is a USB terminal. The input interface 930 may also be a port connected to a LAN. USB is an abbreviation for Universal Serial Bus. LAN is an abbreviation for Local Area Network.

[0025] The output interface 940 is a port to which the cable of an output device, such as a display, is connected. Specifically, the output interface 940 is a USB terminal or an HDMI® terminal. Specifically, the display is an LCD. The output interface 940 is also called the display interface. HDMI® is an abbreviation for High Definition Multimedia Interface. LCD is an abbreviation for Liquid Crystal Display.

[0026] The communication device 950 has a receiver and a transmitter. The communication device 950 is connected to a communication network such as a LAN, the Internet, a telephone line, or Wi-Fi (registered trademark). Specifically, the communication device 950 is a communication chip or NIC. NIC is an abbreviation for Network Interface Card.

[0027] The equipment inspection program is executed in each device of the equipment inspection system 500. The equipment inspection program is loaded into the processor 910 and executed by the processor 910. Memory 921 stores not only the equipment inspection program but also the OS. OS is an abbreviation for Operating System. The processor 910 executes the equipment inspection program while executing the OS. The equipment inspection program and the OS may also be stored in auxiliary storage device 922. The equipment inspection program and OS stored in auxiliary storage device 922 are loaded into memory 921 and executed by the processor 910. Note that part or all of the equipment inspection program may be incorporated into the OS.

[0028] The equipment inspection device 100 may have multiple processors that replace the processor 910. These multiple processors share the task of executing the equipment inspection program. Each processor is a device that executes the equipment inspection program in the same way as the processor 910.

[0029] Data, information, signal values, and variable values ​​used, processed, or output by the equipment inspection program are stored in memory 921, auxiliary storage device 922, or registers or cache memory within the processor 910.

[0030] The term "part" in each device of the equipment inspection system 500 may be replaced with "circuit," "process," "procedure," "process," or "circuitry." The equipment inspection program causes the computer to execute each process, in which the term "part" in each device of the equipment inspection system 500 is replaced with "process." The term "process" in each process, in which the term "part" in each device of the equipment inspection system 500 is replaced with "process," may be replaced with "program," "program product," "computer-readable storage medium storing the program," or "computer-readable recording medium recording the program." Furthermore, the equipment inspection method is performed by the equipment inspection system 500 executing the equipment inspection program. The equipment inspection program may be provided stored on a computer-readable recording medium. The equipment inspection program may also be provided as a program product.

[0031] ***Overview of Function*** In this embodiment, communication is enabled between the equipment inspection device 100 and the equipment 300. Communication is also enabled between the equipment inspection device 100 and the robot 200. The equipment inspection device 100 may be mounted on the robot 200. The equipment data collection unit 110 of the equipment inspection device 100 receives equipment data 52 from the equipment 300. The equipment status control unit 120 of the equipment inspection device 100 determines whether the next inspection point cannot be inspected without controlling the equipment 300. If the equipment status control unit 120 determines that the equipment must be controlled, it controls the equipment to make it available for inspection. The robot 200 then performs the inspection. For example, if the equipment status control unit 120 wants to inspect the area around the second-floor door but there is a cage on the second floor, it controls the equipment 300 to move the cage from the second floor to the first or third floor.

[0032] ***Explanation of Function*** The equipment inspection system 500 is a system that inspects equipment 300 using a robot 200. The equipment status control unit 120 acquires the inspection points to be inspected using the robot 200. For each inspection point, the equipment status control unit 120 determines whether equipment control is necessary to enable inspection at the inspection point, based on the state of the inspection point. Equipment control refers to control of equipment 300. If it is determined that equipment control is necessary, the equipment status control unit 120 transmits control data 60 for performing equipment control to equipment 300.

[0033] ***Explanation of Operation*** The operation of the equipment inspection system 500 according to this embodiment will now be explained. The operation procedure of the equipment inspection system 500 corresponds to the equipment inspection method. The program that realizes the equipment inspection process, which is the operation of the equipment inspection system 500, corresponds to the equipment inspection program. In this embodiment, a drone is assumed to be the robot 200, and an elevator is assumed to be the equipment 300. In other words, the equipment inspection system 500 will be described in a manner in which an elevator is inspected using a drone.

[0034] Figure 5 is a flowchart showing an example of the operation of the equipment inspection process by the equipment inspection system 500 according to this embodiment. In step S101, the equipment status control unit 120 of the equipment inspection device 100 reads the inspection location information 51 for the current inspection. In step S102, the equipment status control unit 120 reads the equipment data 52.

[0035] Figure 6 shows an example of the configuration of inspection location information 51 according to this embodiment. Figure 7 shows an example of the configuration of equipment data 52 according to this embodiment. The inspection location information 51 is set to include major, medium, and minor classifications indicating the inspection locations 511, the inspection cycle 512, and inspection-related information 513 which indicates whether or not the location is subject to inspection this time. In other words, the inspection location information 51 contains a list of inspection locations 511 that should be inspected this time.

[0036] The equipment data 52 contains information such as the date and time of data acquisition, the floor the elevator car is on, the elevator car call registration at the landing, the elevator car weight, the direction of elevator car movement, the elevator car's destination floor, and information regarding the opening and closing of the elevator car doors. The equipment data 52 is collected sequentially from the equipment 300 by the equipment data collection unit 110.

[0037] In step S103, the equipment status control unit 120 reads the robot's position from the robot's self-position estimation unit 210. Then, based on the robot's position and inspection location information 51, the equipment status control unit 120 plans and updates the inspection order of the inspection locations 511. The planning and updating of the inspection order may be done in a rule-based manner. Alternatively, it may be formulated using a mathematical optimization method. Specifically, the objective function may be set to "maximize inspection efficiency," the variables to be "robot's own position and travel distance," and the constraint condition to be "battery level," and a solution may be found using a mathematical optimization method. In the following description, the equipment status control unit 120 will inspect the multiple inspection locations set in the inspection location information 51 according to the planned and updated inspection order.

[0038] In step S104, the equipment status control unit 120 determines, based on the state of the next inspection point, whether equipment control is necessary to enable inspection at that point. In other words, the equipment status control unit 120 determines whether the equipment must be controlled in order to perform the inspection at the next inspection point. For example, in the second-floor door device inspection, it determines whether there is a cage on the second floor.

[0039] The method for determining whether equipment control is necessary from the data may be, for example, based on predefined rules. Alternatively, a machine learning model may be constructed to make the determination. For example, the equipment status control unit 120 may determine whether equipment control is necessary using rule information that associates the inspection content at an inspection point with the target state of the inspection point that enables the inspection content. Alternatively, the equipment status control unit 120 may determine whether equipment control is necessary using a machine learning model that outputs the content of equipment control from the inspection content at an inspection point and the current state of the inspection point.

[0040] If equipment control is required (YES in step S105), proceed to step S106. If equipment control is not required (NO in step S105), proceed to step S107.

[0041] In step S106, the equipment state control unit 120 transmits control data 60 to the equipment control unit 320 of the equipment 300. Based on the control data 60, the equipment control unit 320 controls the equipment 300 to a state where it can be inspected. How to control the equipment 300 to a state where it can be inspected may be determined on a rule basis. For example, the equipment state control unit 120 may decide to move the elevator car to the stop floor minus 1 floor if the next inspection point is above the current elevator car stop floor. The equipment state control unit 120 then generates control data 60 to move the elevator car to the stop floor minus 1 floor. Alternatively, the equipment state control unit 120 may determine the equipment control by setting constraints such as minimizing the travel distance of the robot 200 after controlling the equipment and solving them as mathematical optimization.

[0042] In step S107, the equipment state control unit 120 sends a control command to the movement control unit 220 of the robot 200 to move to the next inspection location. The robot 200 moves to the next inspection location based on the control command and performs an inspection of the inspection location.

[0043] If all inspections are completed (YES in step S108), the process ends. If there are uninspected inspection locations (NO in step S108), the process returns to step S102.

[0044] ***Other configurations*** <Modification Example 1> The equipment state control unit 120 may determine whether the next inspection location is a location where equipment control is not required before performing the inspection of the next inspection location. This determination can be made, for example, by registering in advance inspection locations where equipment control is not required. Inspection locations where equipment control is not required are, for example, equipment at the top of a hoistway that cannot be reached by a moving object such as a car, or equipment in a machine room. When the next inspection location is not a location where equipment control is not required, the equipment data collection unit 110 may receive equipment data 52 from the equipment 300. At this time, the equipment data 52 is, for example, car position data that can be used for recognizing the car position.

[0045] <Modification Example 2> In the present embodiment, the functions of each device of the equipment inspection system 500 are realized by software. As a modification, the functions of each device of the equipment inspection system 500 may be realized by hardware. Specifically, each device of the equipment inspection system 500 includes an electronic circuit 909 instead of a processor 910.

[0046] FIG. 8 is a diagram showing a configuration example of an equipment inspection device 100 according to a modification of the present embodiment. Here, a configuration example of the equipment inspection device 100 according to a modification of the present embodiment is illustrated. The same description as below can also be applied to the computers mounted on each of the robot 200 and the equipment 300.

[0047] The electronic circuit 909 is a dedicated electronic circuit that realizes the functions of each device of the equipment inspection system 500. Specifically, the electronic circuit 909 is a single circuit, a composite circuit, a programmed processor, a parallel-programmed processor, a logic IC, a GA, an ASIC, or an FPGA. GA is an abbreviation for Gate Array. ASIC is an abbreviation for Application Specific Integrated Circuit. FPGA is an abbreviation for Field-Programmable Gate Array.

[0048] The functions of each device of the equipment inspection system 500 may be realized by one electronic circuit or may be dispersed and realized by a plurality of electronic circuits.

[0049] As another modification, some functions of each device of the equipment inspection system 500 may be realized by an electronic circuit and the remaining functions may be realized by software. Also, some or all of the functions of each device of the equipment inspection system 500 may be realized by firmware.

[0050] Each of the processor and the electronic circuit is also called a processing circuit. That is, the functions of each device of the equipment inspection system 500 are realized by the processing circuit.

[0051] ***Explanation of the effects of this embodiment*** As described above, in the equipment inspection system according to this embodiment, it is determined whether equipment control is necessary for each inspection plan or inspection location. For this reason, equipment control can be made unnecessary except when necessary, and the normal operation time of the equipment can be lengthened. Also, inspection can be performed while the equipment is in normal operation, and the occurrence of inspection-impossible locations due to the operating state of the equipment can be reduced. For example, it becomes possible to efficiently inspect equipment that operates for 24 hours.

[0052] Embodiment 2. In this embodiment, mainly, the points different from Embodiment 1 and the points added to Embodiment 1 will be described. In this embodiment, configurations having the same functions as those in Embodiment 1 are denoted by the same reference numerals, and the description thereof is omitted.

[0053] ***Description of Configuration*** In this embodiment, when equipment control is required for inspection, the presence or absence of users of the equipment to be controlled is determined before the equipment control is performed. The configuration described below is one in which equipment control is performed only if there are no users. The other configurations are the same as in Embodiment 1.

[0054] When the equipment status control unit 120 determines that equipment control is necessary, it determines whether there are any users utilizing the equipment that will be controlled. If the equipment status control unit 120 determines that there are no users, it transmits control data 60 to the equipment 300. The equipment data collection unit 110 collects equipment data 52 indicating the status of the equipment 300. Based on the equipment data 52, the equipment status control unit 120 determines whether there are any users utilizing the equipment that will be controlled.

[0055] ***Explanation of Operation*** Figure 9 is a flowchart showing an example of the operation of the equipment inspection process by the equipment inspection system 500 according to this embodiment. Step S101 is the same as in Embodiment 1. Step S102 is also basically the same as in Embodiment 1. The equipment status control unit 120 reads information included in the equipment data 52, such as scale sensor data used to recognize the presence or absence of passengers, and open / closed status data of the elevator car door.

[0056] Step S103 is basically the same as in Embodiment 1. The equipment status control unit 120 plans and updates the inspection order based on the robot's own position and inspection location information 51. The planning and updating of the inspection order may be done on a rule basis. Alternatively, it may be formulated using a mathematical optimization method. In this embodiment, the equipment status control unit 120 sets the objective function to "maximize inspection efficiency" and the variables to "the robot's own position, travel distance, and estimated waiting time until the equipment becomes controllable". Furthermore, a mathematical optimization method may be used to find a solution with constraints such as "battery level". The estimated waiting time until the equipment becomes controllable is the time calculated in step S153, which will be described later.

[0057] Steps S104 and S105 are the same as in Embodiment 1. If equipment control is required (YES in step S105), proceed to step S151. If equipment control is not required (NO in step S105), proceed to step S107.

[0058] Steps S151 to S153 are processes added in this embodiment. In step S151, the equipment status control unit 120 determines from the equipment data 52 whether or not there is a user of the equipment that controls the equipment. The equipment status control unit 120 may determine whether or not there is a user of the equipment based on predefined rules. Specifically, it may determine whether or not there is a user of the equipment based on information such as whether or not a basket call registration has been made, or whether or not the basket weighing value is equal to or greater than a specified value. Alternatively, the equipment status control unit 120 may construct a machine learning model that outputs whether or not there is a user based on the equipment data 52 and determine whether or not there is a user of the equipment.

[0059] If there are no users (NO in step S152), proceed to step S106. If there are users (YES in step S152), proceed to step S153.

[0060] In step S153, the equipment status control unit 120 estimates the equipment usage time due to the user's use of the equipment being controlled. For example, if a user uses the elevator car to move from the first floor to the third floor, the equipment status control unit 120 estimates the equipment usage time from the distance the car travels, the speed of travel, and the door opening and closing time. As described above, this equipment usage time is the estimated waiting time until the equipment being controlled becomes controllable. After that, the process returns to step S102.

[0061] Steps S106 to S108 are the same as in Embodiment 1.

[0062] ***Other Configurations*** <Modification 3> The equipment status control unit 120 may determine whether the next inspection location does not require equipment control before performing the inspection of the next inspection location. This determination can be made by registering inspection locations that do not require equipment control in advance, similar to Modification 1 of Embodiment 1. If the inspection location is not one that does not require equipment control, the equipment data collection unit 110 receives equipment data 52 from the equipment 300. At this time, the equipment data 52 may include, for example, scale sensor data that can be used to recognize the presence or absence of passengers, or open / closed status data of the elevator car door. In addition, the equipment data 52 may include data such as image data from a landing camera that can be used to determine the presence or absence of people who are about to use the elevator, or data on the status of elevator car call buttons pressed on other floors.

[0063] <Modification 4> Figure 10 shows variations of the equipment inspection process in this embodiment. The equipment inspection system can also inspect multiple pieces of equipment 300. When inspecting multiple pieces of equipment 300, the presence or absence of users for each piece of equipment 300 is taken into consideration. The equipment inspection system may be configured to prioritize the inspection of any piece of equipment 300 that is not being used. Furthermore, the equipment inspection system may be equipped with more than one robot 200, such as a drone. A configuration in which multiple robots 200 work together to inspect the equipment 300 is also possible.

[0064] ***Explanation of the Effects of This Embodiment*** Figure 11 shows the effects of the equipment inspection process in this embodiment. In the case of equipment with passengers, a robot may send a stop command to the equipment while passengers are using it, potentially causing harm to passengers. For example, equipment control may cause passengers on an elevator or escalator to stop mid-movement. Alternatively, passengers may become trapped inside the elevator car. The equipment inspection system according to this embodiment can control the equipment to a state where it can be inspected without causing harm to users. In equipment with users, it becomes possible to safely inspect the equipment while it is operating normally, without causing harm to users.

[0065] The left diagram of Figure 11 shows a configuration in the equipment inspection system where it checks if there is a user inside the elevator car controlled by the equipment, and if there is a user inside the car, it proceeds to inspect another inspection point first. The right diagram of Figure 11 shows a configuration in the equipment inspection system where it checks if there is a user inside the elevator car controlled by the equipment, and if there is no user inside the car, it proceeds to execute equipment control to move the elevator car.

[0066] Embodiment 3. This embodiment mainly describes the differences from Embodiment 2 and the additions to Embodiment 2. In this embodiment, components having the same function as in Embodiment 2 are denoted by the same reference numerals, and their descriptions are omitted.

[0067] ***Configuration Description*** The equipment inspection system 500 includes a building data collection unit 130 that collects building data 54 indicating the status of the building 400 in which the equipment 300 is installed. The equipment status control unit 120 predicts the presence or absence of users based on the equipment data 52 and the building data 54. The equipment status control unit 120 also predicts the movement of equipment by users.

[0068] Figure 12 shows an example of the overall configuration of the equipment inspection system 500 in this embodiment. In this embodiment, the equipment 300 is installed in a building 400. The building 400 is equipped with a computer. The computer in the building 400 includes a building data output unit 410 as a functional element. The building data output unit 410 outputs building data 54 that indicates the status of the building 400. The building data 54 includes data such as surveillance camera images and automatic door opening / closing data near the equipment.

[0069] Furthermore, the equipment inspection device 100 includes a building data collection unit 130. The building data collection unit 130 sequentially acquires building data 54 from the building data output unit 410 of the building 400 and stores it in the storage unit 150.

[0070] ***Explanation of Operation*** Figure 13 is a flowchart showing an example of the operation of the equipment inspection process by the equipment inspection system 500 according to this embodiment. The flowchart in Figure 13 is basically the same as that in Figure 9 described in Embodiment 2. Steps S102a and S151a include processing related to building data 54.

[0071] Step S101 is the same as in Embodiment 2. Step S102a is also basically the same as step S102 in Embodiment 2. In step S102a, the equipment status control unit 120 reads building data 54 in addition to equipment data 52. The building data 54 is collected sequentially by the building data collection unit 130.

[0072] Steps S103 and S105 are the same as in Embodiment 1. If equipment control is required (YES in step S105), proceed to step S151a. If equipment control is not required (NO in step S105), proceed to step S107.

[0073] In step S151a, the equipment status control unit 120 determines and predicts from the equipment data 52 and building data 54 whether there are people currently using the equipment or planning to use it. The equipment status control unit 120 also recognizes how the equipment is moving or planning to move due to use. The equipment status control unit 120 then uses this information to plan and update the subsequent inspection sequence of the robot. The building data 54 includes information such as surveillance cameras installed in the building and information on the opening and closing of automatic doors near the equipment.

[0074] More specifically, the equipment status control unit 120 determines whether there are equipment users and estimates whether equipment users will be generated in the future, i.e., estimates the occurrence of equipment users, based on equipment data 52 and building data 54. The determination of the presence or absence of users and the estimation of the occurrence of equipment users may be performed, for example, using a predefined rule base. Here, a rule base refers to rule information that associates equipment status information with the presence or absence of users. For example, a rule may be set that a user exists if the elevator car call registration is made, the elevator car weighing value is above a specified value, or a person is captured on a camera near the elevator hall and is walking towards the elevator. Alternatively, the equipment inspection system 500 may build a machine learning model that has learned the equipment status information and the presence or absence of users to determine the presence or absence of users and estimate the occurrence of equipment users.

[0075] If there are no users (NO in step S152), proceed to step S106. If there are users (YES in step S152), proceed to step S153.

[0076] Step S153 is basically the same as in Embodiment 2. If there is a user, the equipment status control unit 120 estimates the equipment usage time due to the user using the equipment to be controlled. For example, if a user uses the elevator car to move from the first floor to the third floor, the equipment status control unit 120 estimates the equipment usage time from the distance the car travels, the speed of travel, and the door opening and closing time. This equipment usage time is the estimated waiting time until the equipment becomes controllable, as described above. After that, the process returns to step S102a.

[0077] Step S102a is basically the same as in Embodiment 2, as described above. In step S103, since the presence or absence of a user and the occurrence of equipment users have been determined, the equipment status control unit 120 can perform the following processing, for example. Based on the results of the user presence or absence determination and the occurrence of equipment users, the equipment status control unit 120 extracts inspection points that will no longer be inspectable due to the use of the equipment by a user. Extraction may be performed, for example, based on predefined rules. A rule-based rule is that when a signal indicating movement of the elevator car from the 2nd to the 5th floor is received, inspection of the landing door drive devices on the 2nd to the 5th floor is not possible. Alternatively, a machine learning model may be constructed to make the determination.

[0078] Specifically, it becomes possible to generate inspection plans like the following: If an inspection is underway on the third floor, the elevator may take evasive action when the elevator car approaches, and then return to inspecting the third floor. As for the inspection selection action, it may be possible to skip the extracted inspection points and perform inspections that can be carried out. Also, if it is calculated that the inspection can be completed within the time before it becomes impossible to inspect, the action may be to prioritize inspecting the inspection points that will soon become impossible to inspect. Furthermore, in order to improve user convenience, after sending the elevator car to a floor where people will be using it, it may be possible to skip inspection points that would obstruct movement and perform inspections on other inspection points.

[0079] Steps S106 to S108 are the same as in Embodiment 2.

[0080] ***Other Configurations*** <Modification 5> The equipment status control unit 120 may determine whether the next inspection location does not require equipment control before performing the inspection of the next inspection location. This determination can be made by registering inspection locations that do not require equipment control in advance, similar to Modification 3 of Embodiment 2. If the inspection location is not one that does not require equipment control, the equipment status control unit 120 receives equipment data 52 from the equipment 300 via the equipment data collection unit 110. The equipment status control unit 120 also receives building data 54 from the building 400 via the building data collection unit 130. At this time, the equipment data 52 may include, for example, scale sensor data that can be used to recognize the presence or absence of passengers, or open / closed status data of the elevator car doors. The equipment data 52 may also include image data from landing cameras that can be used to determine the presence or absence of people who are about to use the elevator, or data on the status of elevator car call buttons pressed on other floors. The equipment data 52 may also include destination floor setting data that can be used to recognize how the equipment is being used / about to be used. Furthermore, the equipment status control unit 120 may receive building data 54, which may include information from surveillance cameras installed in the building 400 or information from automatic doors near the equipment 300.

[0081] <Modification 6> In this embodiment, since user presence / absence determination and equipment user occurrence estimation are performed, the equipment state control unit 120 can perform the following processing in the equipment control in step S106. For example, there may be cases where a user gets into the elevator car while the drone is performing an inspection, and the car comes to the drone's location, requiring the drone to take evasive action. The equipment state control unit 120 can detect such cases in advance. The equipment state control unit 120 can control the drone to take evasive action when the car comes to where the drone is. Alternatively, the equipment state control unit 120 can move the drone to a different inspection location. It is also possible to predict the timing of user occurrence from data that indicates a user is approaching, such as surveillance cameras or information on the opening and closing of nearby doors. Furthermore, if the drone cannot take evasive action in time, it is possible to control the elevator by slowing down its speed.

[0082] ***Explanation of the Effects of This Embodiment*** As described above, the equipment inspection system according to this embodiment makes it possible to create an inspection plan that takes into account how the equipment will be used or how it will operate in the future. Therefore, the equipment inspection system according to this embodiment can reduce the time that is interrupted by equipment use during inspections and improve inspection efficiency.

[0083] Embodiment 4. This embodiment mainly describes the differences from Embodiment 3 and the additions to Embodiment 3. In this embodiment, components having the same function as in Embodiment 3 are denoted by the same reference numerals, and their descriptions are omitted.

[0084] ***Configuration Description*** In this embodiment, the equipment status control unit 120 determines whether or not there are users of the equipment from the equipment data 52 and building data 54. It determines whether or not there are users at the present time or whether or not there are people who are going to use the equipment, and if there are users, the equipment status control unit 120 determines the attributes of the users from the equipment data 52 and building data 54. User attributes include attributes such as the number of users, wheelchair use, and age. Based on the user attributes, the equipment status control unit 120 estimates the time until the equipment can be controlled for inspection, including the time it takes to get on and off the equipment, as an estimated waiting time. The equipment status control unit 120 identifies the location that can be controlled in the shortest time and inspects other locations until it can be controlled. Then, when the time comes, the equipment status control unit 120 goes to the location that can be controlled and performs control and inspection. The other configurations are the same as in Embodiment 3.

[0085] ***Explanation of Operation*** Figure 14 is a flowchart showing an example of the operation of the equipment inspection process by the equipment inspection system 500 according to this embodiment. The flowchart in Figure 14 is basically the same as that in Figure 13 described in Embodiment 3. Processing related to building data 54 is added in step S153a. Steps S101 to S151a and S152, and steps S106 to S108 are the same as in Embodiment 3.

[0086] In step S153a, the equipment status control unit 120 determines the user's attributes using the equipment data 52 and building data 54. Then, based on the user's attributes, the equipment status control unit 120 estimates the waiting time until equipment control becomes possible for the equipment. Specifically, it is as follows:

[0087] The equipment status control unit 120 estimates the number of users from scale sensor data, etc. The equipment status control unit 120 also estimates the user's attributes from camera data, etc. Based on the expected boarding and alighting times for the same number of users or attributes in the past, the equipment status control unit 120 estimates the estimated waiting time when the equipment can be controlled for inspection, including the boarding and alighting time. The process then returns to step S102a.

[0088] Step S103 is basically the same as in Embodiment 3. The equipment status control unit 120 may determine which part can be controlled in the shortest amount of time and then plan to inspect other parts until it becomes controllable. The equipment status control unit 120 may then plan to go to the controllable part when the time comes and perform control and inspection.

[0089] ***Explanation of the Effects of This Embodiment*** As described above, the equipment inspection system according to this embodiment estimates the time it will take to control the equipment for inspection, including the time it takes to get on and off the equipment, based on the number of users and their attributes (wheelchair use, age). In this way, the equipment inspection system according to this embodiment allows for the planning of the order of inspection locations, which reduces wasted waiting time and improves inspection efficiency.

[0090] Embodiment 5. This embodiment mainly describes the differences from Embodiment 1 and the additions to Embodiment 1. In this embodiment, components having the same function as in Embodiment 1 are denoted by the same reference numerals, and their descriptions are omitted.

[0091] ***Description of Configuration*** This embodiment describes a method of utilizing past equipment usage data. Equipment usage data is data that shows, for example, the days of the week and time slots when there are many / few users. The equipment status control unit 120 acquires equipment usage data that shows the past usage status of the equipment 300. Based on the equipment usage data, the equipment status control unit 120 formulates an inspection plan. For example, the equipment status control unit 120 formulates an inspection plan that prioritizes inspections of inspection points requiring equipment control during times when there are few users, and then carries out the inspection according to the plan.

[0092] ***Explanation of Operation*** Figure 15 is a flowchart showing an example of the operation of the equipment inspection process by the equipment inspection system 500 according to this embodiment. The flowchart in Figure 15 is basically the same as that in Figure 5 described in Embodiment 1. In this embodiment, a periodic patch process consisting of steps S201 and S202 is performed before step S101 described in Embodiment 1.

[0093] In step S201, the equipment status control unit 120 reads the equipment data 52. In step S202, the equipment status control unit 120 acquires equipment usage data that shows the past usage status of the equipment 300. Based on the equipment usage data, the equipment status control unit 120 formulates an inspection plan. Specifically, the equipment status control unit 120 formulates an inspection plan by assigning inspection locations to different days of the week or time periods when inspections are to be performed, such as days of the week or time periods when there are many or few users. For example, during time periods when the utilization rate is 60% or more, only inspection locations that do not require equipment control are assigned. During time periods when the utilization rate is less than 60%, inspection locations that require equipment control are assigned. A deadline for the completion of all inspections is set, and a schedule is made to ensure that all inspections can be completed by that deadline. For example, a deadline of completing all inspections in one week is set.

[0094] Subsequently, the processes described in steps S101 to S108 in Embodiment 1 are executed.

[0095] Figure 16 is a schematic diagram illustrating the functional overview of this embodiment. In Figure 16, it is assumed that the equipment inspection device 100 is mounted on the robot 200. The robot reads past equipment usage data from the database. The robot creates an inspection plan by assigning inspection locations according to the days and times of day when there are many / few users. Then, the robot performs the inspection based on the inspection plan.

[0096] Furthermore, as shown in Figure 16, when inspecting multiple pieces of equipment, it is possible to create a plan that takes into account the usage status of all the pieces of equipment. For example, since equipment A has a usage rate of 5% on weekdays, the plan is to perform inspection items that require equipment control on weekdays. On the other hand, since equipment B has a usage rate of 95% on weekdays, the plan is to perform inspection items that do not require equipment control on weekdays.

[0097] Furthermore, the processes from step S101 to step S108 can be applied to any of the processes described in Embodiments 1 to 4 above.

[0098] ***Explanation of the Effects of This Embodiment*** As described above, the equipment inspection system according to this embodiment can assign inspection items that require equipment control to times when there are few users. Therefore, the equipment inspection system according to this embodiment reduces the time that inspections are interrupted by users, and improves inspection efficiency.

[0099] Embodiment 6. This embodiment mainly describes the differences from Embodiment 1 and the additions to Embodiment 1. In this embodiment, components having the same function as in Embodiment 1 are denoted by the same reference numerals, and their descriptions are omitted.

[0100] ***Description of Configuration*** This embodiment describes a method for performing equipment control preparation processing to safely perform equipment control before actually performing equipment control. When the equipment status control unit 120 determines that equipment control is necessary, it performs equipment control preparation processing to output a warning announcement from the equipment 300 indicating that equipment control should be performed. Alternatively, when the equipment status control unit 120 determines that equipment control is necessary, it performs equipment control preparation processing to switch the equipment 300 to an inspection mode for performing equipment control. Alternatively, the equipment status control unit 120 may notify users of a warning announcement if there are users using the equipment. The other configurations are the same as in Embodiment 1.

[0101] ***Explanation of Operation*** Figure 17 is a flowchart showing an example of the operation of the equipment inspection process by the equipment inspection system 500 according to this embodiment. The flowchart in Figure 17 is basically the same as that in Figure 5 described in Embodiment 1. In this embodiment, step S154 is performed before step S106 described in Embodiment 1.

[0102] In step S154, the equipment status control unit 120 sends control data to the equipment control unit 320 of the equipment 300 and prepares for equipment control. For example, the equipment status control unit 120 sends an announcement output command or an inspection mode switching command to the equipment 300 to perform the announcement or mode switching. Specifically, the equipment 300 issues a warning announcement such as "We will temporarily move the equipment to XX for inspection" and then controls the equipment. Alternatively, the equipment 300 is temporarily switched to inspection mode (to a level that does not affect normal operation) to ensure safety so that users cannot mistakenly use it, and then the equipment is controlled.

[0103] Other processes are the same as in Embodiment 1. Furthermore, other processes can be replaced with any of the processes described in Embodiments 1 to 5. Even in Embodiments 1 to 5, the "equipment control preparation" processing block can be inserted before "controlling the equipment to an inspectable state."

[0104] ***Explanation of the effects of this embodiment*** As described above, the equipment inspection system according to this embodiment can further improve user safety during equipment control by providing announcement output or temporary equipment mode switching.

[0105] Embodiment 7. This embodiment mainly describes the differences from Embodiment 2 and the additions to Embodiment 2. In this embodiment, components having the same function as in Embodiment 2 are denoted by the same reference numerals, and their descriptions are omitted.

[0106] ***Description of Configuration*** This embodiment describes how the operation of the equipment 300 is controlled to ensure safety. The equipment state control unit 120 controls the operation of the equipment 300 to ensure safety according to the positional relationship between the equipment being controlled and the robot 200. For example, due to the use of the equipment by a user, there is a possibility that the robot 200's evasive action may not be able to avoid contact with the equipment. In this case, the equipment state control unit 120 controls the operation of the equipment to prevent contact. Specifically, the equipment state control unit 120 controls the equipment to stop slowly or slow down. The equipment state control unit 120 may also make an announcement to the user before controlling the equipment, such as "We will temporarily slow down to prevent contact with the inspection robot." The other configurations are the same as in Embodiment 1.

[0107] ***Explanation of Operation*** Figure 18 is a flowchart showing an example of the operation of the equipment inspection process by the equipment inspection system 500 according to this embodiment. The flowchart in Figure 18 is the flowchart in Figure 9 in Embodiment 2 with step S121 added. The process of step S121 is performed after step S102 and before step S103.

[0108] The equipment status control unit 120 determines whether contact with the equipment's movable parts will occur during normal operation, i.e., whether avoidance of the equipment's movable parts is possible, based on the equipment's movement path, movement speed, and the robot's own position. If it determines that the robot cannot avoid contact with the equipment through its avoidance actions, the equipment status control unit 120 executes a safety assurance action. In the safety assurance action, it sends control commands to the equipment to control its operation. For example, if avoidance is impossible with normal operation, such as slowing down or stopping slowly, the equipment is stopped or slowed down. After that, control is executed for the robot to take avoidance actions. In addition, as a safety assurance action, an announcement may be made to the user, such as "We will temporarily slow down to prevent contact with the inspection robot."

[0109] Other processes are the same as in Embodiment 1. Furthermore, other processes can be replaced with any of the processes described in Embodiments 1 to 6. Any of the embodiments from 1 to 6 can be implemented by inserting the "Preparing Equipment Control" processing block before "Controlling Equipment to an Inspectable State".

[0110] ***Explanation of the effects of this embodiment*** As described above, the equipment inspection system according to this embodiment can prevent contact between the robot and the equipment. Furthermore, the equipment inspection system according to this embodiment can improve user safety. Furthermore, the equipment inspection system according to this embodiment can prevent damage to the robot.

[0111] In embodiments 1 to 7 described above, each part of each device in the equipment inspection system was described as an independent functional block. However, the configuration of each device in the equipment inspection system does not have to be as described in the embodiments above. The functional blocks of each device in the equipment inspection system can be configured in any way as long as they can realize the functions described in the embodiments above. Also, each device in the equipment inspection system does not have to be a single device, but a system composed of multiple devices. Furthermore, multiple parts of embodiments 1 to 7 may be combined and implemented. Alternatively, only one part of these embodiments may be implemented. In addition, these embodiments may be combined and implemented in any way, either as a whole or in part. That is to say, in embodiments 1 to 7, it is possible to freely combine each embodiment, modify any component of each embodiment, or omit any component in each embodiment.

[0112] The embodiments described above are essentially preferred examples and are not intended to limit the scope of the Disclosure, the scope of the Applications of the Disclosure, or the scope of Uses of the Disclosure. The embodiments described above can be modified in various ways as needed. For example, the procedures described using flowcharts or sequence diagrams may be modified as appropriate.

[0113] The various aspects of this disclosure are summarized below as an appendix.

[0114] (Note 1) An equipment inspection system that uses a robot to inspect equipment, comprising an equipment state control unit that acquires inspection points to be inspected using the robot, determines for each inspection point whether equipment control, which is the control of the equipment, is necessary to enable inspection at the inspection point based on the state of the inspection point, and transmits control data for performing the equipment control to the equipment if it is determined that equipment control is necessary. (Note 2) The equipment inspection system according to Note 1, wherein the equipment state control unit determines whether equipment control is necessary using rule information that associates the inspection content at the inspection point with the target state of the inspection point that enables the inspection content. (Note 3) The equipment inspection system according to Note 1, wherein the equipment state control unit determines whether equipment control is necessary using a machine learning model that outputs the content of the equipment control from the inspection content at the inspection point and the current state of the inspection point. (Note 4) The equipment inspection system according to any one of Notes 1 to 3, wherein the equipment status control unit determines whether there is a user using the equipment that performs the equipment control when it is determined that the equipment control is necessary, and transmits the control data to the equipment when it is determined that there is no user. (Note 5) The equipment inspection system according to Note 4, wherein the equipment inspection system comprises an equipment data collection unit that collects equipment data indicating the status of the equipment, and the equipment status control unit determines whether there is a user using the equipment that performs the equipment control based on the equipment data. (Note 6) The equipment inspection system according to Note 5, wherein the equipment inspection system comprises a building data collection unit that collects building data indicating the status of the building in which the equipment is installed, and the equipment status control unit predicts whether there is a user and predicts the movement of the equipment by the user based on the equipment data and the building data. (Note 7) The equipment inspection system according to Note 6, wherein the equipment status control unit determines the user's attributes from the equipment data and the building data when there is a user using the equipment, and estimates the waiting time until the equipment can be controlled based on the user's attributes as the estimated waiting time.(Note 8) The equipment inspection system according to any one of Notes 1 to 7, wherein the equipment status control unit acquires equipment usage data indicating the past usage status of the equipment and formulates an inspection plan based on the equipment usage data. (Note 9) The equipment inspection system according to any one of Notes 1 to 8, wherein when the equipment status control unit determines that equipment control is necessary, it executes equipment control preparation processing to output a warning announcement from the equipment indicating that equipment control should be performed. (Note 10) The equipment inspection system according to any one of Notes 1 to 9, wherein when the equipment status control unit determines that equipment control is necessary, it executes equipment control preparation processing to switch the equipment to an inspection mode for performing equipment control. (Note 11) The equipment inspection system according to any one of Notes 1 to 10, wherein the equipment status control unit controls the operation of the equipment to ensure safety according to the positional relationship between the equipment to be controlled and the robot. (Note 12) An equipment inspection device that communicates with a robot and inspects equipment using the robot, comprising an equipment state control unit that acquires inspection points to be inspected using the robot, determines for each inspection point whether equipment control, which is the control of the equipment, is necessary to enable inspection at the inspection point based on the state of the inspection point, and transmits control data for performing the equipment control to the equipment if it is determined that equipment control is necessary. (Note 13) An equipment inspection method used in an equipment inspection system that inspects equipment using a robot, comprising an equipment inspection method that acquires inspection points to be inspected using the robot, determines for each inspection point whether equipment control, which is the control of the equipment, is necessary to enable inspection at the inspection point based on the state of the inspection point, and transmits control data for performing the equipment control to the equipment if it is determined that equipment control is necessary.(Note 14) An equipment inspection program used in an equipment inspection system that uses a robot to inspect equipment, wherein the program acquires inspection points to be inspected using the robot, determines for each inspection point whether equipment control, which is the control of the equipment, is necessary to enable inspection at the inspection point based on the state of the inspection point, and if it is determined that equipment control is necessary, the program causes the computer to execute an equipment state control process which involves transmitting control data for performing the equipment control to the equipment.

[0115] 51 Inspection location information, 511 Inspection location, 512 Inspection cycle, 513 Inspection relevant information, 52 Equipment data, 53 Inspection data, 54 Building data, 60 Control data, 100 Equipment inspection device, 110 Equipment data collection unit, 120 Equipment status control unit, 130 Building data collection unit, 150, 250, 350 Storage unit, 200 Robot, 210 Self-position estimation unit, 220 Movement control unit, 230 Inspection unit, 300 Equipment, 310 Equipment data output unit, 320 Equipment control unit, 400 Building, 410 Building data output unit, 500 Equipment inspection system, 909 Electronic circuit, 910 Processor, 921 Memory, 922 Auxiliary storage device, 930 Input interface, 940 Output interface, 950 Communication device.

Claims

1. An equipment inspection system that uses a robot to inspect equipment, comprising an equipment state control unit that acquires inspection points to be inspected using the robot, determines for each inspection point whether equipment control, which is the control of the equipment, is necessary to enable inspection at the inspection point based on the state of the inspection point, and transmits control data for performing the equipment control to the equipment if it is determined that equipment control is necessary.

2. The equipment inspection system according to claim 1, wherein the equipment status control unit determines whether or not to perform equipment control using rule information that associates the inspection content at the inspection location with the target state of the inspection location that enables the inspection content.

3. The equipment inspection system according to claim 1, wherein the equipment status control unit determines whether or not equipment control is necessary using a machine learning model that outputs the content of equipment control from the content of the inspection at the inspection point and the current state of the inspection point.

4. The equipment inspection system according to any one of claims 1 to 3, wherein the equipment status control unit determines whether or not there is a user using the equipment that performs the equipment control when it determines that equipment control is necessary, and transmits the control data to the equipment when it determines that there is no user.

5. The equipment inspection system according to claim 4, comprising an equipment data collection unit for collecting equipment data indicating the status of the equipment, wherein the equipment status control unit determines whether or not there are users using the equipment that performs equipment control based on the equipment data.

6. The equipment inspection system according to claim 5, comprising a building data collection unit that collects building data indicating the condition of the building in which the equipment is installed, and the equipment condition control unit predicts the presence or absence of the user and predicts the movement of the equipment by the user based on the equipment data and the building data.

7. The equipment inspection system according to claim 6, wherein the equipment status control unit determines the user's attributes from the equipment data and the building data when there is a user using the equipment, and estimates the waiting time until the equipment can be controlled based on the user's attributes as the estimated waiting time.

8. The equipment inspection system according to any one of claims 1 to 7, wherein the equipment status control unit acquires equipment usage data indicating the past usage status of the equipment, and formulates an inspection plan based on the equipment usage data.

9. The equipment inspection system according to any one of claims 1 to 8, wherein the equipment status control unit, when it determines that equipment control is necessary, executes equipment control preparation processing to output a warning announcement from the equipment indicating that equipment control should be performed.

10. The equipment inspection system according to any one of claims 1 to 9, wherein when the equipment status control unit determines that equipment control is necessary, it executes equipment control preparation processing to transition the equipment to an inspection mode for performing equipment control.

11. The equipment inspection system according to any one of claims 1 to 10, wherein the equipment status control unit controls the operation of the equipment to ensure safety according to the positional relationship between the equipment that controls the equipment and the robot.

12. An equipment inspection device that communicates with a robot and uses the robot to inspect equipment, comprising an equipment state control unit that acquires inspection points to be inspected using the robot, determines for each inspection point whether equipment control, which is the control of the equipment, is necessary to enable inspection at the inspection point based on the state of the inspection point, and transmits control data for performing the equipment control to the equipment if it is determined that equipment control is necessary.

13. An equipment inspection method used in an equipment inspection system that uses a robot to inspect equipment, wherein the method acquires inspection points to be inspected using the robot, determines for each inspection point whether equipment control is necessary to enable inspection at the inspection point based on the state of the inspection point, and if it is determined that equipment control is necessary, transmits control data for performing the equipment control to the equipment.

14. An equipment inspection program used in an equipment inspection system that uses a robot to inspect equipment, wherein the program acquires inspection points to be inspected using the robot, determines for each inspection point whether equipment control is necessary to enable inspection at the inspection point based on the state of the inspection point, and if it is determined that equipment control is necessary, the program causes the computer to execute equipment state control processing to transmit control data for performing the equipment control to the equipment.

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