Processing device relating to inspection of inspection object, inspection system of inspection object, processing method relating to inspection of inspection object, and non-transitory storage medium

A processing method relating to an inspection of an inspection object with use of a photography unit, the photography unit being connected to a movable body, a position and an attitude of the photography unit varying in accordance with a movement of the movable body, the processing method comprising:

• acquiring shape data, a shape of a surface of the inspection object being indicated by a point group, information relating to a position and a normal vector on the surface of the inspection object being defined by using the point group in the shape data, the surface of the inspection object being divided into polygons based on the point group in the shape data;
• calculating a plurality of photography points as positions for photographing the inspection object by the photography unit based on the shape data in such a state that, in each of the polygons disposed in an inspection range of the surface of the inspection object, any part of each polygon is included in the photography range of photography at one or more of the photography points;
• and
• calculating a solution of an optimization problem regarding a path that passes through all of the calculated photography points and minimizes a sum of a movement cost from each of the photography points to a photography point that is a next movement destination so that a path corresponding to the calculated solution of the optimization problem is set as a path for moving the photography unit between the photography points, the movement cost from each of the photography points to the photography point that is the next movement destination being calculated based on one or more of a variation of a position of a connection portion of the movable body to the photography unit, a variation of an attitude of the connection portion of the movable body to the photography unit, and a variation of a control amount of the movable body in addition to a variation of the position of the photography unit and a variation of the attitude of the photography unit.

A non-transitory storage medium storing a processing program relating to an inspection of an inspection object with use of a photography unit, the photography unit being connected to a movable body, a position and an attitude of the photography unit varying in accordance with a movement of the movable body, the processing program causing a computer to implement:

• acquiring shape data, a shape of a surface of the inspection object being indicated by a point group, information relating to a position and a normal vector on the surface of the inspection object being defined by using the point group in the shape data, the surface of the inspection object being divided into polygons based on the point group in the shape data;
• calculating a plurality of photography points as positions for photographing the inspection object by the photography unit based on the shape data in such a state that, in each of the polygons disposed in an inspection range of the surface of the inspection object, any part of each polygon is included in the photography range of photography at non or more of the photography points;
• and
• calculating a solution of an optimization problem regarding a path that passes through all of the calculated photography points and minimizes a sum of a movement cost from each of the photography points to a photography point that is a next movement destination so that a path corresponding to the calculated solution of the optimization problem is set as a path for moving the photography unit between the photography points, the movement cost from each of the photography points to the photography point that is the next movement destination being calculated based on one or more of a variation of a position of a connection portion of the movable body to the photography unit, a variation of an attitude of the connection portion of the movable body to the photography unit, and a variation of a control amount of the movable body in addition to a variation of the position of the photography unit and a variation of the attitude of the photography unit.