JP2018156491A - Facility inspection system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a facility inspection system capable of inspecting a facility using an autonomous flying object.SOLUTION: A facility inspection system for performing facility inspection using a flying object having an imaging part includes: facility information registration means for registering facility information to be inspected; inspection information registration means for registering inspection information; route setting means for setting route information on a flight route of the flying object when performing facility inspection using the facility information and the inspection information; flight plan setting means having the route information for setting a flight plan to give an inspection instruction to the flying object; flight plan output means for outputting the flight plan to the flying object; and correction means for correcting the route information or the flight route based on input inspection environment information.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an equipment inspection system for inspecting equipment using a flying object.

  Conventionally, the use of unmanned air vehicles without human boarding has been mainly used as toys. However, in recent years, it has been used for various purposes such as spraying agrochemicals, aerial photography, inspection at high places, and transportation. The development of such aircraft is being actively carried out in various places, and it is considered that the demand will increase further in the future.

  As a technology related to equipment inspection using a patrol machine (such as a helicopter), change the dangerous airspace range set within a predetermined width from the line connecting the towers to the tower on the inspection course by changing the diagonal lines and display color on the screen. The current position of the patrol machine is displayed using the position information from the GPS system, etc., and the current position information during the patrol obtained from the GPS is set in advance to determine whether the patrol machine has approached the dangerous airspace. Judgment is made based on the dangerous airspace information that has been prepared, and a warning is issued when abnormally approaching the dangerous airspace, making it more reliable than when visually approaching the dangerous airspace where the power transmission equipment is installed. A patrol course monitoring method that can be easily detected is known (Patent Document 1).

JP 2005-274284 A

  For example, the above-described technique is known as a technique for inspecting equipment using a flying object. By applying the conventional technology to an aircraft that performs autonomous equipment inspection and inspects equipment, it is possible to intrude into or abnormally approach an area based on the current position of the aircraft and information on the area where flight is prohibited. It is possible to notify the supervisor of the flying object that performs autonomous flight and to control the flight path of the flying object. However, only by performing control based on the area where the flight is prohibited and the position information of the flying object, the autonomous flying is effectively performed in consideration of the influence that the flying object performing autonomous flight performs in the environment where equipment inspection is performed. This control cannot be implemented.

  For this reason, a technique for correcting the flight path has been awaited in consideration of the influence that occurs in the environment where an aircraft performing autonomous flight performs equipment inspection.

  This invention is made | formed in view of the above actual conditions, and makes it a subject to provide the equipment inspection system which can inspect equipment using the flying body which performs autonomous flight.

In order to solve the above problems, the present invention is an equipment inspection system for performing equipment inspection using a flying object having an imaging unit,
Equipment information registration means for registering equipment information to be inspected;
Inspection information registration means for registering inspection information;
Using the facility information and the inspection information, route setting means for setting route information related to a flight route on which the flying object flies when performing facility inspection;
Flight plan setting means having the route information and setting a flight plan for giving an inspection instruction to the aircraft;
Flight plan output means for outputting the flight plan to the aircraft;
Correction means for correcting the route information or the flight route based on the input inspection environment information.

  With such a configuration, it is possible to provide an equipment inspection system capable of performing flight while correcting route information or a flight route based on the input inspection environment information.

In a preferred embodiment of the present invention, the correction means corrects the route information or the flight path at a certain point using the correction contents at the point where the vehicle has passed or the inspection environment information input up to the point where the vehicle has passed. It is characterized by doing.
By adopting such a configuration, it becomes possible to efficiently perform route information or flight route correction processing.

  In a preferred aspect of the present invention, the correcting means corrects the route information or the flight route on the return path using the correction content in the outward path or the inspection environment information input on the outward path.

In a preferred embodiment of the present invention, the inspection environment information includes wind information,
The correcting means corrects the route information or the flight route based on the wind information.
By adopting such a configuration, it is possible to correct the route information and the flight route in consideration of the influence of the wind in the environment where the inspection work is performed.

In a preferred embodiment of the present invention, the inspection environment information includes sunshine information,
The correcting means corrects the route information or the flight route based on the sunshine information.
With such a configuration, the route information and the flight route can be corrected in consideration of the influence of sunlight in the environment where the inspection work is performed.

In a preferred embodiment of the present invention, the inspection environment information includes magnetic field information,
The correcting means corrects the route information or the flight route based on the magnetic field information.
By adopting such a configuration, it is possible to correct the route information and the flight route in consideration of the influence of the magnetic field in the environment where the inspection work is performed.

In a preferred embodiment of the present invention, the inspection environment information has objective information,
The correcting means corrects the route information or the flight route based on the objective information.
With such a configuration, it is possible to correct the route information and the flight route in consideration of the influence of an obstacle or the like in the environment where the inspection work is performed.

  In a preferred embodiment of the present invention, the correction by the correction means includes control of the flight altitude of the flying object.

In a preferred embodiment of the present invention, the correction by the correction means includes control of a moving distance between shooting positions using a set lap rate and the flight altitude.
With such a configuration, the route information and the flight route can be corrected without changing the quality of shooting.

The present invention is an equipment inspection server for performing equipment inspection using a flying object having an imaging unit,
Equipment information registration means for registering equipment information to be inspected;
Inspection information registration means for registering inspection information;
Using the facility information and the inspection information, route setting means for setting route information related to a flight route on which the flying object flies when performing facility inspection;
Flight plan setting means having the route information and setting a flight plan for giving an inspection instruction to the aircraft;
Flight plan output means for outputting the flight plan to the aircraft;
Correction means for correcting the route information or the flight route based on the input inspection environment information.

The present invention is an equipment inspection program for performing equipment inspection using a flying object having an imaging unit,
Equipment information registration means for registering equipment information to be inspected, and a computer;
Inspection information registration means for registering inspection information;
Using the facility information and the inspection information, route setting means for setting route information related to a flight route on which the flying object flies when performing facility inspection;
Flight plan setting means having the route information and setting a flight plan for giving an inspection instruction to the aircraft;
Flight plan output means for outputting the flight plan to the aircraft;
Based on the input inspection environment information, the route information or the correction unit for correcting the flight route is made to function.

The present invention is an aircraft having an imaging unit for performing equipment inspection,
A flight plan receipt that receives a flight plan that is generated using route information and inspection information about a flight path that the aircraft flies when performing a facility inspection and that has route information about a flight path that the aircraft flies when performing a facility inspection Means,
Flight operation control means for controlling the flight operation based on the route information of the flight plan;
Imaging unit control means for controlling the imaging unit in accordance with the flight operation;
Correction means for correcting the route information or the flight route based on the input inspection environment information.

The present invention is an aircraft program having an imaging unit for performing equipment inspection,
The control unit generates a flight plan that is generated using route information and inspection information related to a flight path on which the flying object flies when performing equipment inspection, and has route information related to a flight path on which the flying object flies when performing equipment inspection. A flight plan receiving means for receiving;
Flight operation control means for controlling the flight operation based on the route information of the flight plan;
Imaging unit control means for controlling the imaging unit in accordance with the flight operation;
Correction means for correcting the route information or the flight route based on the input inspection environment information.

  ADVANTAGE OF THE INVENTION According to this invention, the equipment inspection system which can inspect equipment using the flying body which performs autonomous flight can be provided.

It is a figure which shows the outline | summary of the equipment inspection system regarding Embodiment 1 of this invention. It is a figure which shows an example of the hardware constitutions regarding Embodiment 1 of this invention. It is a functional block diagram of the equipment inspection system concerning Embodiment 1 of the present invention. It is an example of a screen display at the time of setting the flight plan concerning Embodiment 1 of this invention. It is a figure which shows the example of correction of the flight path | route using the correction means regarding Embodiment 1 of this invention. It is a figure which shows the example of correction of the flight path | route using the correction means regarding Embodiment 1 of this invention. It is a process flowchart in the case of correct | amending route information in the inspection management apparatus concerning Embodiment 1 of this invention. It is a process flowchart in the case of correcting a flight path | route in the flying body regarding Embodiment 1 of this invention. It is a figure which shows the outline | summary of the equipment inspection system regarding Embodiment 2 of this invention. It is a functional block diagram of the equipment inspection system concerning Embodiment 2 of this invention. It is a figure which shows the example of correction of the flight path | route using the correction means regarding Embodiment 2 of this invention.

<Embodiment 1>
Hereinafter, an equipment inspection system according to an embodiment of the present invention will be described with reference to the drawings. The embodiment described below is an example of the present invention, and the present invention is not limited to the following embodiment, and various configurations may be employed. This embodiment demonstrates the case where the inspection of an outdoor power transmission line installation is performed.

  For example, in the present embodiment, the configuration and operation of the equipment inspection system will be described, but a method, apparatus, computer program, recording medium, and the like having the same configuration can also exhibit the same operational effects. The program may be stored in a recording medium. If this recording medium is used, the program can be installed in a computer, for example. Here, the recording medium storing the program may be a non-transitory recording medium such as a CD-ROM.

  FIG. 1 is a diagram showing an outline of an equipment inspection system according to an embodiment of the present invention. The equipment inspection system includes an inspection management device 1, an aircraft 2, an operator terminal 3, a relay terminal 4, an inspection work management device 5, and an equipment management device 6.

  The inspection management device 1 is a device for creating a flight plan for inspection and outputting the flight plan to the flying object 2 and the operator terminal 3 via the relay terminal 4. Equipment management device 6 includes equipment data (equipment information) including a map of equipment surroundings for creating a flight plan, a map of equipment, coordinate data, and inspection data (inspection information) such as inspection locations and past inspections. Is transferred to the inspection management device 5 and is transferred to the inspection management device 1 as flight plan creation data.

  FIG. 2A is a diagram illustrating an example of a hardware configuration of the inspection management apparatus 1 according to the present embodiment. The inspection management device 1 includes a CPU 101, a memory 102, a storage device 103, an input device 104, an output device 105, and a communication device 106 that is an interface for communicating with an external device. The storage device 103 stores an operating system 107 (OS), an equipment inspection program 108, and the like.

  FIG. 2C is a diagram illustrating an example of a hardware configuration of the worker terminal 3 according to the present embodiment. The worker terminal 3 includes a CPU 301, a memory 302, a storage device 303, an input device 304, an output device 305, and a communication device 306 that is an interface for communicating with an external device. The storage device 303 stores an operating system 307 (OS), an equipment inspection program 308, and the like.

  The inspection work management device 5 receives inspection work result data from the flying object 2 and the operator terminal 3 via the relay terminal 4.

  The flying object 2 according to the present embodiment is a multicopter that drives a plurality of wing parts by a motor 202 and flies. The flying object 2 receives the flight plan, and performs the inspection work by performing autonomous flight and photographing.

  FIG. 2B is a diagram illustrating an example of a hardware configuration of the flying object 2. The air vehicle 2 is based on a main control unit 201 that controls the flight operation of the air vehicle 2, a motor 202 for driving and flying the wings of the air vehicle 2, and a signal from the main control unit 201. A motor controller 203 that adjusts the amount of power supplied to the motor 202, a wireless communication unit 204 for communicating with the worker terminal 3 and the relay terminal 4, and flight of position information, acceleration, angular acceleration, battery remaining amount, etc. A measuring device 205 for acquiring environment information using body information, an objective sensor, a magnetic sensor, and the like, an imaging unit 206 for imaging an object, and an imaging control unit 207 for controlling the operation of the imaging unit 206 And a storage unit 208.

  The flying object 2 in the present embodiment can acquire position information using a GPS (Global Positioning System) communication unit (measuring device 205) and perform autonomous flight together with the position information stored as a flight plan. The generation of the position information of the flying object 2 may be performed using a camera or another sensor or in combination. It is also possible to receive control information from the worker terminal 3 and perform a manual flight by the operator's operation. Switching between autonomous flight / manual flight can be performed from the operator terminal 3. The wireless communication unit 204 of the flying object 2 and the communication device 306 of the worker terminal 3 perform communication using a wireless LAN such as Wi-Fi, for example.

  The worker terminal 3 in the present embodiment is a tablet terminal. As the worker terminal 3, a suitable electronic computer such as a PC, a smart phone, or a wearable device can be appropriately used according to the embodiment.

  FIG. 3A is a functional block diagram of the inspection management device 1. The inspection management apparatus 1 includes facility information registration means 11, inspection information registration means 12, route setting means 13, flight plan setting means 14, flight plan output means 15, inspection environment information acquisition means 16, and correction means. 17.

  The facility information registration unit 11 accepts registration of facility information regarding the facility to be inspected. In the present embodiment, the facility information is stored in the facility management device 6 and is registered in the inspection management device 1 via the inspection work management device 5. Equipment information includes, for example, two-dimensional or three-dimensional map data relating to equipment, coordinate information associated with the map data (two-dimensional coordinates, three-dimensional coordinates including altitude, etc.), and information relating to areas in the map data. (Flightable area, non-flightable area EA, flight altitude restriction area EB, etc.), management equipment ID, equipment name, and the like.

  The inspection information registration means 12 accepts registration of inspection information related to inspection. In the present embodiment, the inspection information is stored in the equipment management device 6 and registered in the inspection management device 1 via the inspection work management device 5. The inspection information includes, for example, a management inspection ID, inspection range, inspection target equipment ID, and the like.

  The route setting means 13 sets route information for the flying object 2 to fly autonomously based on the registered facility information and inspection information. In the present embodiment, the route information is created based on the inspection range input via the worker terminal 3, the relay terminal 4, the inspection work management device 5, and the like. The flight plan setting unit 14 sets a flight plan having the route information set by the route setting unit 13.

  FIG. 4 is a screen display example when setting a flight plan. FIG. 4A is a screen display example of a new route information setting screen. A list of equipment registered as equipment information is displayed, and the equipment selected here is selected as an inspection target and displayed on a map. In addition, a non-flightable area EA and a flight altitude restriction area EB associated with map information and facility information are displayed.

  FIG. 4B is a screen display example when creating route information. Map information based on the selected equipment is displayed on the screen. By selecting the inspection range on the map, the inspection range is set as inspection information. Based on the set inspection range, the route setting means 13 sets route information.

  FIG. 4C is a screen display example that displays the created route information. The route information is, for example, points such as the work start point ST, the relay point WP, and the work end point GL included in the flight route set based on the selected equipment information and the input inspection range. Information, flight path L between points, passage method of points, direction information of the flying object 2 in the movement route, speed of autonomous flight, allowable error when passing points, and the like.

  FIG. 4D is a screen display example when a flight plan is set based on the created route information. The flight plan has information such as the flight location, flight date and time, pilot name, and the like.

  The flight plan output means 15 outputs the registered flight plan. In the present embodiment, the flight plan is output to the flying object 2 via the relay terminal 4. Further, the worker terminal 3 can be browsed, edited, downloaded, and the like via a browser application.

  The correction means 17 corrects the flight route and the flight plan using the inspection environment information obtained by the inspection environment information acquisition means 16. The inspection environment information is environment information acquired or given in relation to the environment in which inspection work is performed, and is information that affects flight and shooting. The inspection environment information is used for determination and change of route information, change of the flight route of the air vehicle 2, determination of continuation of inspection work, and the like. The inspection environment information is input from the outside or stored in the storage device 103, for example, wind information obtained from the wind direction and wind speed acquisition unit 109 such as an external wind speed simulator that simulates the wind environment and a wind direction anemometer that acquires the wind speed. Sunshine information such as sunshine direction, sunshine duration, and magnetic field information around the equipment.

  FIG. 3B is a functional block diagram of the flying object 2. The flying object 2 includes a flight plan receiving unit 21, a flight operation control unit 22, an imaging unit control unit 23, an inspection environment information acquisition unit 24, a correction unit 25, an image transmission unit 26, and a history information output unit 27. And.

  The flight plan set by the flight plan setting unit 14 is received via the flight plan receiving unit 21 and stored in the storage unit 208. The flight operation control means 22 controls the flight operation of the flying object 2. In accordance with the flight plan, when the work start time comes or when a work start instruction is given, the flight is controlled while setting the flight path based on the stored path information.

  In this embodiment, based on the route information given in the flight plan, the flight operation control means 22 flies along the flight route. The flying object 2 flies along a point given as route information and a straight line (moving route) connecting the points. Flight along a given straight line is performed using position information, acceleration, angular acceleration, and the like obtained by the measuring device 205 and coordinates of a given point.

  The imaging unit control unit 23 controls the imaging operation by the imaging unit 206. In accordance with the flight plan, when the work start time comes or when a work start instruction is given, the imaging unit 206 is controlled while setting the flight path based on the stored path information, and the image ( A still image or a moving image).

  In the present embodiment, the flying object 2 captures an inspection target by repeating operations such as moving a predetermined distance and photographing during flight. This predetermined distance is calculated based on the overlap rate of images indicating the overlap between images stored in the storage unit 208 and the performance information of the imaging unit 206.

  In the present embodiment, control is performed with respect to imaging timing and the like by the imaging unit 206, but even a configuration that controls a zoom function of the imaging unit 206 and a shooting direction control mechanism that controls the orientation of the imaging unit 206. Good. Although the imaging timing is calculated and controlled by the flying object 2, a part or all of the instructed imaging timing may be given by the flight plan. Further, a sound collection unit (not shown) or the like may be provided, and information other than the image obtained by the imaging unit 206 may be acquired together. The acquired image and other information are associated with flight path coordinate information and acquisition date information, and stored in the storage unit 208.

  The correction means 25 corrects the flight path and the flight plan using the inspection environment information obtained by the inspection environment information acquisition means 24. For example, magnetic field information obtained from the magnetic sensor unit (measuring device 205), image information obtained from the imaging unit 206 (sunlight or reflection obtained from information on captured obstacles or imaging objects, brightness information, etc.) Make corrections using sunshine information etc. A wind direction anemometer (not shown) is provided on the flying object 2 to acquire wind information, sunshine information such as sunshine direction, sunshine duration, etc. input from the outside or stored in the storage device 103, magnetic field information around the facility You may make corrections using

  A correction example in which the flying object 2 corrects the flight path using the correction means 25 will be described with reference to FIGS. 5 and 6. FIG. 5A and FIG. 5B are examples in the case where the flight path is changed based on the magnetic field information obtained through the magnetic sensor unit. The flying object 2 moves from the start point ST to the next relay point WP5 via the point relay WP1, the relay point WP2, the relay point WP3, and the relay point WP4 based on the given flight plan.

  At this time, when the inspection environment information acquisition unit 24 detects magnetism equal to or greater than the set threshold value, the correction unit 25 changes the flight path to return to the start point ST. FIG. 5B is a diagram showing a flight path when returning. The flying object 2 stops the flight on the flight route L based on the given route information, and returns to the start start point ST (new end point GL) based on the changed flight route LA. Such a return flight route may be set based on forward route information, flight route, inspection environment information obtained on the outward route, and the like.

  FIG. 6A and FIG. 6B are examples in the case where the flight path is changed based on the objective information obtained via the imaging unit 206 and the objective sensor (measurement device 205). FIG. 6A shows an example in which the route is not corrected when the transmission line EL to be inspected is photographed and inspected. Here, the shooting range OB is a range of an image shot by the imaging unit 206.

  The flying object 2 proceeds while repeating movement and photographing from the start point ST based on the given flight plan. However, the transmission line EL to be imaged has a sag, and a desired image can be obtained unless the process for controlling the flight altitude of the flying object 2 or the imaging direction of the imaging unit 206 is controlled. I can't. FIG. 6A is a diagram illustrating an example of the flight path L and the imaging ranges OB1 to OB9 at a preset overlap rate. A portion where adjacent photographing ranges OB overlap is an overlapping ratio of images designated as an overlap ratio.

  The flying object 2 in the present embodiment uses the correction means 25 to control the flight path L of the flying object 2 based on the environment information (object information) acquired by the inspection environment information acquisition means 24. FIG. 6B is a diagram illustrating an example of the corrected flight path LA and the imaging ranges OB1 to OB9 at that time. The correction means 25 detects the sag of the transmission line EL based on the given objective information, calculates the altitude movement amount according to the sag, and determines the horizontal direction based on the overlap rate and altitude movement amount. Change the travel distance and correct the flight path.

  The image transmission unit 26 outputs the image captured by the imaging unit 206 via the wireless communication unit 204. In the present embodiment, an image captured by the worker terminal 3 is output, and the worker terminal 3 can confirm the captured image in real time.

  The history information output means 27 stores history information such as acquired image data stored in the storage unit 208, other information, log data created by the main control unit 201 of the flying object 2, etc. The output is via 204. The output may be performed during the inspection work or after the inspection work is completed.

  FIG. 3C is a functional block diagram of the worker terminal 3. The operator terminal 3 includes a flight plan receiving unit 31, a flight plan management unit 32, a flight information display unit 33, a history information management unit 34, an operation switching unit 35, a manual control unit 36, and an imaging unit setting unit. 37 and image transmission means 38.

  The flight plan is output to the operator terminal 3 via the flight plan receiving means 31. In the present embodiment, the set flight plan is downloaded via the web browser application provided in the worker terminal 3 and stored in the storage device 303.

  The flight plan management means 32 receives a flight plan edit and the like. In the present embodiment, the flight plan stored in the storage device 303 or the flight plan set by the flight plan setting means 14 can be edited.

  The flight information display means 33 displays the flying object information of the flying object 2. In the present embodiment, the position information, the remaining battery level, and the like of the flying object 2 during the inspection work are received via the communication device 306 and displayed. Further, the image transmission means 38 can display the image data obtained by the imaging unit 206 of the flying object 2 and the like, and can confirm the situation around the flying object 2.

  The history information management unit 34 stores the history information output via the history information output unit 27 in the storage device 303. The stored history information is output to the inspection work management device 5 or the like via the relay terminal 4. For example, it may be output to the inspection management device 1 or the like.

  The operation switching means 35 switches between the autonomous flight mode and the manual flight mode of the aircraft 2. When switching to the manual flight mode, the flying object 2 can be manually operated by inputting operation information of the flying object 2 via the manual control means 36.

  The imaging unit setting unit 37 performs imaging with the flying object 2 and sets information regarding the imaging unit 206. For example, the manufacturer of the imaging unit 206, model name, focal length, image width, image height, sensor width, sensor height, resolution, overlap rate of captured images, and the like can be registered and set.

  Next, route information correction processing will be described with reference to FIG. FIG. 7 is a process flowchart in the case where the route information is corrected in the inspection management apparatus 1. When newly registering facility information (YES in step S1), the facility information is registered via the facility information registration means 11 (step S2). When newly registering a flight plan (YES in step S3), the inspection information is registered via the inspection information registration means 12 (step S4).

  When the inspection information is registered, the route information is generated by the route setting means 13 (step S5), and the flight plan is registered (step S6). When the route information related to the already registered flight plan or the newly registered flight plan (route information) needs to be corrected by the environment information (YES in step S7), the correcting means 17 corrects the route information. (Step S8). The registered flight plan is output via the flight plan output means 15 (step S9).

  FIG. 8 is a process flowchart in the case where the flight path is corrected in the flying object 2. The flying object 2 receives the flight plan for performing the inspection work through the flight plan receiving means 21 (step S11).

  The flying object 2 moves to the work start point when the work start time based on the flight plan is reached, or based on the work start request (step S12). Based on the flight plan, the flight operation control means 22 and the imaging unit control means 23 are controlled to perform the inspection work (step S13).

  If the flight route needs to be corrected by the environmental information obtained by the inspection environment information acquisition means 24 (YES in step S14), the process proceeds to step S15. When the operation is continued while changing the flight path according to the environmental information (NO in step S15), the correction means 25 corrects the flight path (step S16) and performs an inspection operation (step S17). The processes of steps S14 to S17 are repeated until the work end point is reached (step S18).

  In step S15, when it is necessary to interrupt the work according to the environmental information (YES in step S15), the correcting means 25 corrects the flight path for return (step S19) and ends the inspection work. When the work is completed, the history information output means 27 outputs the history information.

<Embodiment 2>
Next, an equipment inspection system according to Embodiment 2 of the present invention will be described with reference to FIGS. In addition, about the structure similar to Embodiment 1, the same code | symbol is attached | subjected and the description is abbreviate | omitted. This embodiment demonstrates the case where an indoor equipment inspection is performed using an equipment inspection system.

  FIG. 9 is a diagram showing an outline of the equipment inspection system according to the embodiment of the present invention. The facility inspection system includes an inspection management device 1, an aircraft 2, a port 8, a user terminal 9, and an inspection request device 10.

  The flying object 2, the port 8, and the inspection requesting device 10 are installed in the same facility. When the inspection request device 10 outputs the inspection information to the inspection management device 1, the inspection management device 1 creates a flight plan for photographing a predetermined position based on the inspection information and gives it to the flying object 2 through the port 8. . The inspection information is generated when an inspection of a specific place becomes necessary, for example, in an emergency. The flying object 2 flies based on the flight plan received from the port 8 and takes a picture at the destination. When the work is completed, the process returns to the port 8 and the history information related to the work is output to the external user terminal 9 via the port 8.

  FIG. 10 is a functional block diagram of the equipment inspection system. As shown in FIG. 10, the flying object 2 according to the present embodiment includes a flight plan receiving unit 21, a flight operation control unit 22, an imaging unit control unit 23, an inspection environment information acquisition unit 24, and a correction unit 25. The image transmission means 26 and the history information output means 27 are provided.

  The port 8 includes a storage unit 801, a communication device 802, a power supply unit 803, a flight plan receiving unit 81, a flight plan output unit 82, a history information management unit 83, an image transmission unit 84, and a power supply control unit 85. And.

  The inspection request device 10 outputs inspection information to the inspection management device 1. The inspection information is automatically output to the inspection management device 1 when, for example, an abnormal value is detected by a sensor device in the facility. The inspection requesting apparatus 10 is not necessarily provided. For example, the inspection requesting apparatus 10 may be configured to perform an inspection upon receiving an inspection request (output of inspection information) from the user terminal 9.

  The inspection information in this embodiment has information on a predetermined position and range where photographing is desired, and the inspection management device 1 is based on the facility information registered from the inspection work management device 5 and the inspection information. Then, a flight plan for photographing a predetermined position designated by the inspection information is created.

  The created flight plan is transferred to the port 8 via the flight plan receiving means 81 and transferred to the flying object 2 via the flight plan output means 82. The flying object 2 stands by on the port 8 during standby, and receives the flight plan via the wireless communication unit 204 and the flight plan receiving means 21.

  The history information management means 83 outputs the history information output via the history information output means 27 via the port 8 to the inspection management device 1 or the user terminal 9. For example, it may be configured to output directly to the inspection management device 1 or the like.

  The image transmission means 84 can display the image data obtained by the imaging unit 206 of the flying object 2 and the like, and can confirm the situation around the flying object 2. The power supply control unit 85 controls power supply to the battery of the flying object 2 via the power supply unit 803.

  An example in which the flying object 2 controls the flight path using the correction means 25 will be described using FIG. 11. FIG. 11 shows an example in which the flight path is changed based on the objective information obtained via the imaging unit 206 and the objective sensor (measuring device 205).

  FIG. 11A and FIG. 11B are diagrams showing the flight route L and the facility map information set based on the flight plan given through the inspection management device 1. As shown in FIG. 11A, the flight path LO indicates the forward flight path, and as shown in FIG. 11B, the flight path LR indicates the return path. The start point ST indicates the start point of the flight path, and the end point GL indicates the target point of the flight path. The flying object 2 is directed by the flight plan to go to the end point GL shown in FIG. 11A, take a picture at that point, and return to the port 8.

  The flying object 2 in the present embodiment uses the correction means 25 to correct the flight path L (LO and LR) of the flying object 2 based on the environmental information (object information) acquired by the inspection environment information acquisition means 24. . The flying object 2 autonomously flies by controlling the flight operation control means 22 and the imaging unit control means 23 based on the corrected flight paths LOA and LRA.

  FIG. 11C and FIG. 11D are diagrams showing the corrected flight paths LOA and LRA. The flying object 2 finds the obstacle B during the autonomous flight of the flight path based on the path information given by the flight plan. The obstacle B is acquired as environmental information (object information) by the inspection environment information acquisition unit 24 via the imaging unit 206 and the objective sensor (measurement device 205). The inspection environment information acquisition means 24 also acquires the objective information of the surroundings where the obstacle B is found.

  The correction means 25 corrects the flight route based on the route information given by the flight plan to the flight route avoiding the obstacle B using the information on the flightable area stored in the storage unit 208 and the acquired objective information. To do. If it is impossible to proceed, the route may be corrected to a general route based on the route information.

  When it reaches the destination point, it takes a picture and returns to port 8. After returning, the history information is output via the port 8. Note that the return flight path may be corrected based on the corrected flight path or the obtained environment information (objective information).

  ADVANTAGE OF THE INVENTION According to this invention, the equipment inspection system which can perform flight, correcting route information or a flight route based on the input inspection environment information can be provided.

  In addition, by performing correction based on past corrections or environment information, it is possible to efficiently execute the correction process of the route information or the flight route.

  In addition, the route information and the flight route can be corrected in consideration of the influence of wind, sunlight, magnetic field, obstacles, etc. under the environment where the inspection work is performed.

  An equipment inspection system for efficiently performing equipment inspection using a flying object can be provided.

1 Inspection management device 101 CPU
DESCRIPTION OF SYMBOLS 102 Memory 103 Memory | storage device 104 Input device 105 Output device 106 Communication apparatus 107 Operating system 108 Equipment inspection program 109 Wind direction wind speed acquisition part 11 Equipment information registration means 12 Inspection information registration means 13 Path setting means 14 Flight plan setting means 15 Flight plan output means 16 inspection environment information acquisition means 17 correction means 2 flying body 201 main control unit 202 motor 203 motor controller 204 wireless communication unit 205 measuring device 206 imaging unit 207 imaging control unit 208 storage unit 21 flight plan reception unit 22 flight operation control unit 23 imaging Section control means 24 Inspection environment information acquisition means 25 Correction means 26 Image transmission means 27 History information output means 3 Worker terminal 301 CPU
302 Memory 303 Storage device 304 Input device 305 Output device 306 Communication device 307 Operating system 308 Equipment inspection program 31 Flight plan receiving means 32 Flight plan management means 33 Flight information display means 34 History information management means 35 Operation switching means 36 Manual control means 37 Imaging section setting means 38 Image transmission means 4 Relay terminal 5 Inspection work management apparatus 6 Equipment management apparatus 8 Port 801 Storage section 802 Communication apparatus 803 Power supply section 81 Flight plan reception means 82 Flight plan output means 83 History information management means 84 Image transmission means 85 Power supply control means 9 User terminal 10 Inspection request device EA Non-flightable area EB Flight altitude restriction area ST Start point WP Relay point GL End point L, LO, LR, LA, LOA, LRA Flight path EL Transmission line OB Imaging range

Claims (13)

An equipment inspection system for performing equipment inspection using a flying object having an imaging unit,
Equipment information registration means for registering equipment information to be inspected;
Inspection information registration means for registering inspection information;
Using the facility information and the inspection information, route setting means for setting route information related to a flight route on which the flying object flies when performing facility inspection;
Flight plan setting means having the route information and setting a flight plan for giving an inspection instruction to the aircraft;
Flight plan output means for outputting the flight plan to the aircraft;
A facility inspection system comprising: correction means for correcting the route information or the flight route based on the input inspection environment information.   The correction means corrects the route information or the flight route at a certain point using the correction contents at the point that has passed or the inspection environment information input up to the point that has passed. Item 1. The equipment inspection system according to Item 1.   The correction unit corrects the route information or the flight route on the return route by using the correction contents on the outward route or the inspection environment information input on the outward route. Equipment inspection system. The inspection environment information has wind information,
The equipment inspection system according to claim 1, wherein the correcting unit corrects the route information or the flight route based on the wind information. The inspection environment information has sunshine information,
The equipment inspection system according to claim 1, wherein the correction unit corrects the route information or the flight route based on the sunshine information. The inspection environment information includes magnetic field information,
The said correction | amendment means corrects the said route information or the said flight route based on the said magnetic field information, The equipment inspection system in any one of Claims 1-5 characterized by the above-mentioned. The inspection environment information has objective information,
The equipment inspection system according to claim 1, wherein the correction unit corrects the route information or the flight route based on the objective information.   The equipment inspection system according to claim 1, wherein the correction by the correction means includes control of a flight altitude of the flying object.   The equipment inspection system according to claim 8, wherein the correction by the correction means includes control of a moving distance between photographing positions using the set lap rate and the flight altitude. An equipment inspection server for performing equipment inspection using a flying object having an imaging unit,
Equipment information registration means for registering equipment information to be inspected;
Inspection information registration means for registering inspection information;
Using the facility information and the inspection information, route setting means for setting route information related to a flight route on which the flying object flies when performing facility inspection;
Flight plan setting means having the route information and setting a flight plan for giving an inspection instruction to the aircraft;
Flight plan output means for outputting the flight plan to the aircraft;
An equipment inspection server comprising: correction means for correcting the route information or the flight route based on the inputted inspection environment information. An equipment inspection program for performing equipment inspection using a flying object having an imaging unit,
Equipment information registration means for registering equipment information to be inspected, and a computer;
Inspection information registration means for registering inspection information;
Using the facility information and the inspection information, route setting means for setting route information related to a flight route on which the flying object flies when performing facility inspection;
Flight plan setting means having the route information and setting a flight plan for giving an inspection instruction to the aircraft;
Flight plan output means for outputting the flight plan to the aircraft;
An equipment inspection program that functions as correction means for correcting the route information or the flight route based on the input inspection environment information. A flying object having an imaging unit for performing equipment inspection,
A flight plan receipt that receives a flight plan that is generated using route information and inspection information about a flight path that the aircraft flies when performing a facility inspection and that has route information about a flight path that the aircraft flies when performing a facility inspection Means,
Flight operation control means for controlling the flight operation based on the route information of the flight plan;
Imaging unit control means for controlling the imaging unit in accordance with the flight operation;
A flying object comprising: correction means for correcting the route information or the flight route based on the inputted inspection environment information. An aircraft program having an imaging unit for equipment inspection,
The control unit generates a flight plan that is generated using route information and inspection information related to a flight path on which the flying object flies when performing equipment inspection, and has route information related to a flight path on which the flying object flies when performing equipment inspection. A flight plan receiving means for receiving;
Flight operation control means for controlling the flight operation based on the route information of the flight plan;
Imaging unit control means for controlling the imaging unit in accordance with the flight operation;
An aircraft program comprising: correction means for correcting the route information or the flight route based on the inputted inspection environment information.