JP7801762B2 - Inspection method, inspection device, inspection program, and inspection system - Google Patents

Description

The present invention relates to an inspection method, an inspection device, an inspection program, and an inspection system.

BACKGROUND ART Conventionally, various inspections have been carried out to check for the presence or absence of abnormalities in facilities (see, for example, Patent Document 1).
Such an inspection method involves an inspector entering an inspection area and visually checking or checking through video images whether or not there is any abnormality within the inspection area.

JP 2022-65534 A

However, if an inspector cannot enter the inspection area, not only is visual inspection impossible, but clear video images for confirmation cannot be obtained. Even if an inspector can enter the area, there is the problem that visually inspecting the inspection area places a heavy burden on the inspector.

In light of the above, the present invention aims to provide an inspection method, inspection device, inspection program, and inspection system that allows an inspection area to be easily inspected without an inspector having to enter the area.

In order to solve the above problems, the present invention provides the following means.
The present invention is an inspection method for inspecting an inspection area on the track side at a station where the platform and track extend in parallel and where multiple inspection hatches are provided longitudinally on the side of the platform, and includes an entry step of having an unmanned aerial vehicle having a camera unit and a lighting unit enter through one inspection hatch; an inspection flight step of flying the unmanned aerial vehicle along the track to the side of another inspection hatch while the lighting unit illuminates the inspection area with light and the camera unit displays video data of the inspection area on a display unit; and an exit step of having the unmanned aerial vehicle exit through the other inspection hatch, wherein in the inspection flight step, lighting means installed near the other inspection hatch changes the direction in which light is illuminated onto the inspection area by the unmanned aerial vehicle according to the progress of the flight of the unmanned aerial vehicle.

According to one aspect of the present application, inspection areas can be easily inspected without an inspector having to enter the area.

1 is an overall configuration diagram showing an inspection system according to an embodiment of the present invention; 4 is a flowchart showing the processing of a control unit in the inspection device of FIG. 1 . FIG. 1 is an explanatory diagram showing the unmanned aerial vehicle, inspection hatch, lighting means, etc. in the inspection area as viewed from above. FIG. 4 is an explanatory diagram showing the unmanned aerial vehicle of FIG. 3 moving forward. FIG. 5 is an explanatory diagram showing the unmanned aerial vehicle of FIG. 4 moving further forward. FIG. 6 is an explanatory diagram showing the unmanned aerial vehicle of FIG. 5 moving further forward. FIG. 7 is an explanatory diagram showing the unmanned aerial vehicle of FIG. 6 moving further forward before exiting. FIG. 10 is an explanatory diagram showing a modified example of the present invention.

(Embodiment)
An inspection method, an inspection device, an inspection program, and an inspection system according to an embodiment of the present invention will be described below.
FIG. 1 is a diagram showing the overall configuration of an inspection system 1 according to an embodiment of the present invention.
The inspection system 1 includes a micro drone 10 (unmanned aerial vehicle), a lighting device 20 (lighting means), and an inspection device 30. The micro drone 10, the lighting device 20, and the inspection device 30 are connected via a network.

The micro drone 10 is a type of UAV (Unmanned Aerial Vehicle) and is an unmanned flying object.
This micro drone 10 includes a control unit 11, a camera unit 12, a lighting unit 13, a communication unit 14, and a drive unit 15.
The control unit 11 is realized by a computing means such as a processor or CPU, and functions in cooperation with various types of memory, hard disks, and other storage means to execute various programs. The control unit 11 also controls the various components and functional units, as well as the entire device. The control unit 11 transmits video data output from the camera unit 12 to the inspection device 30 via the communication unit 14.
The camera unit 12 is composed of various optical devices for capturing images of the subject, captures images of the inspection area, and outputs the image data to the control unit 11. The camera unit 12 is installed on the housing of the micro drone 10.
The lighting unit 13 includes various lighting devices that emit light for inspection, and is installed on the housing of the micro drone 10.

The communication unit 14 is made up of, for example, various communication devices that transmit and receive information to and from external devices, and is connected to a network wirelessly. The communication unit 14 transmits the video data output from the camera unit 12 to the inspection device 30. The communication unit 14 also receives drive instructions transmitted from an operation unit (not shown) such as a remote control device, and outputs the instructions to the control unit 11.
The drive unit 15 is, for example, composed of a motor or the like, and drives the propeller portion of the micro drone 10 to rotate.

The lighting device 20 emits inspection light to supplement the light from the lighting unit 13 of the micro drone 10, and is equipped with a control unit 21, a lighting unit 22 (lighting means), a drive unit 23, and a communication unit 24.
The control unit 21 is realized by a computing means such as a processor or CPU, and functions in cooperation with various types of memory, hard disk, and other storage means to execute various programs. The control unit 21 also controls the various components and functional units, as well as the entire device. The control unit 21 receives rotation drive instructions, dust avoidance instructions, flight avoidance instructions, and the like sent from the inspection device 30 via the communication unit 24 and drives the drive unit 23.
The lighting unit 22 is made up of various lighting devices that emit light for inspection, and emits light onto the inspection area.
The driving unit 23 is formed of, for example, a motor, and rotates the lighting unit 22 so that the direction of light emitted by the lighting unit 22 is changed.
The communication unit 24 is composed of, for example, various communication devices that send and receive information to and from external devices, and inputs rotation drive instructions, dust avoidance instructions, or flight avoidance instructions sent from the inspection device 30 and outputs them to the control unit 21.

The inspection device 30 may be, for example, a personal computer, a tablet terminal, a smartphone, or a wearable device such as glasses, a watch, or goggles. The inspection device 30 includes a control unit 31, a display unit 32, and a communication unit 33.
The control unit 31 is realized by a computing means such as a processor or a CPU, and functions in cooperation with various types of memory, storage means such as a hard disk, and executes various programs. The control unit 31 includes a main control unit 31A, an image determination unit 31B, a display control unit 31C (display means), and an illumination control unit 31D (illumination control means, change means).
The main control unit 31A executes various programs to control the various components and functional units and the entire device.
When the video assessment unit 31B receives the video data transmitted from the micro drone 10, it performs various assessments based on the video data through image diagnosis. These assessments include assessing abnormalities in the inspection area, assessing the position information of the micro drone 10, and assessing potential obstacles, dust, and other potential sources of concern. These assessments may be based on a assessment model generated by machine learning using AI. Depending on the results of these assessments, the video assessment unit 31B generates instructions for rotation, dust avoidance, or flight avoidance, and outputs these instructions to the lighting control unit 31D.

When the display control unit 31C receives the video data transmitted from the micro drone 10, it outputs the video data to the display unit 32 for display.
Based on the position information of the micro drone 10 determined by the video determination unit 31B, the lighting control unit 31D transmits to the lighting device 20 via the communication unit 33 a rotation drive instruction or a flight avoidance instruction to change the irradiation direction of the lighting unit 22 in the lighting device 20. Furthermore, based on the determination result of dust generation determined by the video determination unit 31B, the lighting control unit 31D transmits to the lighting device 20 via the communication unit 33 a dust avoidance instruction to change the irradiation direction of the lighting unit 22 in the lighting device 20.
The display unit 32 is composed of, for example, a monitor or display, and displays various information, images, data, etc., such as video data transmitted from the micro drone 10, the results of the assessment of abnormalities in the inspection area, or the location information of the micro drone 10.
The communication unit 33 is composed of, for example, various communication devices that send and receive information to and from external devices, and inputs video data sent from the micro drone 10, and also transmits rotation drive instructions, dust avoidance instructions, or flight avoidance instructions output by the lighting control unit 31D to the lighting device 20.

Next, the inspection area inspected by the inspection system 1 will be described.
3 to 6 are explanatory diagrams showing inspection situations in inspection areas, etc.
Inspection area A is set as the ceiling of the station.
The ceiling of the station includes a track area K above the track extending in the longitudinal direction L, and a platform area H above the platform extending in the longitudinal direction L. The track area K and platform area H extend in parallel.
The track area K is the inspection area A in this embodiment. The track area K is set to a size that makes it difficult for people to enter.
In the home area H, a plurality of inspection hatches T are provided along the longitudinal direction L. The inspection hatches T are set to a size that makes it difficult for people to enter.
Therefore, it is difficult for people to enter the home area H and the track area K.

3 to 6, these inspection hatches T are indicated from left to right in the drawings as T1, T2, T3, and T4. That is, the inspection hatch T adjacent to inspection hatch T1 in the longitudinal direction L is designated inspection hatch T2, and similarly, the inspection hatches T adjacent to inspection hatch T in the longitudinal direction L are designated inspection hatches T3 and T4.
Each of these inspection hatches T is provided with a lighting device 20. These lighting devices 20 are configured to irradiate inspection light onto the track area K. Furthermore, the lighting devices 20 are configured with a drive unit 23 to change the direction in which they emit light between one end and the other end in the longitudinal direction L. These lighting devices 20 are provided near the platform area H side of the inspection hatch T.
The micro drone 10 is provided with a camera unit 12 and a lighting unit 13 on its housing, and is configured to enter the home area H through an inspection hatch T, fly through a track area K in the longitudinal direction L, and exit through any inspection hatch T. During the flight of the micro drone 10, the lighting unit 13 irradiates inspection light forward in the direction of travel, and the camera unit 12 photographs the illuminated track area K.

Next, the inspection method, the inspection device 30, the inspection program, and the operation of the inspection system 1 in this embodiment will be described.
FIG. 2 is a flowchart showing the processing of the control unit 31 in the inspection device 30.
First, based on the operation of the inspector, the lighting control unit 31D drives the lighting device 20 (step S1). That is, the lighting control unit 31D transmits a lighting drive instruction to the lighting device 20 via the communication unit 33. The control unit 21 in the lighting device 20 receives the lighting drive instruction via the communication unit 24 and outputs the lighting drive instruction to the lighting unit 22 to turn on the lighting unit 22.
As a result, as shown in FIG. 3, the lighting unit 22 irradiates the track area K with inspection light in a direction perpendicular to the longitudinal direction L.

In this state, the operator of the micro drone 10 uses the remote control device to fly the micro drone 10. At this time, the control unit 11 inputs the drive command sent from the remote control device via the communication unit 14 and outputs this drive command to the drive unit 15, thereby driving the drive unit 15. This drives the propeller unit of the micro drone 10, causing the micro drone 10 to fly.
At this time, the camera unit 12 continuously captures images of the subject and continuously outputs the video data to the control unit 11. The control unit 11 continuously inputs the video data and continuously transmits it in real time to the inspection device 30 via the communication unit 14. The main control unit 31A reads the output of the communication unit 33 and determines whether video data is being output from the micro drone 10 (step S2). If the main control unit 31A determines that there is no video data (step S2: No), it reads the output of the communication unit 33 and repeats the process. On the other hand, if the main control unit 31A determines that there is video data (step S2: Yes), it continuously outputs the video data to the display control unit 31C.

When the display control unit 31C receives the video data, it outputs it to the display unit 32 and displays it continuously in real time (step S3). As a result, when the micro drone 10 is flying within the trajectory area K, the display unit 32 displays the video within the trajectory area K in real time.
In this state, the micro drone 10, under the control of the operator, enters the home area H through the inspection hatch T1 (entry step). At this time, because the lighting device 20 is provided on the home area H side of the inspection hatch T1, a large entry space can be secured, making it easier for the micro drone 10 to enter.
The micro drone 10 then flies into the trajectory area K and is directed forward in the longitudinal direction L. At this time, the display control unit 31C continuously outputs video data to the video assessment unit 31B. The video assessment unit 31B inputs the video data and performs image diagnosis (step S4). That is, the video assessment unit 31B first assesses the position information of the micro drone 10 and displays the assessment result on the display unit 32 via the display control unit 31C. As a result, the position information of the micro drone 10 is displayed in real time on the display unit 32.

Furthermore, the video assessment unit 31B assesses the abnormality of the track area K and the items requiring caution based on the video data, and causes the results of these assessments to be displayed on the display unit 32 via the display control unit 31C. As a result, the results of the assessment of the abnormality of the track area K and the results of the assessment of the items requiring caution are displayed on the display unit 32 in real time.
Then, the microdrone 10 flies forward along the trajectory in the longitudinal direction L, with the lighting unit 22 irradiating light onto the trajectory area K. At this time, as described above, the display control unit 31C displays the image of the trajectory area K on the display unit 32 in real time (inspection flight step, display step, lighting step).
The image determination unit 31B determines whether the micro-drone 10 has approached the adjacent inspection hatch T2 (step S5). That is, the image determination unit 31B determines the position information of the micro-drone 10 through image diagnosis and determines whether it has approached the inspection hatch T2. Note that "approaching" means that the micro-drone 10 has been placed in a position where the light from the lighting device 20 installed at the adjacent inspection hatch T2 can be irradiated in front of the micro-drone 10.

If the image determination unit 31B determines that the inspection hatch T2 is not being approached (step S5: No), the process returns to step S4 and repeats. On the other hand, if the image determination unit 31B determines that the inspection hatch T2 is being approached, the image determination unit 31B outputs a rotation drive instruction to the lighting control unit 31D. When the rotation drive instruction is input, the lighting control unit 31D transmits it to the lighting device 20 via the communication unit 33.
When the control unit 21 in the lighting device 20 receives the rotation drive command via the communication unit 24, it outputs the command to the drive unit 23, causing the lighting unit 22 to rotate. As a result, as shown in FIG. 4 , the lighting units 22 installed at the adjacent inspection hatches T2 emit light toward the front of the micro-drone 10 (step S6, change step). Then, based on the rotation drive command continuously transmitted from the lighting control unit 31D, the lighting units 22 change the direction of light emission as the micro-drone 10 progresses in flight, so as to always emit light toward the front of the micro-drone 10. In other words, the lighting units 22 follow the flight of the micro-drone 10 and emit light toward the front.

When the video determination unit 31B determines that the microdrone 10 has left the inspection hatch T2, the lighting unit 22 installed at the inspection hatch T2 receives a rotation drive command from the lighting control unit 31D and emits light onto the track area K in a direction perpendicular to the longitudinal direction L, as shown in FIG. 6. In other words, the lighting control unit 31D changes the illumination direction of the lighting unit 22 so that light is emitted onto the track area K in a direction perpendicular to the longitudinal direction L. Here, "left" means that the microdrone 10 is positioned in a position where light cannot be emitted in front of the microdrone 10. This reduces the impact of light from behind the microdrone 10.

The image determination unit 31B then determines, through image diagnosis, whether or not dust is occurring in the shooting area in front of the micro drone 10 (step S7). If the image determination unit 31B determines that dust is not occurring (step S7: No), the process proceeds to step S9. On the other hand, if the image determination unit 31B determines that dust is occurring (step S7: Yes), the process outputs a dust avoidance instruction to the lighting control unit 31D.
When the lighting control unit 31D receives the dust avoidance instruction, it transmits the instruction to the lighting device 20 via the communication unit 33.
When the control unit 21 in the lighting device 20 receives the dust avoidance instruction via the communication unit 24, it outputs the instruction to the drive unit 23, which rotates and drives the lighting unit 22 to avoid the dust so that the light from the lighting unit 22 does not irradiate the dust. That is, under the dust avoidance instruction from the lighting control unit 31D, the lighting unit 22 irradiates light ahead of the micro drone 10 while avoiding the dust (step S8).

Furthermore, the image determination unit 31B determines, through image diagnosis, whether the micro drone 10 is flying toward the exit inspection hatch T4 (step S9). That is, the image determination unit 31B determines whether the micro drone 10 is flying in a direction perpendicular to the longitudinal direction L toward the inspection hatch T4.
If the image determination unit 31B determines that the micro-drone 10 is not flying toward the inspection hatch T4 (step S9: No), the process returns to step S4 and repeats. As a result, as shown in Figures 5 and 6, as the micro-drone 10 flies forward in the longitudinal direction L, the lighting units 22 installed at the inspection hatches T2, T3, and T4 change the direction of light irradiation according to the progress of the micro-drone 10's flight, based on the rotation drive instructions sent from the lighting control unit 31D.

On the other hand, if the image judgment unit 31B determines that the micro drone 10 is flying toward the inspection hatch T4 (step S9: Yes), it outputs a flight avoidance instruction to the lighting control unit 31D.
When the lighting control unit 31D receives the flight avoidance instruction, it transmits it to the lighting device 20 via the communication unit 33.
When the control unit 21 in the lighting device 20 receives the flight avoidance instruction via the communication unit 24, it outputs the instruction to the drive unit 23, which rotates and drives the lighting unit 22 to avoid the micro-drone 10 so that the light from the lighting unit 22 does not irradiate the micro-drone 10. That is, as shown in Figure 7, under the flight avoidance instruction from the lighting control unit 31D, the lighting unit 22 irradiates light backward in the longitudinal direction L, avoiding the micro-drone 10 (step S10).
Then, the micro drone 10 flies from the orbit area K to the home area H in a direction perpendicular to the longitudinal direction L and exits through the inspection hatch T4 (exit step).

As described above, the inspection method, inspection device 30, inspection program, and inspection system 1 of this embodiment include an entry step, an inspection flight step, and an exit step, and the lighting unit 22 changes the direction of light irradiation onto the trajectory area K of the micro drone 10 according to the progress of the flight of the micro drone 10. This makes it possible to supplement the light for filming according to the progress of the micro drone 10, thereby improving the image quality for inspection. Therefore, the trajectory area K can be easily inspected without an inspector entering it.
In addition, since the lighting unit 22 changes the direction of illumination so that light is emitted in front of the direction of travel of the micro drone 10 as the micro drone 10 moves, it is possible to supplement the light used for photography and improve the quality of the images used for inspection.

Furthermore, if light is irradiated in an area where there is dust, the light will hit the dust and the display screen will be covered with dust that reflects the light, making it difficult to see. According to this embodiment, when dust is present near the micro drone 10, the lighting unit 22 irradiates inspection light while avoiding the dust, thereby improving the image quality for inspection.
Furthermore, since the lighting unit 22 is installed near the inspection hatch T, close to the home area H, the entry or exit space for the micro drone 10 at the inspection hatch T can be made wider, making it easier for the micro drone 10 to enter or exit.
Furthermore, when light is irradiated onto the micro drone 10, the light blocks the view on the display screen. According to this embodiment, during the exit step, the lighting unit 22 stops irradiating the micro drone 10 with light, thereby maintaining the view on the display screen and making it easier to exit the micro drone 10.
Furthermore, since the inspection device 30 is equipped with the display control unit 31C and the illumination control unit 31D, the same effects as those described above can be achieved.

The technical scope of the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit of the present invention.
FIG. 8 is an explanatory diagram showing a modified example of the inspection method, the inspection device 30, the inspection program, and the inspection system 1.
This modified example and the above-described embodiment have the same basic configuration, and the differences will be mainly described here.
The lighting device 20A in this modification includes a lighting unit 22, a control rod 25, and a tripod unit .
The operating rod 25 is formed in an elongated rod shape and is held by the supporters U1 and U2. The lighting unit 22 is provided at the upper end of the operating rod 25, and the tripod unit 26 is provided at the lower end.
The tripod 26 is placed on an installation surface and holds the operating rod 25 in an upright position.
Such a lighting device 20A is inserted into the inspection hatch T from the top, and the lighting unit 22 is arranged in the ceiling. The lighting device 20A is arranged close to the platform area H side of the inspection hatch T.

With this configuration, when the operator flies the micro drone 10 using the remote control device and causes it to enter through the inspection hatch T1 (entry step), the display control unit displays the image on the display unit in real time while the lighting unit 13 emits light. When the micro drone 10 enters, the supporter U1 moves to the inspection hatch T3. Note that the inspection device in this modified example does not have an image judgment unit 31B, and does not judge any abnormalities in the inspection area, the position information of the micro drone 10, or any items of concern. Therefore, the inspector visually checks the image displayed on the display unit to confirm any abnormalities in the inspection area, the position information of the micro drone 10, and the presence or absence of items of concern such as obstacles or dust.

Then, as the micro-drone 10 moves forward in the longitudinal direction L (inspection flight step) while the lighting unit 13 emits light and the display control unit displays the image on the display unit in real time, the micro-drone 10 approaches the adjacent inspection hatch T2. At this time, the inspector visually checks the display unit to confirm that the micro-drone 10 has approached the inspection hatch T2. The inspector then gives instructions to the supporter U2. The supporter U2 holds the control rod 25 and rotates it. As the control rod 25 is rotated, the lighting unit 22 attached to its upper end rotates, changing the direction of light irradiation. At this time, the supporter U2 rotates the lighting unit 22 in accordance with the progress of the micro-drone 10 so that light is irradiated in front of the micro-drone 10. Then, as the micro-drone 10 passes the inspection hatch T2, the supporter U2 moves to the inspection hatch T4.

Furthermore, as the micro drone 10 approaches the inspection hatch T3, the inspector similarly visually checks it, and the supporter U1 rotates the lighting unit 22, and as the micro drone 10 moves forward, the lighting unit 22 is rotated so that light is shone in front of the micro drone 10.
Furthermore, if an inspector visually checks the display unit and confirms the generation of dust while the micro drone 10 is flying, the inspector will give instructions to supporters U1 and U2, and for example, supporter U1 will rotate the lighting unit 22 slightly via the operating rod 25, adjusting it so that the light is emitted while avoiding the dust.

Furthermore, once the micro-drone 10 approaches the inspection hatch T4 and begins flying toward the home area H, the inspector visually checks the display unit to confirm that the micro-drone 10 has approached the inspection hatch T4. The inspector then gives instructions to the supporter U2. The supporter U2 rotates the control rod 25 to point the lighting unit 22 backward in the longitudinal direction L, removing the light from the lighting unit 22 from the micro-drone 10. In this state, the micro-drone 10 exits the inspection hatch T4 (exit step).
As described above, this modification can achieve the same effects as the above-described embodiment.

In the above-described embodiment and modified example, the lighting unit 22 is changed to irradiate light in front of the micro drone 10, but this is not limited thereto, and the area to be irradiated can be changed as appropriate. For example, the lighting unit 22 may irradiate the left and right, rear, upper, and lower sides of the micro drone 10.
Furthermore, when dust is present, the lighting unit 22 emits light while avoiding the dust, but this configuration does not necessarily have to be provided.
Furthermore, although the lighting unit 22 is described as being located closer to the platform area H side of the inspection hatch T, this is not limitative and the location can be changed as appropriate. For example, the lighting unit 22 may be located on the track area K side of the inspection hatch T, or may be located in the center or elsewhere.
Furthermore, when the micro drone 10 exits through the inspection hatch T, the lighting unit 22 stops emitting light from the micro drone 10, but this configuration does not have to be provided.

Furthermore, the image determination unit 31B is described as determining the state of anomalies in the inspection area, determining the position information of the micro drone 10, determining cautionary factors such as obstacles and dust, etc. However, the determination contents are not limited to these, and can be changed as appropriate. Furthermore, the image determination unit 31B may be configured not to determine at least one of these, or may not determine all of these.
2, the processing flow of the control unit 31 is not limited to this and can be modified as appropriate. For example, the processing of step S1 may be omitted, and the operator may operate and drive the lighting device 20. Furthermore, the processing of steps S4 to S10 in addition to step S1 may be omitted, or the order of steps S4 to S10 may be reversed.

Furthermore, although the unmanned aerial vehicle is described as a microdrone 10, the configuration is not limited to this and can be changed as appropriate. For example, the unmanned aerial vehicle may be a normal-sized drone, an RC (Radio Control) aircraft, or another unmanned aerial vehicle.
Furthermore, although the inspection is described as inspecting the abnormalities in the inspection area above the ceiling of the station, the inspection area is not limited to this and can be changed as appropriate. For example, the inspection may be performed on the inspection area of a facility including a station, building, or other structure. That is, the inspection system 1, inspection device 30, inspection method, and inspection program may be configured to inspect the inspection area of a facility.
The term "deformation" refers to the condition of the inspection area, and includes, for example, cracks, breaks, water leaks, peeling, rust, and other conditions.
Furthermore, the number of inspection hatches T, the number of supporters U1 and U2, or the number of inspectors can be changed as appropriate.
Furthermore, although the inspection hatch T, track area K, and platform area H are described as being of a size that prevents people from entering, this is not limited to this, and at least one of the inspection hatch T, track area K, and platform area H may be of a size that allows people to enter. Even in this case, according to this embodiment, inspection can be easily performed without a person having to enter the area to inspect.
Furthermore, while the image determination unit 31B performs image diagnosis to determine the position of the unmanned aerial vehicle, this is not limiting, and the determination method and configuration can be changed as appropriate. For example, the unmanned aerial vehicle may be equipped with a position determination unit such as a GPS, and the position determination results from the position determination unit may be input to the control unit 11 and continuously transmitted to the inspection device 30 via the communication unit 14. In this case, the lighting control unit 31D may change the irradiation direction of the lighting unit 22 based on the position information. Furthermore, as described above, the position may be determined by visually checking the image displayed on the display unit 32.

Furthermore, each of the aforementioned functional units constituting the inspection device 30 may be provided in a single computer, or may be distributed across multiple computers that can communicate via a communication network.
In addition, a program for realizing the functions of the inspection device 30 may be recorded on a computer-readable recording medium, and the program recorded on the recording medium may be read into a computer system and executed to perform various processes. Note that the term "computer system" here includes hardware such as an OS and peripheral devices.

Furthermore, if the WWW system is used, the "computer system" also includes the homepage providing environment (or display environment).
Furthermore, "computer-readable recording media" refers to portable media such as hard disks, flexible disks, magneto-optical disks, ROMs, CD-ROMs, DVDs, and USB (registered trademark) memory, as well as storage devices such as hard disks built into computer systems. Furthermore, "computer-readable recording media" also includes devices that dynamically store programs for a short period of time, such as communication lines used when transmitting programs over networks like the Internet or communication lines like telephone lines, and devices that store programs for a fixed period of time, such as volatile memory within computer systems that serve as servers or clients in such cases. Furthermore, the above-mentioned programs may be those that implement some of the aforementioned functions, or may be those that can realize the aforementioned functions in combination with programs already stored in the computer system.

The following additional notes are provided regarding the above-described embodiment.
(Appendix 1)
An inspection method for inspecting an inspection area on the track side at a station where a platform and a track extend in parallel and a plurality of inspection hatches are provided on the side of the platform in the longitudinal direction,
an intrusion step of intruding an unmanned aerial vehicle having a camera unit and a lighting unit through one inspection hatch;
an inspection flight step in which the unmanned aerial vehicle is flown along the trajectory to the side of another inspection hatch while the lighting unit irradiates the inspection area with light and the camera unit displays image data of the inspection area on a display unit;
an exit step of causing the unmanned aerial vehicle to exit through the other inspection hatch;
An inspection method characterized in that, in the inspection flight step, a lighting means installed near the other inspection hatch changes the direction of light irradiation onto the inspection area of the unmanned aerial vehicle as the flight of the unmanned aerial vehicle progresses.

(Appendix 2)
The inspection method described in Appendix 1, characterized in that in the inspection flight step, the lighting means changes the irradiation direction so as to irradiate light forward in the direction of travel of the unmanned aircraft according to the progress of the unmanned aircraft.

(Appendix 3)
The inspection method described in Appendix 1, characterized in that, during the inspection flight step, when dust is present near the unmanned aerial vehicle, the lighting means irradiates the light while avoiding the dust.

(Appendix 4)
An inspection method described in any one of Appendix 1 to Appendix 3, characterized in that the lighting means is installed near the other inspection hatch, closer to the platform side.

(Appendix 5)
An inspection method described in any one of Supplementary Notes 1 to 3, characterized in that in the exit step, the lighting means removes the light irradiation from the unmanned aerial vehicle.

(Appendix 6)
An inspection device for inspecting an inspection area on the track side at a station where the platform and the track are extended in parallel and a plurality of inspection hatches are provided on the side of the platform in the longitudinal direction,
a display means for displaying on a display unit image data of the inspection area captured by the camera unit while the illumination unit is irradiating light onto the inspection area when the unmanned aerial vehicle having a camera unit and an illumination unit is flying within the inspection area;
an illumination control means for causing an illumination means provided near the inspection area to irradiate light onto the inspection area;
and a change means for changing the direction in which the lighting means irradiates the inspection area photographed by the camera unit in accordance with the progress of the flight of the unmanned aerial vehicle.

(Appendix 7)
An inspection method for an inspection device that inspects an inspection area on the track side at a station where a platform and a track extend in parallel and a plurality of inspection hatches are provided on the side of the platform in the longitudinal direction,
a display step of displaying on a display unit video data of the inspection area captured by the camera unit while the lighting unit is irradiating light onto the inspection area, when the unmanned aerial vehicle having a camera unit and a lighting unit is flying within the inspection area;
an illumination control step of causing a lighting means provided near the inspection area to irradiate light onto the inspection area;
and a changing step of changing the direction in which the lighting means irradiates the inspection area photographed by the camera unit according to the progress of the flight of the unmanned aerial vehicle.

(Appendix 8)
An inspection program for an inspection device that inspects an inspection area on the track side at a station where a platform and a track are extended in parallel and a plurality of inspection hatches are provided on the side of the platform in the longitudinal direction,
a display step of displaying, on a display unit, video data of the inspection area captured by the camera unit while the lighting unit is irradiating light onto the inspection area, when the unmanned aerial vehicle having a camera unit and a lighting unit is flying within the inspection area;
an illumination control step of causing a lighting means provided near the inspection area to irradiate light onto the inspection area;
an inspection program that causes the inspection device to execute the steps of: a changing step of changing the direction in which the lighting means irradiates the inspection area photographed by the camera unit according to the progress of the flight of the unmanned aerial vehicle;

(Appendix 9)
An inspection system comprising an inspection device for inspecting an inspection area on the track side at a station where a platform and a track are extended in parallel and a plurality of inspection hatches are provided on the side of the platform in the longitudinal direction, a lighting means for irradiating the inspection area with light for inspection, and an unmanned aerial vehicle having a camera unit and a lighting unit and flying within the inspection area,
The inspection device includes:
a display means for displaying on a display unit image data of the inspection area captured by the camera unit while the lighting unit is irradiating the inspection area with light while the unmanned aerial vehicle is flying within the inspection area; and
an illumination control means for causing the illumination means provided in the vicinity of the inspection area to irradiate light onto the inspection area;
and a change means for changing the direction in which the lighting means irradiates the inspection area photographed by the camera unit in accordance with the progress of the flight of the unmanned aerial vehicle.

1 Inspection system 12 Camera unit 13 Lighting unit 10 Micro drone (unmanned aerial vehicle)
22 lighting unit (lighting means)
30 Inspection device 31C Display control unit (display means)
31D Lighting control unit (lighting control means, change means)
32 Display A Inspection area L Longitudinal direction T Inspection hatch

Claims (9)

An inspection method for inspecting an inspection area on the track side at a station where a platform and a track extend in parallel and a plurality of inspection hatches are provided on the side of the platform in the longitudinal direction,
an intrusion step of intruding an unmanned aerial vehicle having a camera unit and a lighting unit through one inspection hatch;
an inspection flight step in which the unmanned aerial vehicle is flown along the trajectory to the side of another inspection hatch while the lighting unit irradiates the inspection area with light and the camera unit displays image data of the inspection area on a display unit;
an exit step of causing the unmanned aerial vehicle to exit through the other inspection hatch;
An inspection method characterized in that, in the inspection flight step, a lighting means installed near the other inspection hatch changes the direction of light irradiation onto the inspection area of the unmanned aerial vehicle as the flight of the unmanned aerial vehicle progresses. The inspection method described in claim 1, characterized in that, during the inspection flight step, the lighting means changes the irradiation direction so as to irradiate light forward in the direction of travel of the unmanned aircraft as the unmanned aircraft travels. The inspection method described in claim 1, characterized in that, during the inspection flight step, when dust is present near the unmanned aerial vehicle, the lighting means emits the light while avoiding the dust. An inspection method according to any one of claims 1 to 3, characterized in that the lighting means is installed near the other inspection hatch, closer to the platform. An inspection method described in any one of claims 1 to 3, characterized in that, in the exit step, the lighting means removes the light irradiation from the unmanned aerial vehicle. An inspection device for inspecting an inspection area on the track side at a station where the platform and the track are extended in parallel and a plurality of inspection hatches are provided on the side of the platform in the longitudinal direction,
a display means for displaying on a display unit image data of the inspection area captured by the camera unit while the illumination unit is irradiating light onto the inspection area when the unmanned aerial vehicle having a camera unit and an illumination unit is flying within the inspection area;
an illumination control means for causing an illumination means provided near the inspection area to irradiate light onto the inspection area;
and a change means for changing the direction in which the lighting means irradiates the inspection area photographed by the camera unit in accordance with the progress of the flight of the unmanned aerial vehicle. An inspection method for an inspection device that inspects an inspection area on the track side at a station where a platform and a track extend in parallel and a plurality of inspection hatches are provided on the side of the platform in the longitudinal direction,
a display step of displaying, on a display unit, video data of the inspection area captured by the camera unit while the lighting unit is irradiating light onto the inspection area, when the unmanned aerial vehicle having a camera unit and a lighting unit is flying within the inspection area;
an illumination control step of causing a lighting means provided near the inspection area to irradiate light onto the inspection area;
and a changing step of changing the direction in which the lighting means irradiates the inspection area photographed by the camera unit according to the progress of the flight of the unmanned aerial vehicle. An inspection program for an inspection device that inspects an inspection area on the track side at a station where a platform and a track are extended in parallel and a plurality of inspection hatches are provided on the side of the platform in the longitudinal direction,
a display step of displaying, on a display unit, video data of the inspection area captured by the camera unit while the lighting unit is irradiating light onto the inspection area, when the unmanned aerial vehicle having a camera unit and a lighting unit is flying within the inspection area;
an illumination control step of causing an illumination means provided near the inspection area to irradiate light onto the inspection area;
an inspection program that causes the inspection device to execute the steps of: a changing step of changing the direction in which the lighting means irradiates the inspection area photographed by the camera unit according to the progress of the flight of the unmanned aerial vehicle; An inspection system comprising an inspection device for inspecting an inspection area on the track side at a station where a platform and a track are extended in parallel and a plurality of inspection hatches are provided on the side of the platform in the longitudinal direction, a lighting means for irradiating the inspection area with light for inspection, and an unmanned aerial vehicle having a camera unit and a lighting unit and flying within the inspection area,
The inspection device includes:
a display means for displaying on a display unit image data of the inspection area captured by the camera unit while the lighting unit is irradiating the inspection area with light while the unmanned aerial vehicle is flying within the inspection area; and
an illumination control means for causing the illumination means provided in the vicinity of the inspection area to irradiate light onto the inspection area;
and a change means for changing the direction in which the lighting means irradiates the inspection area photographed by the camera unit in accordance with the progress of the flight of the unmanned aerial vehicle.