JP2019184345A - Determination system, determination method, unmanned aircraft, and determination device - Google Patents

Abstract

To provide a determination system, a determination method, an unmanned aircraft, and a determination device with which it is possible to detect the abnormality of water quality in a shorter time.SOLUTION: The determination system of an embodiment comprises an unmanned aircraft and a determination device. The unmanned aircraft includes an imaging unit and a wireless communication unit. The imaging unit images an object including water and generates image data. The wireless communication unit transmits the image data to a predetermined external apparatus. The determination device includes an image acquisition unit and an image determination unit. The image acquisition unit acquires the image data transmitted by the unmanned aircraft. The image determination unit determines that water quality is abnormal when a feature quantity indicating the color of water included in the image data satisfies a predetermined condition.SELECTED DRAWING: Figure 1

Description

  Embodiments described herein relate generally to a determination system, a determination method, an unmanned aircraft, and a determination apparatus.

  In water purification plants and other machinery, water quality accidents can be prevented by visiting the sampling sites regularly to detect abnormalities in the sampling sites, or by analyzing the raw water sampled at the sampling sites with a microscope. Was. However, there are many water sampling sites in the distance, and it often took a long time from sampling of raw water to analysis. Under such circumstances, operators of water purification plants and other machinery cannot secure sufficient time to determine appropriate measures for water quality abnormalities, and it may be difficult to prevent water quality accidents. It was.

JP 10-337146 A Japanese Patent Laid-Open No. 2006-209801

  The problem to be solved by the present invention is to provide a determination system, a determination method, an unmanned aerial vehicle, and a determination device that can detect an abnormality in water quality in a shorter time.

  The determination system of the embodiment includes an unmanned aerial vehicle and a determination device. The unmanned aircraft has an imaging unit and a wireless communication unit. An imaging part images the target object containing water, and produces | generates image data. The wireless communication unit transmits the image data to a predetermined external device. The determination apparatus has an image acquisition unit and an image determination unit. The image acquisition unit acquires the image data transmitted by the unmanned aircraft. The image determination unit determines that the water quality is abnormal when the feature amount indicating the color of water included in the image data satisfies a predetermined condition.

The system configuration figure showing the system configuration of supervisory control system 1 of a 1st embodiment. The figure which shows an example of sectional drawing of the unmanned aerial vehicle 100 of 1st Embodiment. The figure which shows an example of the top view of the unmanned aerial vehicle 100 of 1st Embodiment. The functional block diagram showing the functional structure of the unmanned aerial vehicle 100 of 1st Embodiment. The figure which shows the specific example of the schedule table of 1st Embodiment. The functional block diagram showing the functional structure of the determination apparatus 200 of 1st Embodiment. The functional block diagram showing the functional structure of the monitoring control apparatus 300 of 1st Embodiment. 5 is a sequence chart showing a flow of image determination processing according to the first embodiment. 5 is a sequence chart showing a flow of image determination processing according to the first embodiment. The sequence chart which shows the flow of a process of the image determination of 2nd Embodiment. The sequence chart which shows the flow of a process of the image determination of 2nd Embodiment.

  Hereinafter, a determination system, a determination method, an unmanned aircraft, and a determination apparatus according to embodiments will be described with reference to the drawings.

(First embodiment)
FIG. 1 is a system configuration diagram illustrating a system configuration of a monitoring control system 1 according to the first embodiment. The monitoring control system 1 performs a predetermined process based on image data captured by the unmanned aircraft 100. For example, the predetermined process may determine whether the image data includes a spectrum value indicating algae, oil, fish, or the like based on the image data and the learning result data. An alarm may be issued. The machine place may be, for example, a water purification plant or a sewage treatment plant. The machine may be any facility as long as it is a facility where liquid is processed. In the present embodiment, the liquid will be described as water. The supervisory control system 1 includes an unmanned aerial vehicle 100, a determination device 200, and a supervisory control device 300 that are communicably connected to each other via a network 20. The determination device 200 and the monitoring control device 300 are constructed in the machine 10. The network 20 may be constructed by any network. For example, the network 20 may be configured by the Internet, a closed network such as a dedicated line, or a mobile phone communication network. Note that the determination device 200 and the monitoring control device 300 may be configured by a cloud computing system. In this case, the determination device 200 and the monitoring control device 300 may be constructed outside the machine 10. The monitoring control system 1 is an aspect of the determination system. The determination system is a system for determining whether image data generated by the unmanned aircraft 100 satisfies a predetermined condition.

  Unmanned aerial vehicle 100 is a flying object such as a drone or a radio controlled helicopter. The unmanned aerial vehicle 100 moves to a predetermined location when the date and time designated in advance is reached. Unmanned aerial vehicle 100 communicates with determination device 200 via network 20.

  The determination device 200 is an information processing device such as a personal computer or a server. The determination apparatus 200 communicates with the unmanned aircraft 100 via the network 20. The determination apparatus 200 transmits and receives predetermined information to and from the unmanned aircraft 100. The predetermined information may be, for example, image data captured by the unmanned aircraft 100 or a predetermined determination result for the image data.

  The monitoring control device 300 is an information processing device such as a personal computer or a server. The monitoring control device 300 is connected to the determination device 200 so as to be communicable. The monitoring control device 300 generates predetermined screen data based on the information recorded in the determination device 200. The predetermined screen data may be a trend graph, for example, or may be image data captured by the unmanned aircraft 100. The monitoring control device 300 transmits a predetermined instruction to the determination device 200.

  FIG. 2 is a diagram illustrating an example of a cross-sectional view of the unmanned aerial vehicle 100 according to the first embodiment. The unmanned aerial vehicle 100 moves by flying in the air. The unmanned aerial vehicle 100 includes a propeller unit 101, a levitation unit 102, an imaging unit 103, and a container 104.

  The propeller unit 101 includes a plurality of propellers. The propeller unit 101 adjusts or moves the unmanned aircraft 100 by rotating the propeller. The levitation unit 102 is made of a material that is lighter than water. The unmanned aircraft 100 such as styrene foam, ethylene vinyl acetate, or air floats the unmanned aircraft 100 by the buoyancy of the levitation unit 102. Due to the levitation unit 102, the unmanned aerial vehicle 100 does not sink into the water even when it reaches the water source.

  The imaging unit 103 is an existing imaging device such as a multispectral camera. The imaging unit 103 may be an interface for connecting the imaging device to the unmanned aircraft 100. In this case, the imaging unit 103 generates image data from the imaging signal captured by the imaging device and inputs the image data to the unmanned aircraft 100. The imaging unit 103 may take an image of the inside of the container 104 or may take an image directly under the unmanned aircraft 100.

  The container 104 is a liquid container such as a tank. The container 104 may contain water sampled from a sampling site. The bottom of the container 104 includes a protrusion 105. The tip of the protrusion 105 has a hole that communicates with the inside of the container 104. The container 104 includes a piston 106 inside. The piston 106 is driven upward or downward by a linear motion motor. When the piston 106 operates in the downward direction, the liquid such as water in the container 104 is pushed out of the container 104 through the protrusion 105. When the piston 106 moves upward, a liquid such as water is taken into the container 104 through the protrusion 105 in the container 104. The container 104 is made of a colorless and transparent material such as acrylic. The container 104 can image stored water or the like with the imaging unit 103.

  FIG. 3 is a diagram illustrating an example of a plan view of the unmanned aerial vehicle 100 according to the first embodiment. The unmanned aerial vehicle 100 includes a propeller unit 101, a levitation unit 102, an imaging unit 103, and a container 104.

  In FIG. 3, the propeller unit 101 includes four propellers as an example, but the embodiment is not limited to four. Any number of propellers may be provided. For example, the propeller unit 101 may include five propellers or six propellers.

  In FIG. 3, the levitation unit 102 is installed in a circular shape, but is not limited thereto. For example, the levitation unit 102 may be installed in a polygonal shape, or may be distributed and installed in a plurality of locations. The levitation unit 102 may have any shape as long as the unmanned aircraft 100 does not sink into the water.

  In FIG. 3, four containers 104 provided in the unmanned aerial vehicle 100 are taken as an example, but the embodiment is not limited to four. Any number of containers 104 may be provided. For example, five containers 104 may be provided, or six containers 104 may be provided.

  FIG. 4 is a functional block diagram illustrating a functional configuration of the unmanned aerial vehicle 100 according to the first embodiment. The unmanned aircraft 100 includes a propeller unit 101, a levitation unit 102, an imaging unit 103, a container 104, a wireless communication unit 107, a schedule storage unit 108, an image data storage unit 109, and a control unit 110 by executing a water quality inspection program. Function as. Note that description of the propeller unit 101, the levitation unit 102, the imaging unit 103, and the container 104 that have already been described is omitted.

  The wireless communication unit 107 is a wireless network interface. The wireless communication unit 107 communicates with a predetermined external device using a wireless communication method. The wireless communication unit 107 may perform communication using a communication method such as a wireless local area network (LAN), Bluetooth (registered trademark), or LTE (Long Term Evolution) (registered trademark). For example, the external device may be the determination device 200 or an information processing device that is communicably connected to the determination device 200.

  The schedule storage unit 108 is configured using a storage device such as a magnetic hard disk device or a semiconductor storage device. The schedule storage unit 108 stores a schedule table. The schedule table holds an operation schedule of the unmanned aerial vehicle 100.

  FIG. 5 is a diagram illustrating a specific example of the schedule table according to the first embodiment. The schedule table has a schedule record. The schedule record has respective values of date and time, first route, second route, Nth route, first operation, second operation, third operation, and operation. The date and time represents the date and time when the operation schedule is executed on the unmanned aircraft 100. The first route represents a location where the unmanned aerial vehicle 100 moves first. The second route represents a place where the unmanned aircraft 100 moves next after moving to the first route. The Nth route represents a place where the unmanned aircraft 100 moves next after moving to the route N-1. The first operation represents an operation that the unmanned aircraft 100 performs first. The second operation represents an operation performed after the unmanned aircraft 100 performs the first operation. The third operation represents an operation performed after the unmanned aircraft 100 performs the second operation. Nth operation | movement represents the operation | movement performed after the unmanned aircraft 100 performs operation N-1. N represents a natural number.

  In the example shown in FIG. 5, the schedule record at the top of the schedule table has a date / time value “2018.1.15 10:00” and a first route value “35 degrees 39 minutes 2 seconds 15 N, 138 degrees. 22 minutes 35 seconds 42E ", the value of the second path is" 35 degrees 39 minutes 2 seconds 16N, 138 degrees 22 minutes 35 seconds 43E ", the value of the path N is"-", and the value of the first action is" water sampling " The value of the second operation is “imaging (container)”, the value of the third operation is “drainage”, and the value of the operation N is “−”. Therefore, according to the schedule record at the top of the schedule table, when the date and time reaches 10:00 on January 15, 2018, the unmanned aircraft 100 first receives 35 degrees 39 minutes 2 seconds 15 north latitude, 138 degrees 22 minutes 35 east longitude. Move to second 42E, then move to 35 degrees 39 minutes 2 seconds 16 north latitude and 138 degrees 22 minutes 35 seconds 43 east longitude. It can be seen that the unmanned aircraft 100 that has moved first performs water sampling, and then the unmanned aircraft 100 images and drains the water sampled in the container. The schedule table shown in FIG. 5 is only a specific example. Therefore, the schedule table may be configured in a manner different from that in FIG. 5, or conditions for selecting the Nth route or the Nth operation may be defined.

  Returning to FIG. 4, the description of the unmanned aircraft 100 will be continued. The image data storage unit 109 is configured using a storage device such as a magnetic hard disk device or a semiconductor storage device. The image data storage unit 109 stores image data. Image data is imaged by the imaging unit 103 of the unmanned aerial vehicle 100.

  Control unit 110 controls the operation of each unit of unmanned aerial vehicle 100. The control unit 110 is executed by a device including a processor such as a CPU (Central Processing Unit) and a RAM (Random Access Memory). The control unit 110 functions as a date and time information acquisition unit 111, a movement control unit 112, a position information acquisition unit 113, a water sampling control unit 114, and an image acquisition unit 115 by executing an image determination program.

  The date information acquisition unit 111 acquires date information. The date / time information is information that can identify the year / month / day / hour / minute / second at the time of acquisition. The date information may be acquired from a clock built in the unmanned aircraft 100 or may be acquired from an NTP (Network Time Protocol) server. The date / time information may be UNIX (registered trademark) time. As the date / time information, information processed by a hash function, a digital signature, or the like may be used.

  The movement control unit 112 rotates the propeller according to the schedule table recorded in the unmanned aircraft 100. The movement control unit 112 adjusts or moves the unmanned aircraft 100 by rotating the propeller. For example, when the acquired date and time information matches the date and time recorded in the schedule record, the movement control unit 112 may rotate the unmanned aircraft 100 to move along the route recorded in the schedule record. . Note that the date and time information and the date and time recorded in the schedule table do not have to coincide completely, and an error of a predetermined time specified in advance may be included. When the unmanned aircraft 100 reaches the route recorded in the schedule table, the movement control unit 112 may control the altitude of the unmanned aircraft 100 according to the recorded operation. For example, the movement control unit 112 may rotate the propeller so that the altitude increases. The movement control unit 112 may rotate the propeller so that the altitude is lowered. Further, the movement control unit 112 may determine a route according to the determination result received from the determination device 200.

  The position information acquisition unit 113 acquires position information. The position information is information indicating the position of the unmanned aircraft 100. The position information acquisition unit 113 may acquire position information by a satellite positioning system such as GPS (Global Positioning System). The position information may be longitude and latitude information, for example. The position information may include information such as altitude or speed in addition to longitude and latitude information, for example. The position information may be corrected by using the speed information and acceleration information of the unmanned aircraft 100 in a place where the radio wave from the satellite positioning system is difficult to reach (for example, a mountain area or a tunnel).

  The water sampling control unit 114 drives the linear motor according to the schedule table recorded in the unmanned aircraft 100. By driving the linear motion motor, the piston 106 installed in the container 104 is driven up and down. For example, when “water sampling” is included in the operation value of the schedule table, the water sampling control unit 114 may drive the linear motor so that the piston 106 is driven upward. The water sampling control unit 114 controls the amount of water sampled into the container 104 according to the distance that the piston 106 moves upward. For example, when “drainage” is included in the operation value of the schedule table, the water sampling control unit 114 may drive the linear motor so that the piston 106 is driven downward.

  The image acquisition unit 115 acquires image data generated by the imaging unit 103. The image acquisition unit 115 records the acquired image data in the image data storage unit 109. The image acquisition unit 115 transmits the acquired image data to the determination device 200.

  FIG. 6 is a functional block diagram illustrating a functional configuration of the determination apparatus 200 according to the first embodiment. The determination device 200 executes the image determination program, thereby causing the first communication unit 201, the second communication unit 202, the input unit 203, the display unit 204, the image data storage unit 205, the learning result data storage unit 206, and the control unit 207. It functions as a device provided.

  The first communication unit 201 is a wireless network interface. First communication unit 201 communicates with unmanned aerial vehicle 100 using a wireless communication method. The first communication unit 201 may communicate using a communication method such as wireless LAN, Bluetooth, or LTE, for example.

  The second communication unit 202 is a network interface. The second communication unit 202 is communicably connected to the monitoring control device 300. The second communication unit 202 may communicate by a communication method such as wireless LAN, wired LAN, Bluetooth, PSTN (Public Switched Telephone Network), LonWorks, a dedicated line, or LTE.

  The input unit 203 is configured using an input device such as a touch panel, a mouse, and a keyboard. The input unit 203 may be an interface for connecting the input device to the determination device 200. In this case, the input unit 203 generates input data (for example, instruction information indicating an instruction to the determination device 200) from the input signal input in the input device, and inputs the input data to the determination device 200.

  The display unit 204 is an output device such as a CRT (Cathode Ray Tube) display, a liquid crystal display, or an organic EL (Electro Luminescence) display. The display unit 204 may be an interface for connecting the output device to the determination device 200. In this case, the display unit 204 generates a video signal from the video data and outputs the video signal to a video output device connected to the display unit 204.

  The image data storage unit 205 is configured using a storage device such as a magnetic hard disk device or a semiconductor storage device. The image data storage unit 205 stores image data. The image data is transmitted from the unmanned aircraft 100.

  The learning result data storage unit 206 is configured using a storage device such as a magnetic hard disk device or a semiconductor storage device. The learning result data storage unit 206 stores learning result data. The learning result data is generated by performing predetermined machine learning using, as teacher data, image data obtained by imaging a single plant such as cyanobacteria, oil, or fish. The learning result data is used to determine whether or not a predetermined feature amount is included in the image data. The predetermined feature amount may be, for example, a value indicating the intensity of the wavelength of a spectrum representing animals or plants or oil, or may be the shape of an image. The images of animals and plants are not limited to images taken at the same place. For example, if it is the same animals and plants, the image imaged in a different place may be sufficient. The learning result data is recorded in advance. The learning result data is an aspect of the comparison image data.

  The control unit 207 controls the operation of each unit of the determination device 200. The control unit 207 is executed by a device including a processor such as a CPU and a RAM, for example. The control unit 207 functions as an image acquisition unit 208, an image determination unit 209, and an alarm instruction unit 210 by executing an image determination program.

  The image acquisition unit 208 acquires image data from the unmanned aircraft 100. The image acquisition unit 208 records the acquired image data in the image data storage unit 205. The image acquisition unit 208 outputs the acquired image data to the image determination unit 209.

  The image determination unit 209 determines whether the image data and the learning result data satisfy a predetermined condition. When the image data and the learning result data satisfy a predetermined condition, the image determination unit 209 outputs information indicating an alarm notification to the alarm instruction unit 210. The image determination unit 209 transmits the determination result to the unmanned aircraft 100. The predetermined condition may be, for example, whether or not the water color feature amount included in the image data is within a predetermined threshold. The predetermined threshold value may be, for example, a value determined based on the intensity value of the wavelength of the blue-green algae spectrum included in the learning result data. The predetermined condition may be, for example, that the image determination unit 209 has a difference in wavelength intensity value between the image data and the learning result data within a threshold value.

  When receiving the information indicating the alarm notification, the alarm instruction unit 210 transmits an alarm notification instruction to the monitoring control device 300. The alarm issue instruction may be, for example, an alarm that emits a sound or a character string indicating an abnormality in the water quality of the water source, or an alarm that issues a measure for improving the water quality of the water source. The alarm instruction unit 210 transmits learning result data and image data satisfying a predetermined condition to the monitoring control device 300.

  FIG. 7 is a functional block diagram illustrating a functional configuration of the monitoring control device 300 according to the first embodiment. The monitoring control device 300 functions as a device including a communication unit 301, an input unit 302, a display unit 303, an alarm unit 304, an image data storage unit 305, and a control unit 306 by executing a water quality inspection program.

  The communication unit 301 is a network interface. The communication unit 301 is communicably connected to the determination device 200. The communication unit 301 may perform communication using a communication method such as a wireless LAN, a wired LAN, Bluetooth, PSTN, LonWorks, a dedicated line, or LTE.

  The input unit 302 is configured using an input device such as a touch panel, a mouse, and a keyboard. The input unit 302 may be an interface for connecting the input device to the monitoring control device 300. In this case, the input unit 302 generates input data (for example, instruction information indicating an instruction to the monitoring control device 300) from the input signal input in the input device, and inputs the input data to the monitoring control device 300.

  The display unit 303 is an output device such as a CRT display, a liquid crystal display, or an organic EL display. The display unit 303 may be an interface for connecting the output device to the monitoring control device 300. In this case, the display unit 303 generates a video signal from the video data and outputs the video signal to a video output device connected to the display unit 303.

  The alarm unit 304 is an alarm device such as a siren, a rotating lamp, a display board, and a speaker. The alarm unit 304 issues an alarm based on the alarm notification instruction output from the alarm control unit 307. For example, when the alarm unit 304 receives an alarm issue instruction from the alarm control unit 307, the alarm unit 304 may issue an alarm sound.

  The image data storage unit 305 is configured using a storage device such as a magnetic hard disk device or a semiconductor storage device. The image data storage unit 205 stores image data. The image data is transmitted from the determination apparatus 200.

  The control unit 306 controls the operation of each unit of the monitoring control device 300. The control unit 306 is executed by a device including a processor such as a CPU and a RAM, for example. The control unit 306 functions as an alarm control unit 307 and a screen data generation unit 308 by executing an image determination program.

  When the alarm control unit 307 receives the information indicating the alarm notification and the image data, the alarm control unit 307 outputs an alarm notification instruction to the alarm unit 304. The alarm notification instruction may be, for example, an alarm that outputs a voice or wording indicating that the feature amount of the image data is within a predetermined threshold value, or displays information indicating the water quality improvement procedure of the water source. It may be an alarm indicating that it has been done. The alarm control unit 307 records the image data in the image data storage unit 305. The alarm control unit 307 outputs a screen data generation instruction to the screen data generation unit 308.

  The screen data generation unit 308 generates screen data. First, when the screen data generation unit 308 receives an instruction to generate screen data, the screen data generation unit 308 acquires image data from the image data storage unit 305. The screen data generation unit 308 generates screen data based on the acquired image data. For example, the screen data may be displayed as it is, or a word indicating that the feature amount of the image data is within a predetermined threshold value may be given, or an alarm is issued. It may be a screen showing that. The screen data generation unit 308 causes the display unit 303 to display the generated screen data.

  8 and 9 are sequence charts illustrating the flow of image determination processing according to the first embodiment. The date / time information acquisition unit 111 of the unmanned aircraft 100 acquires date / time information. If the acquired date and time information matches the date and time recorded in the schedule record, the movement control unit 112 of the unmanned aircraft 100 moves to the route recorded in the schedule record (step S101). The position information acquisition unit 113 of the unmanned aircraft 100 acquires position information (step S102). The position information acquisition unit 113 determines whether or not the acquired position information matches the route recorded in the schedule record (step S103). When the route recorded in the schedule record does not match the acquired position information (step S103: NO), the process proceeds to step S101.

  When the route recorded in the schedule record matches the acquired position information (step S103: YES), the water sampling control unit 114 of the unmanned aircraft 100 executes the first operation recorded in the schedule record (step S104). ). For example, when the first operation is “water sampling”, the unmanned aircraft 100 performs water sampling. In this case, the unmanned aerial vehicle 100 may land on the water sampling site and perform water sampling. The unmanned aerial vehicle 100 that landed on the water sampling site floats by the levitation unit 102.

  The image acquisition unit 115 of the unmanned aircraft 100 acquires image data (step S105). Specifically, the imaging unit 103 of the unmanned aircraft 100 images the inside of the container 104 and generates image data. The image acquisition unit 115 acquires image data generated by the imaging unit 103. The image acquisition unit 115 records the acquired image data in the image data storage unit 109 (step S106). The image acquisition unit 115 transmits the image data to the determination device 200 (step S107).

  The image acquisition unit 208 of the determination apparatus 200 acquires data from the unmanned aircraft 100 as an image. The image acquisition unit 208 records the acquired image data in the image data storage unit 205 (step S108). The image determination unit 209 of the determination apparatus 200 acquires learning result data from the learning result data storage unit 206. The image determination unit 209 determines whether the image data and the learning result data satisfy a predetermined condition (Step S109). The predetermined condition may be, for example, whether or not the feature amount of the image data is within a predetermined threshold value. If the predetermined condition is satisfied, the image determination unit 209 determines that the image data includes a cyanobacteria image (step S110). The image determination unit 209 determines that the image of cyanobacteria is not included in the image data when the predetermined condition is not satisfied.

  When the image determination unit 209 determines that the image data includes a cyanobacteria image (step S110: YES), the image determination unit 209 outputs information indicating the alarm notification to the alarm instruction unit 210. The alarm instruction unit 210 transmits an alarm notification instruction to the monitoring control device 300 (step S111). The alarm instruction unit 210 transmits the image data to the monitoring control device 300 (step S112). The image determination unit 209 transmits the determination result to the unmanned aircraft 100 (step S113).

  The alarm control unit 307 of the monitoring control device 300 determines whether an alarm issue instruction has been accepted (step S114). When an alarm instruction is received (step S114: YES), the alarm control unit 307 records the received image data in the image data storage unit 305 (step S115). The alarm control unit 307 outputs an alarm issue instruction to the alarm unit 304. The alarm unit 304 issues an alarm (step S116). The screen data generation unit 308 generates screen data. The screen data generation unit 308 causes the display unit 303 to display the generated screen data (step S117). The screen data is, for example, a screen indicating that an alarm has been issued. If an alarm instruction has not been received (step S114: NO), the process proceeds to step S118.

  The movement control unit 112 of the unmanned aircraft 100 determines the route of the schedule record according to the determination result. The movement control unit 112 determines whether or not the received determination result is determined to include a cyanobacteria image (step S118). When the received determination result is not determined to include the image of cyanobacteria (step S118: NO), the water sampling control unit 114 drains the water in the container 104 according to the operation of the schedule record, The process proceeds to step S124 (step S119).

  If it is determined that the received determination result includes an image of cyanobacteria (step S118: YES), the movement control unit 112 is unmanned on the route recorded in the predetermined schedule record. The aircraft 100 is moved (step S120). The predetermined schedule record may be included in the determination result, or may be recorded in the schedule record in advance. The route recorded in the predetermined schedule record may represent the location of the water analysis field, for example. The position information acquisition unit 113 acquires position information (step S121). The position information acquisition unit 113 determines whether or not the acquired position information matches the route recorded in the schedule record (step S122). When the route recorded in the schedule record does not match the acquired position information (step S122: NO), the process proceeds to step S121.

  When the route recorded in the schedule record matches the acquired position information (step S122: YES), the water sampling control unit 114 drains the water in the container 104 in accordance with the operation of the schedule record (step S122). S123). The movement control unit 112 moves the unmanned aircraft 100 to the initial position based on the route recorded in the predetermined schedule record (step S124).

  In the monitoring control system 1 configured as described above, the unmanned aircraft 100 moves along a designated route. The water sampling control unit 114 of the unmanned aerial vehicle 100 samples water from the water sampling site. The imaging unit 103 of the unmanned aerial vehicle 100 images the container 104 in which the collected water is stored, and generates image data. The image determination unit 209 of the determination apparatus 200 determines whether algae or the like are included in the generated image data. When the image data includes algae or the like, the alarm instruction unit 210 of the determination device 200 transmits an alarm notification instruction to the monitoring control device 300. The alarm unit 304 of the monitoring control device 300 issues an alarm. When the algae and the like are included in the image data, the unmanned aircraft 100 can move the collected water to a designated place such as an analysis site by moving to a predetermined route. Therefore, according to the monitoring control system 1 of the embodiment, the unmanned aircraft 100 can move to the water sampling site earlier by moving in the air, and it is possible to prevent a water quality accident in advance. In addition, when the determination device 200 determines that algae or the like is included in the image data, the alarm instruction unit 210 of the determination device 200 transmits an alarm notification instruction to the monitoring control device 300, so that the water purification plant. It is possible to ensure sufficient time for an operator at a machine station or the like to determine an appropriate treatment for an abnormality in water quality.

(Second Embodiment)
Next, the monitoring control system 1 in the second embodiment will be described. The configuration of the monitoring control system 1 in the second embodiment is the same as that of the monitoring control system 1 in the first embodiment. Hereinafter, differences from the first embodiment will be described.

  In the determination apparatus 200 according to the second embodiment, the image determination unit 209 determines whether the image data and the learning result data satisfy a predetermined condition. When the image data and the learning result data satisfy a predetermined condition, the image determination unit 209 outputs information indicating an alarm notification to the alarm instruction unit 210. The image determination unit 209 transmits the determination result to the unmanned aircraft 100. The predetermined condition may be, for example, whether or not the water color feature amount included in the image data is within a predetermined threshold. The predetermined threshold may be a value determined based on, for example, the value of the intensity of the wavelength of the oil or fish spectrum included in the learning result data. The predetermined condition may be, for example, that the image determination unit 209 has a difference in wavelength intensity value between the image data and the learning result data within a threshold value.

  10 and 11 are sequence charts illustrating the flow of the image determination process according to the second embodiment. Steps S201 to S204 are the same as steps S101 to S104 in FIG.

  The movement control unit 112 of the unmanned aerial vehicle 100 rotates the propeller so that the unmanned aerial vehicle 100 has a predetermined altitude (step S205). The predetermined altitude may be, for example, an altitude of about 3 meters from the water surface, or may be an altitude at which 5 m square of the water surface is imaged. The image acquisition unit 115 of the unmanned aircraft 100 acquires image data (step S206). Specifically, the imaging unit 103 of the unmanned aerial vehicle 100 captures a water sampling site sampled by the unmanned aircraft 100 and generates image data. The image acquisition unit 115 acquires image data generated by the imaging unit 103. The image acquisition unit 115 records the acquired image data in the image data storage unit 109 (step S207). The image acquisition unit 115 transmits the image data to the determination device 200 (step S208).

  The image acquisition unit 208 of the determination apparatus 200 acquires data from the unmanned aircraft 100 as an image. The image acquisition unit 208 records the acquired image data in the image data storage unit 205 (step S209). The image determination unit 209 of the determination apparatus 200 acquires learning result data from the learning result data storage unit 206. The image determination unit 209 determines whether the image data and the learning result data satisfy a predetermined condition (step S210). The predetermined condition may be, for example, whether or not the feature amount of the image data is within a predetermined threshold value. If the predetermined condition is satisfied, the image determination unit 209 determines that an image of oil or fish is included in the image data (step S211). If the predetermined condition is not satisfied, the image determination unit 209 determines that an image of oil or fish is not included in the image data.

  When the image determination unit 209 determines that the image data includes a cyanobacteria image (step S211: YES), the image determination unit 209 outputs information indicating the alarm notification to the alarm instruction unit 210. The alarm instruction unit 210 transmits an alarm notification instruction to the monitoring control device 300 (step S212). The alarm instruction unit 210 transmits the image data to the monitoring control device 300 (step S213). The image determination unit 209 transmits the determination result to the unmanned aircraft 100 (step S214).

  Steps S215 to S218 are the same as steps S114 to S117 in FIG.

  The movement control unit 112 of the unmanned aircraft 100 determines the route of the schedule record according to the determination result. The movement control unit 112 determines whether or not the received determination result is determined to include an image of oil or fish (step S219). When the received determination result is not determined to include an image of oil or fish (step S219: NO), the water sampling control unit 114 drains the water in the container 104 according to the operation of the schedule record. Then, the process proceeds to step S225 (step S220).

  If it is determined that the received determination result includes an image of oil or fish (step S219: YES), the movement control unit 112 follows the route recorded in the predetermined schedule record. The unmanned aircraft 100 is moved (step S221). The predetermined schedule record may be included in the determination result, or may be recorded in the schedule record in advance. The route recorded in the predetermined schedule record may represent the location of the water analysis field, for example. The position information acquisition unit 113 acquires position information (step S222). The position information acquisition unit 113 determines whether or not the acquired position information matches the route recorded in the schedule record (step S223). When the route recorded in the schedule record does not match the acquired position information (step S223: NO), the process proceeds to step S222.

  When the route recorded in the schedule record matches the acquired position information (step S223: YES), the water sampling control unit 114 drains the water in the container 104 according to the operation of the schedule record (step S223). S224). The movement control unit 112 moves the unmanned aircraft 100 to the initial position based on the route recorded in the predetermined schedule record (step S225).

  In the monitoring control system 1 configured as described above, the unmanned aircraft 100 moves along a designated route. The water sampling control unit 114 of the unmanned aerial vehicle 100 samples water from the water sampling site. The imaging unit 103 of the unmanned aerial vehicle 100 captures a water sampling site sampled by the unmanned aircraft 100 and generates image data. The image determination unit 209 of the determination apparatus 200 determines whether oil or fish is included in the generated image data. When the image data includes oil, fish, or the like, the alarm instruction unit 210 of the determination apparatus 200 transmits an alarm notification instruction to the monitoring control apparatus 300. The alarm unit 304 of the monitoring control device 300 issues an alarm. When the image data includes oil, fish, or the like, the unmanned aircraft 100 can move the collected water to a designated place such as an analysis field by moving to a predetermined route. Therefore, according to the monitoring control system 1 of the embodiment, the unmanned aircraft 100 can move to the water sampling site earlier by moving in the air, and it is possible to prevent a water quality accident in advance. In addition, when the determination device 200 determines that algae or the like is included in the image data, the alarm instruction unit 210 of the determination device 200 transmits an alarm notification instruction to the monitoring control device 300, so that the water purification plant. It is possible to ensure sufficient time for an operator at a machine station or the like to determine an appropriate treatment for an abnormality in water quality.

(Modification common to the embodiments)
Unmanned aerial vehicle 100 includes a plurality of containers 104. Therefore, it is possible to analyze or transport water image data of different sampling sites.

  The protrusion 105 of the unmanned aerial vehicle 100 may be configured to extend. The unmanned aerial vehicle 100 configured in this manner can sample water at a deeper location in the sampling area. Therefore, the monitoring and control system 1 can analyze the water quality even when the water quality varies depending on the depth of the sampling ground.

  The determination device 200 or the monitoring control device 300 may be configured to transmit a control instruction for controlling the unmanned aircraft 100. In this case, the determination apparatus 200 or the monitoring control apparatus 300 transmits a movement control instruction such as movement or altitude change to the unmanned aircraft 100. The movement control unit 112 performs control such as moving or changing the altitude of the unmanned aircraft 100 according to the received instruction. With this configuration, it is possible to safely operate the unmanned aerial vehicle 100 even when an unexpected situation such as a sudden change in weather or a collision with animals or plants occurs in the unmanned aircraft 100. .

  The determination device 200 or the monitoring control device 300 may be configured to change the date and time of the schedule record recorded by the unmanned aircraft 100. Specifically, the determination device 200 or the monitoring control device 300 acquires weather information. The weather information includes future precipitation probability, weather, atmospheric pressure, temperature, wind speed, humidity, and the like. Weather information is acquired from an external server. When the acquired weather information impedes movement of the unmanned aircraft 100, the determination device 200 or the monitoring control device 300 transmits a change instruction for changing the date and time of the schedule record. The trouble may be, for example, a state where the route recorded in the schedule record cannot be reached due to a crash or failure, or may be a case where the legal flight condition is not satisfied. The change instruction includes the date and time after the change. The unmanned aerial vehicle 100 starts moving at the changed date and time instead of the date and time recorded in the schedule record. With this configuration, the unmanned aerial vehicle 100 can safely operate the unmanned aerial vehicle 100 regardless of the weather.

  In the present embodiment, the determination apparatus 200 includes the image determination unit 209, but is not limited to the determination apparatus 200. For example, the unmanned aircraft 100 or the monitoring control device 300 may be configured to include the image determination unit 209.

  In the present embodiment, the container 104 of the unmanned aerial vehicle 100 has been described as a configuration including the protrusion 105 and the piston 106, but is not limited thereto. For example, the container 104 may sample water by being submerged in water.

  In each of the above embodiments, the water sampling control unit 114, the image acquisition unit 115, the image determination unit 209, and the alarm instruction unit 210 are software function units, but may be a hardware function unit such as an LSI.

  According to at least one embodiment described above, by having the image determination unit 209, the water quality information determination unit 211, the chemical amount determination unit 212, or the sampling determination unit 214, it becomes possible to prevent a water quality accident in advance. .

  Although several embodiments of the present invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are also included in the invention described in the claims and the equivalents thereof.

DESCRIPTION OF SYMBOLS 1 ... Supervisory control system, 100 ... Unmanned aerial vehicle, 101 ... Propeller part, 102 ... Levitation part, 103 ... Imaging part, 104 ... Container, 105 ... Protrusion, 106 ... Piston, 107 ... Wireless communication part, 108 ... Schedule storage part, DESCRIPTION OF SYMBOLS 109 ... Image data storage part, 110 ... Control part, 111 ... Date information acquisition part, 112 ... Movement control part, 113 ... Position information acquisition part, 114 ... Water sampling control part, 115 ... Image acquisition part, 200 ... Determination apparatus, DESCRIPTION OF SYMBOLS 201 ... 1st communication part, 202 ... 2nd communication part, 203 ... Input part, 204 ... Display part, 205 ... Image data storage part, 206 ... Learning result data storage part, 207 ... Control part, 208 ... Image acquisition part, 209: Image determination unit, 210: Alarm instruction unit, 300: Monitoring control device, 301 ... Communication unit, 302 ... Input unit, 303 ... Display unit, 304 ... Alarm unit, 305 ... Image data recording Department, 306 ... controller, 307 ... alarm control unit, 308 ... screen data generating unit, 10 ... aircraft parking, 20 ... network

Claims (9)

An imaging unit for imaging an object including water and generating image data;
A wireless communication unit for transmitting the image data to a predetermined external device;
An unmanned aerial vehicle comprising:
An image acquisition unit for acquiring the image data transmitted by the unmanned aerial vehicle;
When the feature amount indicating the color of water contained in the image data satisfies a predetermined condition, an image determination unit that determines that the water quality is abnormal,
A determination device comprising:
A determination system comprising: The image determination unit
The determination according to claim 1, wherein the water quality abnormality is determined when the wavelength intensity of the water color included in the image data and the wavelength intensity of the comparison image data indicating abnormality of the water quality satisfy a predetermined condition. system. The unmanned aircraft
A movement control unit that moves the unmanned aerial vehicle to a predetermined location at a predetermined date and time;
The determination system according to claim 1 or 2. The unmanned aircraft
A water sampling control unit that performs control to store water in the predetermined location in a container included in the unmanned aircraft when moved to the predetermined location;
The determination system according to claim 3.   The determination system according to claim 4, wherein the imaging unit captures an image so as to include water stored in the container or immediately below the unmanned aircraft. The determination device is
When the image determination unit determines that the water quality is abnormal, an alarm instruction unit that transmits an alarm notification instruction;
Further comprising
The determination system according to any one of claims 1 to 5. An imaging step in which an unmanned aerial vehicle images an object including water to generate image data;
A wireless communication step in which the unmanned aircraft transmits the image data to a predetermined external device;
Have
An image acquisition step in which the determination device acquires the image data transmitted by the unmanned aerial vehicle;
An image determination step for determining that the water quality is abnormal when the determination device satisfies a predetermined condition that indicates a color of water contained in the image data;
The determination method which the determination system which has this performs. An imaging unit for imaging an object including water and generating image data;
A wireless communication unit for transmitting the image data to a predetermined external device;
An unmanned aircraft equipped with. An image acquisition unit for acquiring image data obtained by imaging an object including water by an unmanned aerial vehicle;
When the feature amount indicating the color of water contained in the image data satisfies a predetermined condition, an image determination unit that determines that the water quality is abnormal,
A determination apparatus comprising:

Images