JPH0479710A - Measuring apparatus of position of obstacle on aerial transmission line - Google Patents
Measuring apparatus of position of obstacle on aerial transmission lineInfo
- Publication number
- JPH0479710A JPH0479710A JP2193411A JP19341190A JPH0479710A JP H0479710 A JPH0479710 A JP H0479710A JP 2193411 A JP2193411 A JP 2193411A JP 19341190 A JP19341190 A JP 19341190A JP H0479710 A JPH0479710 A JP H0479710A
- Authority
- JP
- Japan
- Prior art keywords
- obstacle
- transmission line
- distance
- power transmission
- running
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000005540 biological transmission Effects 0.000 title claims abstract description 20
- 230000005484 gravity Effects 0.000 claims abstract description 3
- 238000000034 method Methods 0.000 abstract description 3
- 238000005096 rolling process Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 3
- 238000003384 imaging method Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 238000007796 conventional method Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Landscapes
- Electric Cable Installation (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
Description
【発明の詳細な説明】
（産業上の利用分野）
本発明は架空送電線路近傍の障害物や近接樹木等の位置
を測定し、監視する装置に関するものである。DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a device for measuring and monitoring the position of obstacles, trees, etc. near overhead power transmission lines.
（従来の技術及び解決しようとする課題）架空送電線路
の障害物や近接樹木等を監視する従来の技術としては、
例えば特開昭［１２−２８０ｆｉ号公報、特開平２−３
８７０７号公報及び特開平２−４ＢｌｌＥｉ号公報に示
されたものがある。(Conventional techniques and problems to be solved) Conventional techniques for monitoring obstacles on overhead power transmission lines, nearby trees, etc.
For example, Japanese Patent Application Publication No. 12-280fi, Japanese Patent Application Publication No. 2-3
There are those shown in Japanese Patent Application Laid-open No. 8707 and Japanese Patent Application Laid-Open No. 2-4BllEi.
聞
特誉昭［１２−２８０１ｉ号公報に示された技術は、テ
レビカメラを装着した容器を連結した模型ヘリコプタを
飛行させることにより送電線の点検を行なうものであり
、特開平２−３Ｂ２Ｏ３号公報に示された技術はカメラ
装置を備えた走行体を無線操縦によって架空電線路に沿
って移動させて架空電線路を点検するものである。The technology disclosed in Japanese Patent Application Laid-Open No. 12-2801i inspects power transmission lines by flying a model helicopter connected to a container equipped with a television camera, and is disclosed in Japanese Patent Application Laid-Open No. 2-3B2O3. The technique shown in 2003-2013 is to inspect an overhead power line by moving a traveling body equipped with a camera device along the overhead power line by radio control.
これらの技術はいずれも飛行手段を用いて送電線路の点
検、監視を行なう方法であるが、電線と障害物間の距離
や位置関係を正確に測定するには、高度な技術を必要と
する。All of these technologies use flying means to inspect and monitor power transmission lines, but they require advanced technology to accurately measure the distance and positional relationship between power lines and obstacles.
又特開平２−４８１１１ｉ号公報に示された技術は、ビ
デオカメラを用いて架空送電線路の側面から撮影を行な
い、上下間の距離を求める方法であるが、送電線路と障
害物との前後距離を測定するには、カメラ位置を変える
必要があり、又カメラと障害物との間に他の障害物か存
在すると測定か困難になる等、測定点も限定されるとい
う問題点がある。In addition, the technique disclosed in Japanese Patent Application Laid-Open No. 2-48111i uses a video camera to take pictures from the side of an overhead power transmission line and determines the distance between the top and bottom, but the distance between the power transmission line and an obstacle is determined by In order to measure this, it is necessary to change the camera position, and if there is another obstacle between the camera and the obstacle, it becomes difficult to measure, and the number of measurement points is also limited.
（課題を解決するための手段）
本発明は上述の問題点を解消した架空送電線路の障害物
位置測定装置を提供するもので、その特徴は、架空地線
又は架空送電線等の架空電線上を走行する装置に、計尺
器、傾斜計及び線路と直角方向に一定間隔を隔てて吊り
下げた２台の撮影器を備え、撮影器間の距離と映像の視
野角度差によって送電線路と障害物との距離及び角度を
求めると共に、計尺器との組合せにより鉄塔から障害物
までの距離を求める装置にある。(Means for Solving the Problems) The present invention provides an apparatus for measuring the position of obstacles on overhead power transmission lines that solves the above-mentioned problems. The equipment that travels on the power transmission line is equipped with a measuring instrument, an inclinometer, and two video cameras suspended at a fixed interval in a direction perpendicular to the track. It is a device that not only determines the distance and angle to an object, but also determines the distance from a steel tower to an obstacle by combining it with a measuring device.
（実施例）
第１図は本発明の架空送電線路の障害物位置測定装置の
具体例の説明図で、同図（イ）は正面図、同図（ロ）は
側面図である。(Example) FIG. 1 is an explanatory diagram of a specific example of the obstacle position measuring device for an overhead power transmission line according to the present invention, in which (A) is a front view and (B) is a side view.
架空地線等の架空電線（１３）ｕ：に位置する駆動輪（
７）、押え車輪（８）及び駆動モータ（６）によって架
空電線（１３）上を走行する装置の上部には、架空電線
（１３）と直角方向に両方に突き出した一定長さの腕（
２）かあり、その先端に撮影器（１）か吊り下げられて
おり、両ｔだ影器（１）の視野の中心が常に平行線上に
なるよう固定すると共に、両撮影器（１）間の間隔もあ
らかしめ定められた長さに設定されている。Overhead electric wires (13) such as overhead ground wires (13)
7) At the top of the device that runs on the overhead power line (13) by the presser wheel (8) and the drive motor (6), there is an arm (of a certain length) protruding in both directions perpendicular to the overhead power line (13).
2), from which the imaging device (1) is suspended, fixing the center of the field of view of both imaging devices (1) to be always on parallel lines, and ensuring that the center of the field of view of both imaging devices (1) The intervals are also set to predetermined lengths.
上記架空電線（１３）上を走行する装置の側方には傾斜
計（１４）が取付けられており、その下方には計尺器（
３）か取付けられている。傾斜計（Ｉ４）は装置の傾き
を検出し、バランソングモータ（５）によってバランス
ウェート（４）の位置を移動させて平衡をとり走行中の
振れを少なくすると共に、傾斜角度を記録装置（１１）
に転送する。（１５）はバランスウェート（４）移動の
ガイドローラである。An inclinometer (14) is attached to the side of the device running on the overhead wire (13), and a measuring instrument (14) is installed below it.
3) Or installed. The inclinometer (I4) detects the inclination of the device, and the balance song motor (5) moves the position of the balance weight (4) to balance it and reduce vibration during running, and the inclination angle is recorded by the recording device (11). )
Transfer to. (15) is a guide roller for moving the balance weight (4).
計尺器（３）は架空電線（１３）を走行している装置の
鉄塔からの走行距離を順次測定し、そのデータを記録装
置（１１）に転送する。装置の走行制御、撮影、記録、
緊急操作等はリモコン装置（１２）によって行なう。（
１６）はリモコン装置（１２）を操作するアンテナであ
る。The measuring device (3) sequentially measures the traveling distance from the tower of the device running on the overhead wire (13), and transfers the data to the recording device (11). Device travel control, photography, recording,
Emergency operations and the like are performed using a remote control device (12). (
16) is an antenna for operating the remote control device (12).
装置には、装置全体が横風を受けた時の振れを少なくす
るための垂直翼（９）を設けてあり、架空電線（１３）
を中心軸とした回転力を相殺出来る広さのものとなって
いる。又装置全体の重心が装置が走行する架空電線（Ｉ
３）より下方に位置するように各部材を配設しである。The device is equipped with vertical wings (9) to reduce vibration when the entire device is exposed to crosswinds, and overhead power lines (13)
It is wide enough to offset the rotational force around the central axis. Also, the center of gravity of the entire device is located at the overhead power line (I) on which the device runs.
3) Each member is arranged so as to be located lower.
（作用）
上述した本発明の測定装置はリモコン装置（１２）の遠
隔操作により架空電線（１３）上を走行する。架空電線
（１３）上を走行する装置は計尺器（３）により鉄塔か
らの走行距離を測定しながら順次そのデータを記録装置
（＋１）に送る。又傾斜計０４）も装置の傾斜角度を計
測し、そのデータをバランス装置と記録装置（＋１１に
送り、走行中の装置の振れを少なくする。(Function) The measuring device of the present invention described above runs on the overhead electric wire (13) by remote control of the remote control device (12). The device running on the overhead wire (13) measures the distance traveled from the tower using a meter (3) and sequentially sends the data to the recording device (+1). The inclinometer 04) also measures the inclination angle of the device and sends the data to the balance device and recording device (+11) to reduce vibration of the device during running.
架空電線（１３）と直角方向に突出した腕（２）の両端
に吊り下げられた撮影器（１）、例えばビデオカメラは
真下を見る角度で映像を録画しており、記録表＠（ＩＩ
）を介して走行距離及び傾斜角度も字幕として連続的に
録画する。A camera (1), such as a video camera, is hung from both ends of an arm (2) that protrudes perpendicularly to the overhead power line (13), and records images from an angle that looks straight down.
) The driving distance and inclination angle are also continuously recorded as subtitles.
第２図（イ）は本発明の装置を用いた測定の具体例の説
明図、同図（ロ）及び（ハ）はそれぞれビデオカメラに
よる映像Ａ及びＢの説明図である。FIG. 2(A) is an explanatory diagram of a specific example of measurement using the apparatus of the present invention, and FIG. 2(B) and (C) are explanatory diagrams of images A and B, respectively, taken by a video camera.
なお、図面において、（２０）は本体装置、（２１）は
架空地線、（２２）は架空送電線、（２２’ ）は架空
送電線の映像、（２３）は樹木、（２３’）は樹木の映
像である。In the drawings, (20) is the main unit, (21) is the overhead ground wire, (22) is the overhead power line, (22') is the image of the overhead power line, (23) is the tree, and (23') is the image of the overhead power line. This is an image of a tree.
第２図（イ）に示す樹木（２３）と最下層の架空送電線
（２２）との距離及び角度を求めたいとき、Ａの映像テ
のθ８，０１′の視野角度及びＢの映像での０２．０２
′の視野角度を知ることにより、三角法による下記の計
算例で求めることが出来る。When you want to find the distance and angle between the tree (23) shown in Figure 2 (a) and the lowest overhead power transmission line (22), use the viewing angle of θ8,01' in the image of A and the angle of view of θ8,01' in the image of B. 02.02
By knowing the viewing angle of ', it can be calculated using the following calculation example using trigonometry.
計算例：撮影器間の基準寸法り二３ｍ１θ、＝θ１
１０７゜
θ２： １２２６
１２５° とすると、
距１１１ｃ−Ｅ ＝ｓ＋ｎ（θｌ’ −０，）ｘ （距
離Ａ−Ｃ）距１１ｉＩＡ−Ｅ ＝Ｃｏｓ（θ、’−０．
）ｘ （距離Ａ−Ｃ）距離Ｄ−Ｅ＝（距離Ａ−Ｄ）−（
距離Ａ−Ｅ）０距離Ｃ−Ｄ＝ Ｃ−Ｅ ＋
Ｄ−Ｅ：：０８４５ｍ
距離Ｃ−Ｆ’ ＝ Ｃｏ５（θ、＋ −９０゜Ｃｏ５（
θビ９０゜
距ＷＩＣ−Ｆ ＝距［Ｃ’−Ｆ
）×（距離Ａ−Ｄ）
）×（距離Ａ−Ｃ）
なお、視野角度値は傾斜計による角度値で補正すること
により、精度を向上させることが出来る。Calculation example: If the reference dimension between the imagers is 23 m1θ, = θ1 107° θ2: 1226 125°, then distance 111c-E = s + n (θl' -0,) x (distance A-C) distance 11iIA-E = Cos(θ,'-0.
) x (distance A-C) distance D-E = (distance A-D) - (
Distance A-E) 0 Distance C-D= C-E +
D-E::0845m Distance C-F' = Co5(θ, + -90°Co5(
θ Bi90° Distance WIC-F = Distance [C'-F It can be improved.
第３図は本発明の測定装置の使用例図で、不発
明の測定装置（３０）を用いて、架空送電線（２２）と
樹木（２３）や建造物等の障害物の距離を定期的に測定
することで、危険範囲を越えないよう情報提供すること
か可能となる。Figure 3 shows an example of how the measuring device of the present invention is used. Using the uninvented measuring device (30), the distance between overhead power lines (22) and obstacles such as trees (23) and buildings is periodically measured. By measuring accurately, it becomes possible to provide information to ensure that the danger range is not exceeded.
（発明の効果）
以上説明したように、本発明の架空送電線路の障害物位
置測定装置によれば、装置を架空電線上を走行させるこ
とにより、送電線路近辺の樹木や障害物の距離、角度を
３次元的に測定出来るので、障害物等による危険を事前
に防止することが出来、架空送電線路の保安上極めて効
果的である。(Effects of the Invention) As explained above, according to the overhead power transmission line obstacle position measuring device of the present invention, by running the device on the overhead power line, the distance and angle of trees and obstacles near the power transmission line can be measured. Since it is possible to measure three-dimensionally, it is possible to prevent dangers caused by obstacles, etc., and is extremely effective in terms of the safety of overhead power transmission lines.
第１図は本発明の測定装置の具体例の説明図で、同図（
イ）は正面図、同図（ロ）は側面図である。
第２図（イ）は本発明の装置を用いた測定の具体例の説
明図、同図（ロ）及び（ハ）はそれぞれビデオカメラに
よる映像Ａ及びＢの説明図である。
第３図は本発明の測定装置の使用例図である。
■・・・撮影器、２・・・撮影孔吊下腕、３・・・計尺
器、４・・・ハランスウェート、５・・・ノλランス’
Ｊ Ｋ 、６・・・駆動モータ、７・・・駆動輪、８・
・・押え車輪、９・・・垂直翼、１０・・・電源、１１
・・・記録装置、１２・・・リモコン装置、１３・・・
架空電線、１４・・・傾斜計、１５・・・ガイドローラ
、１６・・・アンテナ。
讐 １ 図
（イ）
（口〕
寥
図
（イ）
字FIG. 1 is an explanatory diagram of a specific example of the measuring device of the present invention.
(a) is a front view, and (b) is a side view. FIG. 2(A) is an explanatory diagram of a specific example of measurement using the apparatus of the present invention, and FIG. 2(B) and (C) are explanatory diagrams of images A and B, respectively, taken by a video camera. FIG. 3 is a diagram showing an example of the use of the measuring device of the present invention. ■... Photographer, 2... Shooting hole hanging arm, 3... Measuring device, 4... Haranthwaite, 5... Lambda lance'
JK, 6... Drive motor, 7... Drive wheel, 8...
... Presser wheel, 9 ... Vertical wing, 10 ... Power supply, 11
...Recording device, 12...Remote control device, 13...
Overhead electric wire, 14... Inclinometer, 15... Guide roller, 16... Antenna. Enemy 1 Diagram (I) (mouth) Bazu (I) Character
Claims (3)
る装置に、計尺器、傾斜計及び線路と直角方向に一定間
隔を隔てて吊り下げた２台の撮影器を備え、撮影器間の
距離と映像の視野角度差によって送電線路と障害物との
距離及び角度を求めると共に、計尺器との組合せにより
鉄塔から障害物までの距離を求めることを特徴とする架
空送電線路の障害物位置測定装置。(1) A device running on an overhead power line such as an overhead ground wire or an overhead power transmission line is equipped with a measuring device, an inclinometer, and two camera devices suspended at a fixed interval in a direction perpendicular to the track to take pictures. An overhead power transmission line system characterized in that the distance and angle between the power transmission line and an obstacle are determined by the distance between the instruments and the viewing angle difference of the image, and the distance from the tower to the obstacle is determined by a combination with a measuring device. Obstacle position measuring device.
せしめることを特徴とする請求項（１）記載の架空送電
線路の障害物位置測定装置。(2) The obstacle position measuring device for an overhead power transmission line according to claim (1), wherein the centers of the fields of view of the two imagers are always positioned on parallel lines.
風による振れを少なくするための垂直翼を装置に設ける
と共に、装置全体の重心が走行線路より下方に位置する
ように部材を配設したことを特徴とする請求項（１）又
は（２）記載の架空送電線路の障害物位置測定装置。(3) The device was equipped with a balance device to reduce vibrations during running and vertical wings to reduce vibrations caused by wind, and members were arranged so that the center of gravity of the entire device was located below the running track. An obstacle position measuring device for an overhead power transmission line according to claim 1 or 2, characterized in that:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2193411A JPH0479710A (en) | 1990-07-20 | 1990-07-20 | Measuring apparatus of position of obstacle on aerial transmission line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2193411A JPH0479710A (en) | 1990-07-20 | 1990-07-20 | Measuring apparatus of position of obstacle on aerial transmission line |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0479710A true JPH0479710A (en) | 1992-03-13 |
Family
ID=16307515
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2193411A Pending JPH0479710A (en) | 1990-07-20 | 1990-07-20 | Measuring apparatus of position of obstacle on aerial transmission line |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0479710A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007107962A (en) * | 2005-10-12 | 2007-04-26 | Yamamoto Denko Kk | Measuring system of measuring object and separated measuring system under transmission line |
| CN102183239A (en) * | 2011-03-08 | 2011-09-14 | 西安工程大学 | Method for measuring windage yaw of transmission wire based on video variance analysis |
| CN103457202A (en) * | 2013-08-20 | 2013-12-18 | 国家电网公司 | Mobile laser emission device capable of electrically removing foreign matter |
| CN106207859A (en) * | 2016-09-06 | 2016-12-07 | 国网山东省电力公司临朐县供电公司 | Electric line foreign matter removes device |
| JP2017172972A (en) * | 2016-03-18 | 2017-09-28 | 鹿島建設株式会社 | Distance monitoring system |
| CN107394664A (en) * | 2016-05-14 | 2017-11-24 | 倪国森 | Multi-functional unmanned machine circuit obstacle cleaning machine |
| CN111238453A (en) * | 2018-11-28 | 2020-06-05 | 赫克斯冈技术中心 | Intelligent positioning module |
-
1990
- 1990-07-20 JP JP2193411A patent/JPH0479710A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007107962A (en) * | 2005-10-12 | 2007-04-26 | Yamamoto Denko Kk | Measuring system of measuring object and separated measuring system under transmission line |
| CN102183239A (en) * | 2011-03-08 | 2011-09-14 | 西安工程大学 | Method for measuring windage yaw of transmission wire based on video variance analysis |
| CN103457202A (en) * | 2013-08-20 | 2013-12-18 | 国家电网公司 | Mobile laser emission device capable of electrically removing foreign matter |
| JP2017172972A (en) * | 2016-03-18 | 2017-09-28 | 鹿島建設株式会社 | Distance monitoring system |
| CN107394664A (en) * | 2016-05-14 | 2017-11-24 | 倪国森 | Multi-functional unmanned machine circuit obstacle cleaning machine |
| CN106207859A (en) * | 2016-09-06 | 2016-12-07 | 国网山东省电力公司临朐县供电公司 | Electric line foreign matter removes device |
| CN106207859B (en) * | 2016-09-06 | 2017-12-15 | 国网山东省电力公司临朐县供电公司 | Electric line foreign matter remove device |
| CN111238453A (en) * | 2018-11-28 | 2020-06-05 | 赫克斯冈技术中心 | Intelligent positioning module |
| CN111238453B (en) * | 2018-11-28 | 2023-09-05 | 赫克斯冈技术中心 | Intelligent positioning module |
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