JP2005274284A - Inspection course monitoring method and inspection course monitoring device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an inspection course monitoring device for monitoring abnormal approach to the inside of an airspace danger area. <P>SOLUTION: The limit of the airspace danger area set in an inspection course is within a prescribed width from a line together joining pylons on the inspection course. The inside of the danger area is displayed on a screen with diagonal lines used or with display color varied. Further, a present position of an inspection plane (such as a helicopter) is displayed on map information. Position information from the GPS system is used to obtain the present position of the inspection plane. Whether or not the inspection plane has approached the danger area is determined based on present position information obtained during inspection from the GPS and on previously set airspace danger area information. An alarm is issued when the danger area is abnormally approached. Since this makes it possible to more surely detect abnormal approach to an airspace danger area where substation facilities are located than depending only on visual inspection, an accident affecting the substation facilities can be prevented from occurring. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

The present invention relates to a patrol course monitoring method and a patrol course monitoring apparatus.
Specifically, when patroling power transmission facilities such as power transmission lines and steel towers supporting power transmission lines along a predetermined patrol course, when using an aircraft such as a helicopter as a means of patrol, dangerous airspace including power transmission facilities By constantly monitoring the patrol position of the patrol machine so that the patrol machine does not enter the inside, the intrusion into the dangerous airspace is prevented in advance and the safety of the patrol is ensured.

  Maintenance inspections, including daily operations, for power transmission lines (such as primary power transmission lines) installed between power stations and substations, steel towers that support these power transmission lines, and equipment related to power transmission systems such as insulators (hereinafter referred to as power transmission equipment) This is an important task in preventing accidents, speedy recovery after power transmission accidents, or extending the life of power transmission facilities.

  In order to perform such maintenance and inspection, inspection of the power transmission equipment is performed. The patrol is a visual patrol, and recently, in order to increase mobility, the patrol means are mainly performed using an aircraft such as a helicopter in consideration of the installation area of the power transmission equipment.

  When a helicopter or the like is used as a patrol machine, searching for the route is the most important issue in securing a safe patrol. In addition, even when a patrolman is on board and performs a patrol by visual flight, it is dangerous if the power line is approached too much. This is because the patrol machine may abnormally approach the power transmission line due to a gust of wind or the like.

  Patent Document 1 is known as a route search system for an aircraft. Patent Document 1 is a route search particularly in the visual field flight, but patrol by unmanned flight is also proposed (for example, Patent Document 2).

Japanese Patent No. 2812539 JP 2003-127994 A

  By the way, in Patent Document 1, the search path space is modeled and displayed by connecting the selected ground targets, and the calculated flight path and the current flight position are navigated along the search path model. A technique is disclosed in which a flight path is updated or corrected when a certain amount of deviation occurs when compared with information.

  Patent Document 2 discloses a radio control system that inputs obstacle coordinates such as a steel tower and a power transmission line together with a flight route in advance, and automatically avoids the obstacle when the radio control helicopter is too close to the obstacle. Technology is disclosed.

  However, since Patent Document 1 is a technology that updates or corrects the flight path when the deviation from the flight path exceeds a certain level, visible flight while avoiding approach is possible. Since the patrol machine in patrol is not displayed at the same time as the no-flying airspace for detection, it is impossible to visually confirm how much the patrol is in close proximity. It is impossible to know exactly how much the power line is abnormally approached only by visual inspection by a patrolman or pilot.

  Mistaken judgment of an abnormal approach condition can lead to a serious accident, and such patrol must be avoided. In this case, auxiliary monitoring means that can accurately display the position of the patrol machine with respect to the flight-prohibited airspace and grasp the relative positional relationship on the screen is absolutely necessary. In the case of wireless flight as shown in Patent Document 2, such auxiliary monitoring means is not necessary.

  Such a problem can be regarded not only as a problem of the transmission system but also as a problem of the distribution system.

  Therefore, the present invention solves such a conventional problem, and particularly displays the flight prohibition airspace and the current position of the patrol machine, and issues a warning when abnormally approached without relying only on visual observation. A patrol course monitoring method and a monitoring apparatus for the patrol course that can perform the patrol activity more safely are proposed.

  In order to solve the above-described problem, in the inspection course monitoring method according to the present invention described in claim 1, a computer is set in advance during the inspection course in order to monitor the inspection course in which the power transmission equipment is inspected using an aircraft. Means for acquiring dangerous airspace information, means for acquiring current position information during patrol, means for displaying the dangerous airspace range and current position information on a screen together with map information including a patrol course, the aircraft in the dangerous airspace Is determined based on the current position information during the patrol and the dangerous airspace information, and functions as means for issuing a warning when approaching the dangerous airspace.

  Further, the inspection course monitoring device according to the present invention described in claim 10 is an inspection course monitoring device for monitoring the inspection course for inspecting the power transmission facility using an aircraft, and is set in advance during the inspection course. Means for acquiring dangerous airspace information, means for acquiring current position information during patrol, map information including a patrol course, means for displaying the dangerous airspace range and current position information on the screen, and the aircraft in the dangerous airspace It is characterized by having means for judging whether or not the vehicle is approaching based on the current position information and the dangerous airspace information during the patrol and issuing a warning when approaching.

  In the present invention, dangerous airspace information is set in advance as a flight-prohibited airspace during the patrol course, and this is displayed superimposed on the map information. The dangerous airspace range shall be within a predetermined width from the line connecting the towers on the inspection course. The line connecting the tower and the tower almost coincides with the position of the transmission line. Since this transmission line is generally a multi-line, a predetermined width including this multi-line is designated as the dangerous airspace range. For example, airspaces 30 to 50 m apart from each other with respect to virtual lines connecting steel towers are designated as dangerous airspace ranges.

  The dangerous airspace is displayed on the screen with diagonal lines and display colors changed. This is to facilitate identification of dangerous airspace.

  On the map information, the current position of the patrol machine (such as a helicopter) is further displayed. The position information from the GPS system is used for the current position of the patrol machine. At present, the current position information can be acquired from the global positioning system using GPS with an error of about 20 to 30 cm.

  If the current position information is also displayed on the map information, the relative relationship with the dangerous airspace (preliminarily tabulated from the map position) can be easily grasped. It is more accurate than judging the relative distance. Therefore, it is extremely effective as an auxiliary means for patrolmen and pilots.

  Subsequently, it is determined whether the patrol machine has approached the dangerous airspace based on the current position information during patrol acquired from the GPS and the dangerous airspace information set in advance. Issue a warning. A warning by voice is considered first. Secondly, the mark indicating the current position displayed on the screen together with the sound is blinked, or the display color is changed to a warning color such as red.

  Also, in the case of patrol with a patrol machine, there is a patrol rule, so if you enter the information of the patrol rule and collate with the flight information obtained during the patrol and it does not match the patrol rule A warning to that effect can be issued.

  For example, it is determined whether or not the flight speed (cruising speed) during patrol is a specified speed (air speed), and an alarm is output when the speed is equal to or lower than the specified speed. For example, a voice warning is issued to “return to the prescribed speed and patrol”.

  Second, it monitors whether the patrol machine is hovering. This is because the hovering may cause the patrol machine to suddenly abnormally approach the power transmission facility when the aircraft receives a gust of wind such as a crosswind. In this case as well, a warning message of “stop hovering” is output.

  As a result of patrol, when an abnormal part is found, the abnormal information is input by voice and voice input information is recorded. At the same time, it is possible to simultaneously record the time when the abnormal part is found and the current position information at that time.

  By transmitting this information to the maintenance management department, it is possible to easily and accurately know the location to be maintained, and the post-processing can be handled quickly.

  In the present invention, the dangerous air area preset during the patrol course and the current position information of the patrol machine are displayed on the same map information, and a warning is issued when the patrol machine abnormally approaches the dangerous air area. is there.

  According to this, it is not possible to accurately grasp the distance between the dangerous airspace and the patrol device by visual inspection alone, but there is a risk of abnormally approaching the dangerous airspace, but the accuracy of generating the current position of the patrol device and the dangerous airspace is very high. Therefore, there is no possibility that the patrol aircraft abnormally approaches the dangerous airspace. Therefore, safer visual field inspection can be realized.

  If you enter the patrol regulations information and compare it with the patrol regulations information based on the flight speed of the patrol machine, you will be able to perform more advanced patrols, and enter and save the information when you find an abnormal part. By having it, it has the feature that can quickly grasp the maintenance inspection location.

  Next, preferred embodiments of the inspection course monitoring method and inspection course monitoring apparatus according to the present invention will be described in detail with reference to the drawings.

  The patrol used in the present invention is patrol of power transmission equipment. There are ordinary patrols (daily patrols) and other patrols. Ordinary patrol refers to work for maintenance and inspection of power transmission equipment such as transmission lines, steel towers, and insulators, and is a regular patrol based on company regulations. Usually done once or more every six months. Other patrols include temporary patrols.

  When patroling power transmission facilities, a patrol plan is first formulated, and based on the patrol plan, details such as the patrol area, the patrol course within the patrol area, the date of patrol, the pilot, the name of the patrol machine, and the patrolman are planned. The Currently, helicopters are used exclusively for patrols of power transmission facilities. The patrol is carried out by visual observation with a veteran patrolman. This allows the pilot to pay attention to leaving and approaching the patrol course.

  It is examined whether or not a flight-prohibited airspace (including flight-restricted airspace) is located on the flight course until it arrives at the site to be patroled. For example, as shown in FIG. 2, when a flight-prohibited airspace exists on the flight course leading to the site to be patroled, the flight is made to avoid the flight-prohibited airspace.

  When arriving at the site, visual inspection is performed along a predetermined inspection course.

  In the present invention, map information including the inspection course is displayed on the monitor screen. As map information, electronic map information stored in a CD-ROM or the like is used. On the map information, the dangerous airspace information of the inspection course is displayed in an overlapping manner. The dangerous airspace information is airspace information having a certain width calculated from map information between adjacent steel towers (power transmission towers) included in the inspection course.

  For example, the position (thick line) of the transmission line between AB is determined from the map information (latitude and longitude) where the steel towers A and B are installed, and a certain width 2W is set for the calculated transmission line. This 2 W range is the dangerous airspace range. This dangerous airspace range is calculated using all the steel towers in the inspection course, and the calculated dangerous airspace information is stored as position information related to the steel tower.

  The dangerous airspace information can be calculated based on various methods so that it can be calculated only from the coordinate positions (latitude, longitude) of the steel towers A and B.

  In any case, the dangerous air space information calculated by such a method is displayed in duplicate on the original map information as shown in FIG. The map information may be dedicated for use with electric power.

  The current position information of the patrol machine is further displayed on the map information. The current position is indicated by a mark H. It is also possible to display the map information while sequentially correcting the display position so that the mark H indicating the current position comes to the center of the screen and the traveling direction of the patrol machine is at the top of the screen. Therefore, in that case, it is more convenient for the display mark to be an arrow mark indicating the traveling direction.

  The current position information of the patrol machine is obtained by processing a reception signal from the GPS receiving means mounted on the patrol machine. The position information based on the received signal from the GPS is very accurate. The current position can be displayed with an error of 20 to 30 cm.

  In this way, by displaying the mark H indicating the current position of the patrol machine together with the dangerous airspace area on the same map information, has the patrol machine abnormally approached the dangerous airspace or entered the dangerous airspace? Can be visually determined immediately.

In addition to visual judgment, a warning (alarm) to that effect is issued when the dangerous airspace is approached abnormally. For example,
“You have abnormally approached the dangerous airspace. Take immediate action.”
“A gust of wind has entered the dangerous airspace. Take immediate action.”
A warning message (standard text) like By listening to the warning message from the pilot, an avoidance measure is taken, and the patrolman can know this abnormal approach.

  Anomalous approach, etc., must be recognized by the pilot, but both the pilot and the patrolman must be able to instantly determine whether they are flying inside the dangerous airspace that is actually assumed or just outside. Moreover, it is impossible to distinguish clearly. This is because, under such a flight situation, if the aircraft receives a strong crosswind or the like, it may occur that the power transmission equipment is abnormally approached. This is a top priority for safety measures that must be avoided even if it is not.

  For visual inspection, it is important to employ the abnormal approach warning means as described above in order to observe the power transmission equipment as close as possible.

Next, an embodiment of the inspection course monitoring apparatus according to the present invention will be described with reference to FIG.
The inspection course monitoring apparatus 10 shown in FIG. 1 is configured by a computer, and in order to realize the above-described contents, an interface 12 connected to a GPS receiving means (not shown) is provided, and speed information to be acquired from the inspection apparatus. Is input via the speedometer interface 14. Similarly, altitude information of the patrol machine is input via the altimeter interface 16 as necessary. These interfaces 12 to 16 are all connected to the internal bus 18.

  In the present invention, a map information database 20 and the like are further connected to the internal bus 18. Instead of the database 20, a recording medium such as a CD-ROM storing map information of the inspection area may be used. The map information is displayed on the screen of the monitor 22. Two monitors 22 can be easily used for the patrolman and the pilot, or dedicated to the pilot.

  Furthermore, the auxiliary information storage device 24 for recording the information displayed on the monitor 22 and the like, the voice information input from the outside via the voice input means (microphone) 25, the time information generated by the internal circuit, and the like. Is provided. As the auxiliary information storage device 24, a semiconductor storage device, a hard disk device (HDD), or the like can be used. The alarm means 26 is for reproducing and outputting a warning message at the time of abnormal approach, and a speaker or the like is used. You may make it drive display means, such as LED, using together with a speaker.

  Since the inspection course monitoring apparatus 10 is constituted by a computer, a memory means (ROM) 32 for storing a program is provided in addition to the CPU 30 which is a control unit for controlling each information described above as shown in FIG. It has been. In the ROM 32, various processes for displaying map information on the monitor 22, controlling the display state, and controlling the alarm means 26, including a monitoring program for realizing the inspection course monitoring method according to the present invention. Assume that a program is stored.

  Further, the memory means 32 stores rule information particularly related to the inspection course among the internal rules (inspection rules) that must be observed when the power transmission equipment is inspected by the patrol machine. In this example, for convenience of explanation, two inspection rules that are considered to be particularly important (the inspection speed and the prohibition of a specific flight mode) are stored.

  The patrol speed is a flight speed (air speed) during patrol, and is determined to patrol at a flight speed within a predetermined range. The prohibition of a specific flight mode is a clause that prohibits checking in a hovered state. If crosswinds are unexpectedly received during hovering, there is a possibility that the power transmission equipment will be abnormally approached. Even if an abnormal part is found, hovering is prohibited, and in that case it is regulated to patrol.

  The inspection course monitoring apparatus 10 is further provided with a RAM 34 as a working memory means, in which dangerous airspace information calculated based on the inspection course, a warning message, and the like are stored. When the patrol course is determined, the reference steel tower is determined, and the dangerous airspace is calculated from the location (latitude and longitude information) of the steel tower acquired from the map information. Actually, for example, an area 30 to 50 m away from the left and right from the power transmission line (the line located at the center of the multi-line) is set as the dangerous airspace. Dangerous airspace information is basically latitude and longitude information.

  It should be noted that a transmitter / receiver 40 is connected to the internal bus 18 via a communication interface 38 as required, and an external antenna is connected to the transmitter / receiver 40, and the input means 36 such as a mouse is operated when necessary. Information can be exchanged with the outside, for example, with a monitoring system provided at each power station.

Subsequently, a processing example in the case of monitoring an actual inspection course using the inspection course monitoring apparatus 10 configured as described above will be described with reference to FIG.
The program for the inspection course monitoring process according to the present invention is executed after arriving at the inspection course site. Actually, however, the starting point of the inspection course input by the flight plan is near the tower A in FIG. There is also an end point near the tower A. Therefore, as shown in FIG. 3, the inspection course monitoring processing program first confirms whether or not the flight has started to the starting point of the inspection (step 46), and switches to the actual inspection monitoring processing program when flying to the starting point (step 50). ). The inspection monitoring processing program has a subroutine structure. When this inspection monitoring processing program ends, the inspection course monitoring process returns to the inspection course monitoring processing program of FIG. 3 to determine the end point of inspection, and when the inspection course flies to the end point, this inspection course monitoring processing The program ends (step 48).

When the inspection monitoring processing program is called, the process transits to the process shown in FIG. This will be described with reference to FIG.
When the inspection monitoring processing program is called, dangerous air space information (longitude and latitude information) in the inspection course is acquired (step 51), and current position information (longitude and latitude information) of the inspection device is acquired from the GPS receiving means. (Step 52).

  Subsequently, the map information of the patrol course including the current position of the patrol machine is acquired from the map information database 20, and the map information is displayed on the screen of the monitor 22 (step 53). On the map information displayed on the screen of the monitor 22, the range of the dangerous airspace described above is further displayed (step 54). In order to easily distinguish the dangerous airspace from other map information, the display color is changed or displayed, or hatched lines or halftone dots are applied as shown in FIG. 1 to clarify the inside and outside of the dangerous airspace.

  Next, a mark H indicating the current position of the patrol machine is displayed on the same screen (step 55). In order to easily identify the mark H, it is preferable to change the display color of the mark H or to blink the mark H. The relationship between the display of the dangerous airspace and the mark H for displaying the current position is shown in FIG.

  As the patrol machine progresses, the map is displayed so that the position of the patrol machine (mark H) is displayed in the center of the screen, and the dangerous airspace is also displayed on the monitor screen in parallel with the traveling direction of the patrol machine. Information shall be sequentially updated and displayed at an appropriate timing.

  Next, the inspection rule confirmation process is executed. In the example of FIG. 4, it is first determined whether or not the inspection speed is maintained based on the flight speed information (step 56). If the flight speed rules are not observed, the specified flight speed is displayed and a warning notification process is performed (step 57).

By displaying the flight speed, the specified flight speed can be reconfirmed. For example, “Please navigate at the patrol speed.”
An audio output of a warning message such as In step 57, in addition to these processes, a process of storing the flight speed and current position information when the warning is issued may be performed simultaneously. This is because it is possible to analyze the situation at the time from these pieces of information and take the next best measure.

  Next, whether or not the patrol aircraft is in the hovering state is determined based on the flight speed and altitude information (step 58). When it is determined that the patrol aircraft is hovering, the hovering is immediately stopped and the normal flight speed is set. A hovering prohibition display and a warning notification process are executed so as to patrol (step 59).

For example, “Warning should be stopped immediately and switched to flight patrol”
An audio output of a warning message such as Also in this step 59, in addition to these processes, a process for saving the position information when a warning is issued may be performed simultaneously. This is because it is possible to analyze the situation at that time based on this information and take the next best measure.

If the inspection speed is observed and the inspection is not a hovering inspection, a determination process for determining the dangerous airspace and the current position of the inspection apparatus is performed (step 60). It is possible to determine whether or not the patrol aircraft is abnormally approaching the dangerous airspace by referring to the dangerous airspace information designated in advance with respect to the current position information obtained based on the GPS reception information. When the patrol machine is approaching the dangerous airspace, a warning is issued (step 61). For example, if you are abnormally approaching within 10m from the boundary of the dangerous airspace, for example, “Abnormally approaching the dangerous airspace, take immediate action.”
Outputs a warning message such as Depending on the flight status (wind direction and wind force), there is a high risk of easily entering a dangerous airspace. In such a case, an advance warning can be used to prevent an accident.

In the case of normal patrol without abnormal approach to the dangerous airspace, the process proceeds to step 62, and the voice input when the abnormal part is found is saved and the flight time at that time, and in some cases at that time Current position information is stored in the memory means 34. The anomalous part is specified by clearly indicating the number assigned to the tower. For example,
“XX main line between towers 0010 and 0011, about 50m from tower 0010, XX is abnormal in transmission line”
Information that can identify an abnormal part such as is input and stored. Therefore, the memory means 34 also functions as a patrol information file.

  The patrol as described above is performed along a patrol course. For example, as shown in FIG. 1, in the case of a patrol course that makes a round of round trip patrol courses a and b, the patrol course b is traced after the patrol course a ends. In some cases, the inspection is completed only in the inspection course a or b. Such differences are often due to differences in transmitted power.

  The determination process as described above is performed until the scheduled inspection course is completed (steps 63 and 51). By flying to the end point, the process returns from the inspection monitoring process step to step 48 shown in FIG. 3 (step 63). ).

  In the embodiment described above, the inspection monitoring processing program shown in FIG. 4 has a subroutine configuration, but it may be configured as a normal processing program, in which case the processing program is in the stage of flying to the vicinity of the inspection start point. Can be started. Alternatively, when the flight course is input, the processing program can be automatically started when the vicinity of the inspection start point is reached.

  In the above-described embodiment, the determination is made including the determination steps (steps 56 to 59) for the inspection rules, but all of these determination steps can be omitted. Alternatively, the processing without steps 56 and 57 can be performed.

  It is also possible to add a processing step so that the information obtained by the patrol is immediately transmitted to the headquarters when the patrol course is completed in step 63.

  The present invention is extremely suitable when applied to inspection course monitoring used for visual field inspection by a helicopter.

It is a systematic diagram of the principal part which shows the Example of the inspection course monitoring apparatus which concerns on this invention. It is explanatory drawing which shows the example of a patrol course and the display on a screen. It is a flowchart which shows the example of a patrol monitoring program. It is a flowchart which shows an example for implement | achieving the inspection course monitoring method which concerns on this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 ... Patrol course monitoring device 12 ... GPS interface 14 ... Speedometer interface 20 ... Map information database 22 ... Monitor 25 ... Voice input means 26 ... Alarm means 30 ... CPU
32 ... ROM

Claims (16)

Computers to monitor the patrol courses that patrol the power transmission facilities using aircraft,
Means for acquiring dangerous airspace information set in advance during the patrol course;
Means for acquiring current position information during patrol;
Means for displaying the dangerous airspace range and current position information on the screen together with map information including a patrol course;
Means for determining whether the aircraft has approached the dangerous airspace based on the current position information during the patrol and the dangerous airspace information, and issuing a warning when approaching the dangerous airspace;
A patrol course monitoring method, characterized in that the patrol course functions. Means for determining whether or not there is a warning by referring to the patrol regulations information and the cruise information, and issuing a warning when it is out of the cruise regulations information;
The inspection course monitoring method according to claim 1, further comprising: Means to input the abnormal information during patrol and save the abnormal information as patrol information,
The inspection course monitoring method according to claim 1, further comprising: Means for storing the time and cruise position at the time of voice input as patrol information;
The inspection course monitoring method according to claim 3, further comprising:   2. The inspection course monitoring method according to claim 1, wherein a warning by voice is given when approaching the dangerous airspace range. The inspection course monitoring method according to claim 1, wherein the power transmission facility is a power transmission facility including a power transmission tower and a power transmission line. 2. The inspection course monitoring method according to claim 1, wherein the dangerous airspace information is generated based on position information of an adjacent power transmission tower existing in the inspection course. 2. The inspection course monitoring method according to claim 1, wherein the current position information is position information from a GPS. The inspection course monitoring method according to claim 2, wherein the inspection rule information is a inspection speed to be observed. A patrol course monitoring device for monitoring a patrol course for patroling power transmission facilities using an aircraft,
Means for acquiring dangerous airspace information set in advance during the patrol course;
Means for acquiring current position information during patrol;
Means for displaying the dangerous airspace range and current position information on the screen together with map information including a patrol course;
Means for determining whether the aircraft has approached the dangerous airspace based on the current position information and the dangerous airspace information during the patrol, and issuing a warning when approaching;
A patrol course monitoring device characterized by comprising: Means for determining whether or not there is a warning by referring to the patrol regulations information and the cruise information, and issuing a warning when it is out of the cruise regulations information;
The inspection course monitoring apparatus according to claim 10, further comprising: Means to input the abnormal information during patrol and save the abnormal information as patrol information,
The inspection course monitoring apparatus according to claim 10, further comprising: Means for storing the time and cruise position at the time of voice input as patrol information;
The inspection course monitoring apparatus according to claim 12, further comprising: The inspection course monitoring apparatus according to claim 10, wherein the power transmission facility is a power transmission facility including a power transmission tower and a power transmission line. 11. The inspection course monitoring apparatus according to claim 10, wherein the dangerous airspace information is generated based on position information of an adjacent power transmission tower existing in the inspection course. 11. The inspection course monitoring apparatus according to claim 10, wherein the current position information is position information from a GPS.

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