JP2018021491A - System and flight route generation method - Google Patents

Abstract

A flight route of an unmanned aerial vehicle that acquires data for inspection from a windmill is created by reflecting the control state of the windmill. A system includes a windmill having a wind power generator, an unmanned aircraft that obtains data for inspection from the windmill, and a computer that generates flight route data of the unmanned aircraft. It has an automatic route generation unit that generates data, and the automatic route generation unit acquires rotation information indicating the nacelle direction and blade phase in the wind turbine to be inspected, and generates inspection route data based on the rotation information. To do. [Selection] Figure 1

Description

  The present invention relates to a system for generating a flight route for an unmanned aerial vehicle that checks a wind turbine equipped with a wind power generator.

  In recent years, wind power generation has attracted attention as one of renewable energies, and the scale of wind power generation facilities is expanding.

  Since the wind turbine of 5 MW class has a rotor diameter of 120 m, in the inspection work of the wind turbine, there is a problem of the danger due to the work at a high place and the length of the inspection time due to the wide inspection range. In particular, it has been pointed out that the inspection costs are becoming insufficient due to the expansion of the scale of wind power generation facilities.

  In the inspection of the blade of the windmill, the degree of progress of peeling of the paint, the wear of the blade edge on the wind cutting side, the presence or absence of cracks on the blade surface and internal voids, and the like are the check items.

  When the paint peels off due to aging, the blade edge is worn. Further, when the blade is subjected to a lightning strike, cracks or internal voids are generated, and the cracks or internal voids tend to accumulate water as the durability decreases. When a lightning strike occurs while water is accumulated, the volume of water expands rapidly and there is a risk that the blade will break.

  In conventional wind turbine inspection work, the worker visually inspects the blade edge for wear, paint peeling, and cracks, and the worker checks the blade for sound and checks for internal voids. ing.

  It is considered that the visual inspection can be replaced by inspection using image data photographed using an RGB camera. However, percussion screening is difficult to replace inspection with image data. As an alternative method of hammering sound detection for detecting internal voids, for example, a technique using thermography using a thermal infrared camera is conceivable. The internal void detection method using a thermal infrared camera is a non-destructive and non-contact inspection means and does not damage the equipment.

  If the wind turbine equipment inspection method using the unmanned aircraft equipped with the camera described above can be realized, the labor and inspection costs of on-site workers can be reduced. As a related technique, the techniques described in Patent Document 1 and Patent Document 2 are known.

  Patent Document 1 discloses an inspection method in which a drone determines a designated position based on RFID tags attached to various parts of a windmill, receives data such as blade shape and angle, and follows a pre-programmed flight route. It is disclosed. Patent Document 2 states that “the use of an aerial mobile device such as an unmanned helicopter equipped with a digital camera, a video camera, etc., in the air indicates the state of bridge deterioration such as cracks and damage that occur in the members that make up the bridge. ”Directly, and analyze the data taken to investigate the damage state of the bridge.” As described above, various automatic inspection methods using unmanned aircraft for the purpose of reducing inspection costs have been studied.

US Patent Application Publication No. 2012/0136630 JP 2015-34428 A

  In order to acquire image data necessary for inspection using a thermal infrared camera, it is necessary to change the shooting location every time the location where the sun hits and to take images multiple times. In order to facilitate comparison of image data, it is desirable to capture images multiple times under the same acquisition conditions (imaging conditions).

  However, when an operator or the like manually operates the drone, the acquisition conditions are not the same due to variations in operation skills, differences in operation procedures, and the like. Therefore, it is possible to use unmanned aircraft control software. Since the flight route can be automatically set by using the control software of the drone, the acquisition conditions can be made the same.

  However, since the windmill is an operating three-dimensional structure, it is necessary to set the flight route according to the control state of the windmill, such as the nacelle direction and the blade phase.

  The present invention provides a system and method for automatically setting a flight route of an unmanned aerial vehicle capable of acquiring inspection data such as image data under the same acquisition conditions.

  A typical example of the invention disclosed in the present application is as follows. That is, a windmill having a wind power generator, a drone that is a flying body that acquires inspection data from the windmill, and a system that includes a computer that generates flight route data of the drone, the windmill being A plurality of blades, a hub for connecting the plurality of blades is attached, and includes a nacelle for storing the wind power generator and a tower for supporting the nacelle, and the drone is configured to acquire the inspection data. A destructive inspection device, and the computer includes a processor, a memory connected to the processor, and a network interface connected to the processor, and an automatic route generation unit that generates flight route data of the drone And the automatic route generation unit includes rotation information indicating a direction of the nacelle and a phase of the blade in a wind turbine to be inspected. Obtained, on the basis of the rotation information, and generates the data of the flight route is inspected root of the drone for checking windmill of the inspection target.

  According to the present invention, it is possible to automatically set an inspection route for a wind turbine in consideration of the control state of the wind turbine. Thereby, the cost required for checking the windmill can be reduced. Problems, configurations, and effects other than those described above will become apparent from the description of the following examples.

6 is a flowchart illustrating processing executed by an automatic route generation unit according to the first embodiment. 1 is a diagram illustrating a configuration example of a system according to a first embodiment. 2 is a diagram illustrating an example of a hardware configuration of an unmanned aerial vehicle management apparatus according to Embodiment 1. FIG. 2 is a diagram illustrating an example of a hardware configuration of an unmanned aircraft according to Embodiment 1. FIG. It is a figure which shows an example of the windmill DB of Example 1. FIG. It is a figure which shows an example of position DB of Example 1. FIG. It is a figure which shows an example of inspection DB of Example 1. FIG. It is a figure which shows an example of unmanned aircraft DB of Example 1. FIG. FIG. 3 is a diagram illustrating an example of a route DB according to the first embodiment. FIG. 3 is a diagram illustrating an example of a reference coordinate system according to the first embodiment. It is a figure which shows the concept of the reference | standard route in Example 1, and a relative route. FIG. 3 is a diagram illustrating a configuration example of a system according to a second embodiment.

  Embodiments of the present invention will be described below with reference to the accompanying drawings. In each figure, the same reference numerals are given to common configurations.

  FIG. 2 is a diagram illustrating a configuration example of a system according to the first embodiment. FIG. 3A is a diagram illustrating an example of a hardware configuration of the drone management apparatus 200 according to the first embodiment. FIG. 3B is a diagram illustrating an example of a hardware configuration of the drone 202 according to the first embodiment.

  The system includes an unmanned aircraft management device 200, a windmill operation and maintenance device 201, an unmanned aircraft (unmanned flying vehicle) 202, and a windmill 203. In FIG. 2, the number of the drone 202 and the windmill 203 is one, but two or more may exist.

  The drone management device 200 and the windmill operation maintenance device 201 are connected to each other via a network 205. The network 205 can be, for example, a WAN (Wide Area Network), a LAN (Local Area Network), the Internet, and the like. Note that the present embodiment is not limited to the type of the network 205. The connection method of the network 205 may be either wireless or wired. Moreover, the drone management apparatus 200 and the windmill operation maintenance apparatus 201 may be directly connected.

  The unmanned aircraft management device 200 and the windmill operation and maintenance device 201 do not always need to communicate with each other, and communicate with each other only when data is transmitted and received.

  The windmill operation and maintenance device 201 controls the windmill 203 and manages control information and the like of the windmill 203. The windmill operation and maintenance device 201 and the windmill 203 are connected to each other via a network (not shown). The windmill operation and maintenance device 201 includes a windmill control unit 261 that controls the windmill 203.

  When the wind turbine 203 receives wind, the blade 902 (see FIG. 9) rotates to convert wind power into electrical energy. Note that the wind turbine 203 is stopped during inspection.

  The drone management apparatus 200 generates configuration information for setting a flight route to the drone 202. The drone management apparatus 200 communicates with the drone 202 using the wired communication 207 or the wireless communication 208.

  The flight route data of this embodiment is defined as a set of coordinates of the waypoints of the drone 202. The coordinates of the waypoint may be either an orthogonal coordinate system or a polar coordinate system. In the present embodiment, an orthogonal coordinate system will be described as an example. In addition, it is assumed that the drone 202 flies along a straight path connecting the waypoints in principle.

  The drone 202 moves based on the configuration information generated by the drone management apparatus 200, and acquires data for inspection such as image data of the windmill 203. The drone 202 may be any of a rotary wing drone, a fixed wing drone, and a hybrid drone having a rotary wing and a fixed wing.

  The hardware configuration of the drone management apparatus 200 and the drone 202 will be described with reference to FIGS. 3A and 3B.

  The drone management apparatus 200 includes a CPU 301, a GPU 302, a memory 303, a storage device 304, an NW I / F 305, a user I / F 306, and a display device 307. It is assumed that the windmill operation and maintenance device 201 has the same hardware configuration.

  The CPU 301 is an arithmetic device and executes a program stored in the memory 303. When the CPU 301 executes the program, a functional unit included in the drone management apparatus 200 is realized. In the following description, when a process is described with a functional unit as a subject, it indicates that the CPU 301 is executing a program that realizes the functional unit. The GPU 302 is an arithmetic device and executes processing in cooperation with the CPU 301. Note that the GPU 302 may not be included in the hardware configuration.

  The memory 303 stores a program executed by the CPU 301 and information used by the program. The memory 303 includes a work area that is temporarily used by the program. The storage device 304 stores data permanently. As the storage device 304, for example, an HDD (Hard Disk Drive), an SSD (Solid State Drive), or the like can be considered.

  Note that the program and information executed by the CPU 301 may be stored in the storage device 304. In this case, the CPU 301 reads the program and information from the storage device 304 and loads them into the memory 303.

  The NW I / F 305 is an interface for communicating with an external device via a network. The user I / F 306 is an interface for the user to operate the drone management apparatus 200. For example, a keyboard, a mouse, a touch panel, and the like are conceivable. The display device 307 is a device that displays various types of information to the user. For example, a display and a touch panel are conceivable.

  The drone 202 includes an arithmetic device 311, a memory 312, a storage device 313, an NW I / F 314, a flight controller 315, a position / orientation information acquisition device 316, an amplifier / motor 317, a propeller 318, and a camera 319.

  The arithmetic device 311 executes a program stored in the memory 312. The arithmetic device 311 may be a CPU, for example. Since the memory 312, the storage device 313, and the NW I / F 314 are the same as the memory 303, the storage device 304, and the NW I / F 305, description thereof is omitted. The memory 312 stores a program for realizing the windmill control unit 261 and configuration information.

  The flight controller 315 controls the amplifier / motor 317 based on the configuration information. The position and orientation information acquisition device 316 acquires information such as the position of the drone 202 and the attitude of the drone 202. The position / orientation information acquisition device 316 includes an IMU (Internal Measurement Unit), a GPS (Global Positioning System), and a compass.

  The amplifier / motor 317 is a drive device for the drone 202 to fly. The amplifier adjusts the rotational speed of the motor in accordance with instructions from the flight controller 315. A propeller 318 is connected to the motor.

  The camera 319 acquires image data of the windmill 203. The camera 319 may be fixed to the drone 202 or may be installed via a device such as a gimbal. The drone 202 may have a nondestructive inspection device other than the camera 319. Examples of the nondestructive inspection device include an acoustic transmitter, an acoustic receiver, and a radiation measuring instrument.

  Next, the software configuration of the drone management apparatus 200 will be described with reference to FIG.

  The drone management apparatus 200 includes an automatic route generation unit 210. The automatic route generation unit 210 includes a plurality of modules and manages a plurality of databases.

  Specifically, the automatic route generation unit 210 includes, as modules, an NW transmission / reception unit 221, a DB management unit 222, a reference route generation unit 223, a relative route generation unit 224, a rotation information acquisition unit 225, an acquisition condition adjustment unit 226, an inspection A route generation unit 227, a configuration information generation unit 228, and an unmanned aircraft information transmission / reception unit 229 are included. Further, the automatic route generation unit 210 manages the windmill DB 251, the position DB 252, the inspection DB 253, the drone DB 254, and the route DB 255.

  It is assumed that a program for realizing the module is stored in the memory 303 and the database is stored in the storage device 304. Note that the database may be stored in the memory 303.

  The windmill DB 251 is a database that stores data representing the structure of the windmill 203 and the like. Details of the windmill DB 251 will be described with reference to FIG. The position DB 252 is a database that stores data representing the position where the windmill 203 is installed. Details of the position DB 252 will be described with reference to FIG. The inspection DB 253 is a database that stores data representing the control state of the windmill 203 and the like. Details of the inspection DB 253 will be described with reference to FIG. The drone DB 254 is a database that stores data representing the model of the drone 202, the structure of the camera 319 included in the drone 202, and the like. Details of the drone DB 254 will be described with reference to FIG. The route DB 255 is a database that stores configuration information generated by the automatic route generation unit 210. Details of the route DB 255 will be described with reference to FIG.

  FIG. 4 is a diagram illustrating an example of the windmill DB 251 according to the first embodiment.

  The windmill DB 251 includes one or more entries including an ID 401, a model number 402, a blade length 403, a blade width 404, a blade shape 405, and a usage number 406.

  ID 401 is identification information for uniquely identifying an entry in the windmill DB 251. The model number 402 is information indicating the manufacturer and model number of the wind turbine 203. The blade length 403 is information indicating the total length of the blade 902 (see FIG. 9) included in the wind turbine 203 corresponding to the model number 402. The blade width 404 is information indicating the width of the blade 902. The blade shape 405 is information indicating the shape of the blade 902. The usage number 406 is information indicating the number of wind turbines 203 installed in the system.

  FIG. 5 is a diagram illustrating an example of the position DB 252 of the first embodiment.

  The position DB 252 includes one or more entries including a windmill ID 501, a latitude 502, a longitude 503, an altitude 504, and a geodetic system 505.

  The windmill ID 501 is identification information for uniquely identifying the windmill 203 installed in the system. The latitude 502, the longitude 503, and the altitude 504 are information indicating the position where the wind turbine 203 is set, that is, the coordinates. The geodetic system 505 is information indicating the type of geodetic system used. As the geodetic system, WGS84, Japan Geodetic System 2000, or the like can be used.

  The coordinates indicating the position of the wind turbine 203 managed by the position DB 252 may be the root of the tower 903 (see FIG. 9), the center of the hub, and the like.

  FIG. 6 is a diagram illustrating an example of the inspection DB 253 according to the first embodiment.

  The inspection DB 253 includes one or more entries including a windmill ID 601, a model number 602, a roll angle 603, a pitch angle 604, a yaw angle 605, and a nacelle height 606. Only the wind turbine 203 to be inspected is registered in the inspection DB 253. In addition, all the windmills 203 installed in the system may be registered in the inspection DB 253. The inspection DB 253 is updated, for example, when the user operates the user I / F 306.

  The windmill ID 601 is the same as the windmill ID501. The model number 602 is the same as the model number 402. Roll angle 603, pitch angle 604, and yaw angle 605 are information indicating the roll angle, pitch angle, and yaw angle of wind turbine 203. The roll angle, pitch angle, and yaw angle will be described with reference to FIG. The nacelle height 606 is information indicating the height at which the nacelle 901 (see FIG. 9) included in the windmill ID 601 is installed.

  FIG. 7 is a diagram illustrating an example of the drone DB 254 according to the first embodiment.

  The drone DB 254 includes one or more entries including a drone ID 701, a model number 702, a camera model number 703, a gimbal 704, a resolution 705, and a viewing angle 706.

  The drone ID 701 is identification information for uniquely identifying the drone 202 operated in the system. The model number 702 is information indicating the manufacturer and model number of the drone 202 corresponding to the drone ID 701. The camera model number 703 is information indicating the manufacturer and model number of the camera 319. The gimbal 704 is information indicating the type of gimbal that fixes the camera 319 and the like. The resolution 705 is information indicating the resolution of the camera 319. The viewing angle 706 is information indicating the viewing angle of the camera 319.

  The columns constituting the entry can be changed according to the nondestructive inspection device that the drone 202 has. That is, when the drone 202 has a nondestructive inspection device other than the camera 319, the entry includes columns other than the resolution 705 and the viewing angle 706.

  FIG. 8 is a diagram illustrating an example of the route DB 255 according to the first embodiment.

  The route DB 255 includes one or more entries including a drone ID 801, a waypoint ID 802, a position 803, a front 804, a camera angle 805, and an acquisition event 806.

  The drone ID 801 is the same as the drone ID 701. The waypoint ID 802 is identification information for uniquely identifying a waypoint included in the inspection route. The position 803 is information indicating the coordinates of a waypoint in an arbitrary geodetic system. The front 804 is information indicating an angle that specifies the front direction of the drone 202. The camera angle 805 is information indicating the angle at which the camera 319 is tilted. The acquisition event 806 is information indicating the timing at which image data is acquired at a waypoint corresponding to the waypoint ID 802.

  The above is the description of the database. Next, the module will be described.

  The NW transmission / reception unit 221 transmits / receives data between the drone management apparatus 200 and the external apparatus via the network 205. The NW transmission / reception unit 221 according to the present embodiment transmits / receives data to / from the windmill operation / maintenance device 201.

  The DB management unit 222 manages the database. Specifically, the DB management unit 222 updates the database based on external input or internal input. For example, the DB management unit 222 acquires information indicating the control state of the windmill from the windmill operation and maintenance device 201 via the NW transmission / reception unit 221 and updates the inspection DB 253 based on the information. Note that the DB management unit 222 may update each database based on information input via the user I / F 306.

  The database update includes processing such as data addition, data deletion, and data overwrite.

  The reference route generation unit 223 generates data of a reference route that is a flight route of the drone 202 for inspecting an arbitrary windmill 203. The reference route generation unit 223 outputs the generated reference route data to the relative route generation unit 224. In the following description, the generation of the reference route means generation of data of the reference route. In the following description, the windmill 203 used when generating the reference route is also referred to as the reference windmill 203.

  The reference route is a flight route of the drone 202 in a local coordinate system (reference coordinate system) having one point of the reference wind turbine 203 as an origin. The reference route generation unit 223 generates a reference route for the windmill 203 in a state where one blade 902 (see FIG. 9) of the windmill 203 is fixed at a predetermined angle with respect to the ground (horizontal plane). Therefore, the reference route is not a flight route in consideration of the structure, state, and position of the wind turbine 203 to be inspected.

  Here, the reference coordinate system will be described. FIG. 9 is a diagram illustrating an example of a reference coordinate system according to the first embodiment.

  The windmill 203 includes a nacelle 901, a plurality of blades 902, and a tower 903 that supports the nacelle 901. A plurality of blades 902 shown in FIG. 9 are radially attached to a hub (not shown). The hub is attached to the nacelle 901 via a shaft or the like. The nacelle 901 contains a generator or the like (not shown).

  FIG. 9 shows a reference coordinate system with the center of the hub as the origin. In FIG. 9, the X axis and the Y axis are set in the horizontal direction of the nacelle 901, and the Z axis is set in the vertical direction of the nacelle 901. The X axis is set in a direction in which the nacelle 901 receives wind, and the Y axis is set to be orthogonal to the X axis on the XY plane. In the reference coordinate system described above, the X axis and the Y axis also rotate in conjunction with the rotation of the nacelle 901.

  In the reference coordinate system as shown in FIG. 9, the rotation of the X axis, that is, the rotation of the blade 902 relative to the nacelle 901 is called a roll, the rotation of the Z axis, that is, the rotation of the nacelle 901 relative to the tower 903 is called a yaw, The rotation of the shaft, that is, the rotation (tilt) of the blade 902 itself is called a pitch.

  The wind turbine 203 controls the yaw angle in order to increase the power generation efficiency, and also controls the pitch angle of the blades 902 to adjust the air volume. When inspecting the windmill 203, it is necessary to specify the phase of the blade 902, the inclination of the blade 902, the direction of the nacelle 901, etc., so the windmill operation and maintenance device 201 manages the roll angle as well as the yaw angle and pitch angle. To do. In this embodiment, the phase of the blade 902 corresponds to the rotation angle of the blade 902 relative to the nacelle, that is, the roll angle. Note that the pitch angle may be included in the phase of the blade 902.

  Note that the windmill operation and maintenance device 201 may acquire the yaw angle, pitch angle, and roll angle from the windmill 203, or the windmill 203 notifies the windmill operation and maintenance device 201 of the yaw angle, pitch angle, and roll angle. May be.

  In consideration of the symmetry of the blade 902, it is natural to set the center of the hub as the origin of the reference coordinate system. However, the origin in the reference coordinate system may be any position of the wind turbine 203. For example, the origin of the opening of the nacelle 901 and the base of the tower 903 may be used. When a point other than the center of the hub is used as the origin of the reference coordinate system, translation processing or the like is required when converting to another coordinate system.

  It is assumed that the yaw angle and pitch angle of the reference wind turbine 203 are set to arbitrary initial values. Returning to the description of FIG.

  The rotation information acquisition unit 225 acquires the rotation information of the target windmill 203 from the windmill operation and maintenance device 201 or the inspection DB 253, and outputs the rotation information to the relative route generation unit 224 and the acquisition condition adjustment unit 226. The rotation information includes a yaw angle, a pitch angle, and a roll angle.

  The roll angle may be acquired from the image data of the windmill 203 taken by the drone 202 before inspection. In this case, the drone 202 calculates a roll angle from the image data of the windmill 203 and transmits rotation information including the roll angle to the drone management apparatus 200. The memory 312 of the drone 202 stores information such as a reference coordinate system. The rotation information acquisition unit 225 acquires the rotation information via the drone information transmission / reception unit 229. The rotation information acquisition unit 225 may execute the process of calculating the roll angle from the image data.

  The relative route generation unit 224 generates data of a relative route, which is a flight route of the target windmill 203 in the reference coordinate system, based on the reference route data, rotation information, the windmill DB 251 and the inspection DB 253. The relative route generation unit 224 outputs the generated relative route to the acquisition condition adjustment unit 226. In the following description, generation of a relative route means generation of data of a relative route.

  When the correction instruction including the difference information is received from the acquisition condition adjustment unit 226, the relative route generation unit 224 generates the relative route again using the rotation information and the difference information. The difference information includes, for example, an angle for adjusting the pitch angle of the rotation information. The relative route generation unit 224 outputs the generated relative route data to the acquisition condition adjustment unit 226.

  When the adjustment completion notification is received from the acquisition condition adjustment unit 226, the relative route generation unit 224 outputs the data of the relative route to the inspection route generation unit 227.

  Here, the concept of the data generation process of the reference route and the relative route will be described. FIG. 10 is a diagram illustrating the concept of the reference route and the relative route in the first embodiment.

  As shown in FIG. 10, in this embodiment, the reference route generation unit 223 assumes a reference wind turbine 203 in a state where one blade 902 is fixed to the XY plane. The reference route generation unit 223 sets a flight route for inspecting the blade 902 fixed on the XY plane as a reference route.

  The relative route generation unit 224 identifies the size of the blade 902 of the target wind turbine 203 with reference to the inspection DB 253, and identifies the size of the blade 902 of the reference wind turbine 203 with reference to the wind turbine DB 251. The relative route generation unit 224 scales the reference route based on the ratio between the size of the blade 902 of the reference windmill 203 and the size of the blade 902 of the target windmill 203.

  The relative route generation unit 224 generates a relative route by rotating the scaled reference route based on the rotation information input by the rotation information acquisition unit 225. The lowermost wind turbine 203 in FIG. 10 indicates the control state of the target wind turbine 203 that is stopped. Returning to the description of FIG.

  The acquisition condition adjustment unit 226 generates acquisition condition information including the front direction of the drone 202 and the shooting direction of the camera 319 in the relative route based on the rotation information, the data of the relative route, and the drone DB 254.

  The pitch angle of the blade 902 of the target wind turbine 203 may be different from the initial value (the pitch angle of the blade 902 of the reference wind turbine 203). Therefore, it is necessary to adjust the tilt of the camera 319 by the difference between the initial value and the pitch angle. The tilt of the camera 319 corresponds to the rotation (pit) of the Y axis in the reference coordinate system. Note that the tilt of the camera 319 is adjusted so that the device that acquires the image is parallel to the blade surface.

  If the inclination of the camera 319 cannot be adjusted by the above-described difference, the acquisition condition adjustment unit 226 generates difference information and outputs a correction instruction including the difference information to the relative route generation unit 224. The acquisition condition adjustment unit 226 temporarily stores information indicating the tilt of the camera 319 in the memory 303 when the tilt of the camera 319 can be adjusted by the above-described difference.

  When setting a flight route to the drone 202, it is necessary to specify the front direction of the drone 202. In order to determine the front direction of the drone 202, it is necessary to consider the direction of the camera 319. Therefore, the acquisition condition adjustment unit 226 refers to the drone DB 254 to identify the movable range of the camera 319 of the drone 202.

  When the camera 319 is installed on the drone 202 using a two-axis gimbal, it is necessary to control the drone 202 so that the drone 202 always faces the front of the photographing target. On the other hand, when the camera 319 is set to the drone 202 using a three-axis gimbal, the shooting direction of the camera 319 is not limited to the direction of the drone 202, so that the direction of the camera 319 is horizontal with respect to the blade surface. It may be controlled to.

  The direction of the drone 202 or the direction of the camera 319 corresponds to the rotation (yaw) of the Z axis in the reference coordinate system. The tilt of the camera 319 corresponds to the rotation (pitch) of the Y axis in the reference coordinate system.

  The acquisition condition adjustment unit 226 generates acquisition condition information including the tilt of the camera 319 and the front direction of the drone 202 (orientation of the camera 319). The acquisition condition adjustment unit 226 outputs the acquisition condition information to the configuration information generation unit 228 and outputs an adjustment completion notification to the relative route generation unit 224.

  Note that acquisition event information for designating image data acquisition timing or the like may be added to the acquisition condition information as necessary. For example, acquisition event information for designating a waypoint as a shooting point may be added. Moreover, you may set the acquisition event information for the camera 319 to image | photograph during the movement between via points. Moreover, you may set the acquisition event information for imaging periodically.

  The inspection route generation unit 227 converts the data of the inspection route that is the flight route in the geodetic system by converting the coordinates of the reference coordinate system to the coordinates of the geodetic system based on the data of the relative route, the position DB 252 and the drone DB 254. Is generated. Note that the inspection route generation unit 227 may use the rotation information according to the definition of the reference coordinate system. The inspection route generation unit 227 outputs the generated inspection route data to the configuration information generation unit 228.

  The configuration information generation unit 228 converts the inspection route data and the acquisition condition information into a predetermined data format, and writes the data into the route DB 255 as configuration information.

  The unmanned aircraft information transmission / reception unit 229 transmits / receives data between the unmanned aircraft management apparatus 200 and the unmanned aircraft 202 via the network 205. The drone information transmission / reception unit 229 sets the configuration information in the drone 202 by transmitting the configuration information written in the route DB 255 to the drone 202.

  Note that a plurality of modules included in the automatic route generation unit 210 may be combined into one module, or one module may be divided into a plurality of modules. For example, the inspection route generation unit 227 and the configuration information generation unit 228 may be combined into one module.

  Next, a process in which the drone management apparatus 200 generates configuration information will be described. FIG. 1 is a flowchart illustrating processing executed by the automatic route generation unit 210 according to the first embodiment.

  The automatic route generation unit 210 of the drone management apparatus 200 executes a process described below when receiving a start instruction from the user or periodically.

  The automatic route generation unit 210 selects the drone 202 for setting configuration information (step S101).

  Specifically, the automatic route generation unit 210 selects one target drone 202 from the drones 202 registered in the drone DB 254. The automatic route generation unit 210 reads an entry corresponding to the selected drone 202 to the memory 303.

  Note that the selection method of the drone 202 is not limited. In the present embodiment, it is assumed that the automatic route generation unit 210 sequentially selects entries from the unmanned aircraft DB 254.

  Next, the automatic route generation unit 210 determines whether or not processing has been completed for all wind turbines 203 registered in the inspection DB 253 (step S102).

  If it is determined in step S102 that the processing has not been completed for all wind turbines 203 registered in the inspection DB 253, the automatic route generation unit 210 selects the target wind turbine 203 (step S103).

  Specifically, the automatic route generation unit 210 selects one target windmill 203 from the windmills 203 registered in the inspection DB 253. The automatic route generation unit 210 reads an entry corresponding to the selected target wind turbine 203 into the memory 303.

  In the present embodiment, in order to shorten the moving distance between the windmills 203, the automatic route generation unit 210 refers to the inspection DB 253 and the position DB 252 and sorts the entries in the inspection DB 253 so that the distance between the windmills 203 is shortened. . Further, the automatic route generation unit 210 sequentially selects entries from the inspection DB 253. In addition, the selection method of the target windmill 203 is not limited to the selection method mentioned above.

  Next, the automatic route generation unit 210 generates reference route data (step S104). Specifically, the following processing is executed.

  The reference route generation unit 223 refers to the windmill DB 251 and selects the reference windmill 203 from the windmills 203 registered in the windmill DB251. For example, the reference route generation unit 223 selects the windmill 203 corresponding to the entry having the largest use number 406 value.

  The reference route generation unit 223 assumes a reference wind turbine 203 that is fixed so that one blade 902 is horizontal to the ground. In the following description, the blade 902 fixed so as to be horizontal with respect to the ground is also referred to as a reference blade 902.

  The reference route generation unit 223 determines a waypoint on the ZY plane based on the blade width of the reference blade 902 and the viewing angle of the camera 319. The reference route generation unit 223 also determines the relative distance (X-axis distance) between the reference blade 902 and the drone 202 at each waypoint based on the resolution and viewing angle of the camera 319 of the target drone 202. ) Is calculated. Through the above processing, flight route data of the drone 202 for inspecting the reference blade 902 is generated.

  The waypoints are determined so that the front blade surface and the back blade surface of the reference blade 902 can be photographed. It is assumed that data of a reference route in which the start point and end point of the waypoint are the center of the hub is generated.

  The reference route generation unit 223 outputs the generated reference route data to the relative route generation unit 224. The above is the description of the processing in step S104.

  Next, the automatic route generation unit 210 generates relative route data (step S105). Specifically, the following processing is executed.

  The relative route generation unit 224 calculates a ratio between the size of the blade 902 of the reference windmill 203 and the size of the blade 902 of the target windmill 203. In addition, the relative route generation unit 224 acquires rotation information from the rotation information acquisition unit 225, and calculates a rotation matrix from the rotation information.

  In the case of a reference coordinate system having a point other than the center of the hub as the origin, the relative route generation unit 224 translates the coordinates of the waypoint so that the origin is the center of the hub. This is for simplifying the rotation process of the reference route based on the rotation information.

  In the case of the reference coordinate system shown in FIG. 9, it is not necessary to consider the yaw angle included in the rotation information. This is because the X axis and the Y axis rotate in conjunction with the rotation of the nacelle 901. Therefore, the relative route generation unit 224 calculates a rotation matrix based on the roll angle and the pitch angle. In the case of an axis that does not depend on the rotation of the nacelle 901, the relative route generation unit 224 calculates a rotation matrix based on the yaw angle, the pitch angle, and the roll angle.

  The relative route generation unit 224 scales the coordinates of the waypoints included in the reference route data based on the calculated ratio. The relative route generation unit 224 identifies a range that can be captured by the camera 319 at the scaled waypoint, and determines whether or not the entire blade surface can be captured. That is, it is determined whether or not the overlap rate of the captured image is equal to or less than a predetermined threshold value.

  When it is determined that the entire blade surface cannot be photographed, the relative route generation unit 224 adjusts the waypoints based on the size of the range that cannot be photographed. For example, the relative route generation unit 224 adds one new waypoint or deletes one waypoint between two scaled waypoints.

  The relative route generation unit 224 generates relative route data by applying a rotation matrix to the scaled coordinates of the waypoints. The relative route generation unit 224 outputs the data of the relative route to the acquisition condition adjustment unit 226.

  Next, the automatic route generation unit 210 generates acquisition condition information (step S106). Specifically, the following processing is executed.

  When receiving the relative route data from the relative route generation unit 224, the acquisition condition adjustment unit 226 selects one waypoint included in the relative route data.

  The acquisition condition adjustment unit 226 calculates a difference between the initial value and the pitch angle based on the rotation information. The acquisition condition adjustment unit 226 calculates the front direction of the drone 202 based on the entry and rotation information read from the drone DB 254. When the value of the gimbal 704 is “3 axes”, it is not necessary to calculate the front direction of the drone 202.

  The acquisition condition adjustment unit 226 determines whether or not the tilt of the camera 319 can be adjusted based on the entry and the difference read from the drone DB 254.

  When it is determined that the tilt of the camera 319 can be adjusted, the acquisition condition adjustment unit 226 generates acquisition event information at the waypoint. A method of generating the acquisition event information based on a preset policy is conceivable. The policy can be input by the user operating the user I / F 306.

  The acquisition condition adjustment unit 226 repeatedly executes the above-described processing for all waypoints included in the data of the relative route. The acquisition condition adjustment unit 226 outputs the acquisition condition information including the camera tilt of each waypoint, the front direction of the drone 202, and the acquisition event information to the configuration information generation unit 228, and sends an adjustment completion notification to the relative route. The data is output to the generation unit 224.

  When it is determined that the tilt of the camera 319 cannot be adjusted, the acquisition condition adjustment unit 226 generates difference information regardless of the presence or absence of an unprocessed waypoint, and sends a correction instruction including the difference information to the relative route generation unit 224. Output. The acquisition condition adjustment unit 226 performs processing for all the waypoints, generates difference information for the waypoints where the tilt of the camera 319 cannot be adjusted, and outputs a correction instruction including the difference information to the relative route generation unit 224. May be. The above is the description of the processing in step S106.

  Next, the automatic route generation unit 210 determines whether acquisition condition information has been generated (step S107).

  Specifically, the relative route generation unit 224 determines whether an adjustment completion notification has been received from the acquisition condition adjustment unit 226. When the adjustment completion notification is received, the relative route generation unit 224 determines that the acquisition condition information has been generated. When the correction instruction including the difference information is received, the relative route generation unit 224 determines that the acquisition condition information is not generated.

  If it is determined in step S107 that the acquisition condition information has not been generated, the automatic route generation unit 210 returns to step S105 and executes the same processing.

  Specifically, when receiving a correction instruction including difference information from the acquisition condition adjustment unit 226, the relative route generation unit 224 generates a corrected rotation matrix based on the rotation information and the difference information. The relative route generation unit 224 generates the data of the relative route again by causing the corrected rotation matrix to be the coordinate of the scaled waypoint. The relative route generation unit 224 outputs the data of the relative route to the acquisition condition adjustment unit 226.

  If it is determined in step S107 that the acquisition condition information has been generated, the automatic route generation unit 210 generates inspection route data (step S108). Specifically, the following processing is executed.

  The relative route generation unit 224 outputs the data of the relative route to the inspection route generation unit 227. The inspection route generation unit 227 refers to the position DB 252 to search for an entry whose windmill ID 501 matches the identification information of the target windmill 203, and search for the latitude 502, longitude 503, altitude 504, and geodetic system 505 of the entry. Get the value as location information.

  The inspection route generation unit 227 calculates a conversion formula from the reference coordinate system to the geodetic system based on the reference coordinate system and the position information. Note that the inspection route generation unit 227 may calculate a conversion formula using rotation information according to the definition of the reference coordinate system.

  The inspection route generation unit 227 generates the first flight route data by converting the relative route data into the flight route data of the geodetic system using the conversion formula. In addition, the inspection route generation unit 227 applies the rotation matrix corresponding to the installation angle of the blade 902 to the data of the first flight route, so that the data of the second flight route that is the flight route of the blades 902 other than the reference blade 902 is obtained. Is generated.

  In general, the installation angles between the blades 902 are equally spaced. Therefore, the inspection route generation unit 227 can generate flight route data of each blade 902 by applying a rotation matrix corresponding to the installation angle to the first flight route data.

  For example, in the case of the windmill 203 in which three blades 902 are installed at intervals of 120 degrees, the inspection route generation unit 227 uses a rotation matrix having a roll angle of 120 degrees as data of the first flight route (coordinates of waypoints). In addition, a rotation matrix having a roll angle of 240 degrees is applied to the data of the first flight route (the coordinates of the waypoint). As a result, flight route data for each of the three blades 902 is generated.

  The inspection route generation unit 227 outputs the data of the first flight route and the second flight route to the configuration information generation unit 228 as inspection route data. The above is the description of step S108.

  Next, the automatic route generation unit 210 registers configuration information in the route DB 255 (step S109). Specifically, the following processing is executed.

  When the acquisition information and the inspection route data are acquired, the configuration information generation unit 228 adds entries to the route DB 255 as many as the number of via points included in the inspection route data.

  The configuration information generation unit 228 sets the identification information of the target drone 202 in the drone ID 801 of each added entry. In addition, the configuration information generation unit 228 sets identification information in the waypoint ID 802 of each added entry. Here, it is assumed that numbers are set in ascending order from 1.

  The configuration information generation unit 228 sets the coordinates of the waypoints at the position 803 of each added entry based on the inspection route data. Based on the acquisition condition information, the configuration information generation unit 228 sets an angle indicating the front direction of the drone 202 to the front surface 804 of each added entry. The configuration information generation unit 228 sets an angle indicating the tilt of the camera 319 to the camera angle 805 of each added entry based on the acquisition condition information. Further, the configuration information generation unit 228 sets the acquisition event information in the acquisition event 806 of each added entry based on the acquisition condition information.

  The drone information transmitting / receiving unit 229 transmits the entry added to the route DB 255 to the target drone 202 at a predetermined timing. The above is the description of step S109.

  Next, the automatic route generation unit 210 determines whether or not new configuration information can be set in the target drone 202 (step S110). For example, the following determination method can be considered.

  A threshold for the number of configuration information (entries) is set in advance, and the automatic route generation unit 210 determines whether the number of configuration information set in the drone 202 is greater than the threshold. When the number of configuration information set in the drone 202 is larger than the threshold, the automatic route generation unit 210 determines that new configuration information cannot be set in the target drone 202.

  As another method, the drone information transmitting / receiving unit 229 acquires the free capacity of the memory 312 from the drone 202 and determines whether the free capacity is smaller than a predetermined threshold. If the free space in the memory 312 is smaller than the predetermined threshold, the automatic route generation unit 210 determines that new configuration information cannot be set in the target drone 202.

  As another method, a flight distance threshold of the drone 202 is set, and the automatic route generation unit 210 calculates the flight distance of the drone 202 based on the configuration information set in the drone 202. Then, it is determined whether or not the flight distance is larger than a threshold value. If the flight distance is greater than the threshold, the automatic route generation unit 210 determines that new configuration information cannot be set in the target drone 202.

  If it is determined in step S110 that new configuration information cannot be set in the target drone 202, the automatic route generation unit 210 returns to step S101 and executes the same processing.

  If it is determined in step S110 that new configuration information can be set in the target drone 202, the automatic route generation unit 210 returns to step S102 and performs the same processing.

  As described above, the system according to the first embodiment can automatically set the flight route of the drone 202 according to the state of the windmill 203.

  Thereby, the cost required for the inspection of the wind turbine 203, such as the cost required for workers, can be reduced. In addition, since the data for inspection can be acquired under the same shooting conditions according to the waypoints regardless of the degree of dependence on the work skill of the worker, the windmill can be inspected with high accuracy. . In addition, since the inspection work is not limited by time or the like, the wind turbine can be inspected frequently. Therefore, the life of the wind turbine 203 can be extended.

  The second embodiment is different from the first embodiment in that the wind turbine operation and maintenance device 201 includes an automatic route generation unit 210. Hereinafter, the second embodiment will be described focusing on differences from the first embodiment.

  The system configuration of the second embodiment is the same as that of the first embodiment. The hardware configuration of the unmanned aircraft management device 200, the windmill operation and maintenance device 201, the unmanned aircraft 202, and the windmill 203 of the second embodiment is the same as that of the first embodiment. In the second embodiment, the software configurations of the unmanned aircraft management device 200 and the windmill operation and maintenance device 201 are different from those in the first embodiment.

  FIG. 11 is a diagram illustrating a configuration example of a system according to the second embodiment.

  The unmanned aircraft management apparatus 200 according to the second embodiment includes an NW transmission / reception unit 221, an unmanned aircraft information transmission / reception unit 229, and a route DB 255. In addition, the windmill operation and maintenance device 201 according to the second embodiment includes a windmill control unit 261 and an automatic route generation unit 210.

  The automatic route generation unit 210 according to the second embodiment is different from the first embodiment in that it does not include the unmanned aircraft information transmission / reception unit 229. Other configurations are the same as those of the first embodiment. The modules and database included in the automatic route generation unit 210 are the same as those in the first embodiment. Further, the process executed by the automatic route generation unit 210 is the same process as in the first embodiment.

  However, the NW transmission / reception unit 221 included in the automatic route generation unit 210 transmits the configuration information registered in the route DB 255 to the unmanned aircraft management apparatus 200 via the network 205.

  Configuration information transmitted from the wind turbine operation and maintenance device 201 is stored in the route DB 255 of the unmanned aircraft management device 200. The drone information transmitting / receiving unit 229 transmits the configuration information registered in the route DB 255 of the drone management apparatus 200 to the drone 202 at a predetermined timing.

  The second embodiment can achieve the same effects as the first embodiment.

  In addition, this invention is not limited to an above-described Example, Various modifications are included. Further, for example, the above-described embodiments are described in detail for easy understanding of the present invention, and are not necessarily limited to those provided with all the described configurations. Further, a part of the configuration of each embodiment can be added to, deleted from, or replaced with another configuration.

  Each of the above-described configurations, functions, processing units, processing means, and the like may be realized by hardware by designing a part or all of them with, for example, an integrated circuit. The present invention can also be realized by software program codes that implement the functions of the embodiments. In this case, a storage medium in which the program code is recorded is provided to the computer, and a processor included in the computer reads the program code stored in the storage medium. In this case, the program code itself read from the storage medium realizes the functions of the above-described embodiments, and the program code itself and the storage medium storing it constitute the present invention. As a storage medium for supplying such a program code, for example, a flexible disk, a CD-ROM, a DVD-ROM, a hard disk, an SSD (Solid State Drive), an optical disk, a magneto-optical disk, a CD-R, a magnetic tape, A non-volatile memory card, ROM, or the like is used.

  The program code for realizing the functions described in the present embodiment can be implemented by a wide range of programs or script languages such as assembler, C / C ++, perl, Shell, PHP, Java (registered trademark).

  Furthermore, by distributing the program code of the software that implements the functions of the embodiments via a network, the program code is stored in a storage means such as a hard disk or memory of a computer or a storage medium such as a CD-RW or CD-R. A processor included in the computer may read and execute the program code stored in the storage unit or the storage medium.

  In the above-described embodiments, the control lines and information lines indicate what is considered necessary for the explanation, and not all control lines and information lines on the product are necessarily shown. All the components may be connected to each other.

200 drone management apparatus 201 windmill operation maintenance apparatus 202 unmanned machine 203 windmill 205 network 210 automatic route generation unit 221 NW transmission / reception unit 222 DB management unit 223 reference route generation unit 224 relative route generation unit 225 rotation information acquisition unit 226 acquisition condition adjustment unit 227 Inspection route generation unit 228 Configuration information generation unit 229 Unmanned aircraft information transmission / reception unit 251 Windmill DB
252 Position DB
253 Inspection DB
254 drone DB
255 Route DB
261 windmill control unit 301 CPU
302 GPU
303, 312 Memory 304, 313 Storage device 305, 314 NW I / F
306 User I / F
307 Display device 311 Computing device 315 Flight controller 316 Position and orientation information acquisition device 317 Amplifier / motor 318 Propeller 319 Camera 901 Nacelle 902 Blade 903 Tower

Claims (12)

A windmill having a wind power generator, a drone that is a flying body that obtains inspection data from the windmill, and a system that includes a computer that generates flight route data of the drone,
The windmill has a plurality of blades, a nacelle to which the hub for connecting the plurality of blades is attached, and stores the wind power generator, and a tower that supports the nacelle,
The drone has a nondestructive inspection device that acquires the data for inspection,
The calculator is
A processor, a memory connected to the processor, and a network interface connected to the processor;
An automatic route generator for generating flight route data of the drone;
The automatic route generation unit
Obtaining rotation information indicating the direction of the nacelle and the phase of the blade in the wind turbine to be inspected,
A system for generating inspection route data that is a flight route of the drone for inspecting the wind turbine to be inspected based on the rotation information. The system of claim 1, comprising:
The automatic route generation unit
Managing a windmill database storing data representing the structure of the windmill;
A rotation information acquisition unit for acquiring the rotation information;
Based on the windmill database, a reference route generation unit that generates data of a reference route that is a flight route of the drone for inspecting the reference windmill in a reference coordinate system having one point of the reference windmill as an origin;
A relative route that generates data of a relative route that is a flight route of the unmanned aircraft for inspecting the wind turbine to be inspected in the reference coordinate system based on the data of the reference route, the rotation information, and the wind turbine database. A generator,
An inspection route generation unit that generates the inspection route data from the relative route data by converting the coordinates of the reference coordinate system into the coordinates of an arbitrary geodetic system;
And a configuration information generation unit configured to generate configuration information including data of the inspection route and set the configuration information in the unmanned aircraft. The system of claim 2, comprising:
The rotation information includes a yaw angle representing a rotation angle of the nacelle with respect to the tower, a roll angle representing a rotation angle of the plurality of blades with respect to the nacelle, and a pitch angle representing an inclination angle of the blade itself,
The relative route generation unit
Calculate the ratio of the size of the reference wind turbine and the size of the wind turbine to be inspected,
Based on the rotation information, calculate a rotation matrix,
Scale the data of the reference route based on the ratio;
The system generating the relative route data by applying the rotation matrix to the scaled reference route data. The system according to claim 3, wherein
The reference route generation unit generates flight route data of the unmanned aircraft for checking one blade of the reference windmill as data of the reference route,
The inspection route generation unit
Calculate a conversion formula for converting from the coordinates of the reference coordinate system to the coordinates of an arbitrary geodetic system,
Generating data of the first flight route by converting the data of the relative route using the conversion formula;
Generating a second flight route data by causing a rotation matrix corresponding to an installation angle of each of the plurality of blades of the wind turbine to be inspected to act on the data of the first flight route;
The system for outputting the data of the first flight route and the second flight route as the data of the inspection route. 5. The system according to claim 4, wherein
The flight route data generated by the automatic route generation unit includes coordinates representing a waypoint through which the drone passes,
The automatic route generation unit includes an acquisition condition adjustment unit that generates acquisition condition information including a direction of the non-destructive inspection device at the waypoint and an acquisition timing of the inspection data based on the data of the relative route. ,
The inspection route generation unit generates the configuration information to which the acquisition condition information is added. 6. The system according to claim 5, wherein
The rotation information acquisition unit acquires the rotation information by communicating with the wind turbine to be inspected, or acquires the rotation information by analyzing image data acquired by the drone. System. A flight route generation method in a computer for generating flight route data of an unmanned aerial vehicle that acquires data for inspection from a windmill having a wind power generator,
The windmill has a plurality of blades, a nacelle to which the hub for connecting the plurality of blades is attached, and stores the wind power generator, and a tower that supports the nacelle,
The drone has a nondestructive inspection device that acquires the data for inspection,
The calculator is
A processor, a memory connected to the processor, and a network interface connected to the processor;
An automatic route generation unit for calculating a flight route of the drone;
The flight route generation method includes:
A first step in which the automatic route generation unit acquires rotation information indicating a direction of the nacelle and a phase of the blade in a wind turbine to be inspected;
The automatic route generation unit includes a second step of generating data of an inspection route that is a flight route of the drone for inspecting the wind turbine to be inspected based on the rotation information. The flight route generation method. The flight route generation method according to claim 7,
The automatic route generation unit manages a windmill database that stores data representing the structure of the windmill,
The second step includes
The automatic route generation unit generates data of a reference route that is a flight route of the unmanned aircraft for inspecting the reference windmill in a reference coordinate system having one point of the reference windmill as an origin based on the windmill database. A third step;
Relative route data that is a flight route of the drone for the automatic route generation unit to check the wind turbine to be checked in the reference coordinate system based on the reference route, the rotation information, and the wind turbine database. A fourth step of generating
A fifth step in which the automatic route generation unit generates the inspection route data from the relative route by converting the coordinates of the reference coordinate system into coordinates of an arbitrary geodetic system;
A flight route generation method, comprising: a sixth step in which the automatic route generation unit generates configuration information including data of the inspection route and sets the configuration information in the unmanned aircraft. The flight route generation method according to claim 8,
The rotation information includes a yaw angle representing a rotation angle of the nacelle with respect to the tower, a roll angle representing a rotation angle of the plurality of blades with respect to the nacelle, and a pitch angle representing an inclination angle of the blade itself,
The fourth step includes
The automatic route generation unit calculating a ratio of the size of the reference wind turbine and the size of the wind turbine to be inspected;
The automatic route generation unit calculating a rotation matrix based on the rotation information;
The automatic route generation unit scaling the data of the reference route based on the ratio;
The automatic route generation unit includes the step of generating the relative route data by applying the rotation matrix to the scaled reference route data. The flight route generation method according to claim 9,
The third step includes a step in which the automatic route generation unit generates flight route data of the unmanned aircraft for checking one blade of the reference wind turbine as data of the reference route.
The fifth step includes
The automatic route generation unit calculating a conversion formula for converting from coordinates of the reference coordinate system to coordinates of an arbitrary geodetic system;
The automatic route generation unit generating data of the first flight route by converting the data of the relative route using the conversion formula;
The automatic route generation unit generates the second flight route data by causing the rotation matrix corresponding to the installation angle of each of the plurality of blades of the wind turbine to be inspected to act on the first flight route data. Steps,
And a step of outputting the data of the first flight route and the second flight route as the data of the inspection route by the automatic route generation unit. The flight route generation method according to claim 10,
The flight route data generated by the automatic route generation unit includes coordinates representing a waypoint through which the drone passes,
In the fourth step, the automatic route generation unit generates acquisition condition information including a direction of the non-destructive inspection device at the waypoint and an acquisition event of the data for inspection based on the data of the relative route. Including the steps of
The fifth step includes a flight route generation method, wherein the automatic route generation unit generates the configuration information to which the acquisition condition information is added. The flight route generation method according to claim 11,
In the first step, the automatic route generation unit acquires the rotation information by communicating with the wind turbine to be inspected, or analyzes the image data acquired by the unmanned aircraft, thereby the rotation information. The flight route generation method characterized by including the step of acquiring.

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