JP2004069597A - Method for measuring three-dimensional photograph by self-running machine carrying measuring special camera and self-running machine used for the same - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a three-dimensional measuring system for measuring a structure, the size and the distance on a ground in a field of a transmission line or the like. <P>SOLUTION: A method for measuring the three-dimensional measuring system by a self-running machine carrying a measuring special camera includes the steps of carrying the self-running machine (1) carrying a ground photographing special camera (11) on an overhead ground line (V) of the transmission line and running the machine (1), photographing a ground at each distance (L) of several meters between adjacent steel towers, capturing a structure on the ground, a topography and the line in three-dimensional coordinates, forming a plan view and longitudinal and lateral sectional views near the line by this coordinates, discovering and measuring damaged positions of the line. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a three-dimensional photograph measurement method using a self-propelled machine equipped with a special camera for measurement and a self-propelled machine used in the three-dimensional photograph measurement method method, and measures the structure, dimensions, and distance on the ground in the field of power transmission lines and the like. A three-dimensional measurement system is provided.
[0002]
[Prior art]
"To create a plan view and vertical and horizontal sectional views near the transmission line"
In general, in the preparation of a plan view and a vertical and horizontal cross-sectional view near a transmission line, conventionally, a photograph is taken with a camera mounted on a helicopter or an airplane and the drawing is made, or the drawing is made by surveying with a light wave range finder or the like on the ground.
[0003]
"In case of finding and measuring damaged parts of transmission line"
Conventionally, the location of a damaged transmission line has been found using binoculars or the like from the ground. In addition, measurement has not been conventionally performed.
[0004]
[Problems to be solved by the invention]
"To create a plan view and vertical and horizontal sectional views near the transmission line"
In general, when creating a plan view and vertical and horizontal cross-sectional views near the power transmission line, there are places where ground measurements are not possible due to poor ground conditions, and in areas where there are densely populated houses, etc. It was taking time.
[0005]
"In case of finding and measuring damaged parts of transmission line"
It takes a long time to find the damaged part of the transmission line because it is done using binoculars or the like from the ground. In the case where the damage point was far from the transmission line at the observation point, it could not be confirmed because the damaged part was not visible.
[0006]
[Means for solving the problem]
The present invention is provided to solve the above problems and achieve the object of the invention.
[0007]
The first aspect of the present invention is a three-dimensional photograph measurement method in which a special camera for measurement is mounted on a self-propelled machine. In this method, a self-propelled vehicle equipped with a special camera for ground measurement is mounted on an overhead ground line of a transmission line and travels. A photograph of the space between towers adjacent to each other before and after the direction is taken every few meters below the overhead ground line, and the structure, terrain and transmission line on the ground are captured in three-dimensional coordinates. It creates vertical and horizontal cross-sectional views and finds and measures damaged parts of transmission lines.
[0008]
A second aspect of the present invention is a self-propelled machine used for a three-dimensional photograph measurement method using a self-propelled body mounted with a special camera for measurement, in which a plurality of traveling rollers for traveling on an overhead ground line are mounted above the self-propelled body. A power transmission mechanism to rollers including a gear, a chain, a transmission gear, a gear attached to a motor drive take-out shaft, a motor, a battery, and a control panel are provided on the main body of the self-propelled machine, and a special camera is mounted on the self-propelled body. It is mounted so that it can be tilted right and left and back and forth through the camera platform to adjust the swing.
[0009]
【Example】
Next, an embodiment of the present invention will be described with reference to the drawings. 1 is a self-propelled body for mounting a camera, 2 is a plurality of running rollers for mounting on an overhead ground line on the upper part of the self-propelled body 1, a durable rubber belt having a diameter of 100 to 150 mm and a running surface is provided. Wound and four-wheel drive.
[0010]
Reference numeral 3 denotes a power transmission mechanism for the traveling roller 2, which is composed of a gear 4, a chain 5, a speed changing gear 6, a gear 7 attached to a motor take-out shaft, and the like. Reference numeral 8 denotes a drive motor, 9 denotes a battery, and 10 denotes a control panel. These constitute a self-propelled machine. The speed of the self-propelled machine is set at about 14 m to 20 m / min (however, on a flat ground). Also, in consideration of the work site and work time, it is assumed that a plurality of batteries 9 are set and used in advance so that they can be maintained for about 8 hours in flat continuous running.
[0011]
Numeral 11 denotes a special camera for measurement mounted on the self-propelled body 1, which can be swung freely by tilting it at a predetermined angle θ to the left, right, front and rear via a camera platform 12. The shooting range of the special camera is set to about 100 m on one side, including the ability to shoot Line 1 and Line 2 (not shown) wired on the left and right sides of the tower as shown in FIG. The left and right touch angles of the camera are free. The shooting interval, the number of shots, the shooting start position, and the shooting end point position of the special camera 11 can be set freely, but these are set in advance by inputting data with a personal computer before the start of shooting. .
[0012]
Reference numeral 14 denotes a clutch (joint fitting for a rescue machine) provided on the self-propelled machine 1, which stops in the middle of an overhead ground line due to a failure or the like and becomes unable to run by itself. A rescue machine (not shown) is connected to the rescue machine, and the rescue machine is guided in the return direction of the rescue machine.
_{T (T 1 · T 2 ·} T 3 ......) is tower, U is the transmission line, V is the ground wire, W is shown a counterweight which is provided in the middle of the ground wire.
[0013]
[Example of specific working process based on the embodiment]
"Planning and preparation for work"
Flow of the "photographing measurement system" (1) At the site, measurement is performed by setting a reference point using an optical distance meter.
(2) Take three or more images of the location you want to measure.
(3) Perform photo analysis indoors.
(4) Provide three-dimensional coordinates X, Y, and Z at measurement points.
(5) Make a drawing based on the three-dimensional coordinates by CAD.
[0014]
"Work example"
(1) Average span of the tower T = 250m
(2) Height of the tower T = 20m
(3) shooting interval _{L (L 1 · L 2 ·} L 3 ......) = 8m
(4) Self-propelled vehicle 1 = It is set so that it can be moved forward and backward freely and automatically stopped by placing it on the overhead ground line V via the roller 2 and stopping.
(5) The special camera for measurement 11 = the pan head 12 can be set to swing freely at the set angle θ in the left, right, front and rear directions.
(6) Workers A, B, C, D work on three tower climbers and one ground surveillance worker.
[0015]
"Primary work order"
(1) From the height of the tower T (T ₁ (NO. 1), T ₂ (NO. 2), T ₃ (NO. 3)...) And the required shooting range, the shooting angle θ of the special camera 11 and shooting The distance L of the interval, the number of shots, the shooting start position and the shooting end position are determined, and these are set in the self-propelled body 1 by a personal computer.
(2) The worker A and the worker B assemble the self-propelled aircraft 1 to the first tower T ₁ (NO. 1) where the work is started, carry it to the top, attach it to the overhead ground line V, and set it. I do.
(3) to start running on the overhead ground line V toward a self-propelled aircraft 1 to No. 2 pylon T ₂ of the next. A counterweight W for preventing twisting is provided in the middle of the overhead ground line V, but the self-propelled body 1 can pass through without any trouble.
(4) The self-propelled vehicle 1 is stopped at a predetermined location, and a special camera 11 shoots a required location toward the ground below the transmission line U. In this case, three locations X, Y, and Z of the building to be measured are photographed. The imaging is performed by operating the special camera 11 self-propelled body 1 by repeating traveling and stop a few meters distance in each between towers _{L (L 1 · L 2 ·} L 3 ......).
(5) The worker C ascends to the second tower T ₂ (NO. 2) and waits until the self-propelled machine arrives from the first tower T ₁ (NO. 1).
(6) The ground supervisor D is located between the first tower T ₁ (NO. 1) and the second tower T ₂ (NO. 2) to monitor the work status.
(7) Two workers A and B ascending the first tower T ₁ (No. 1) descend immediately after the self-propelled aircraft departed, and one of the workers B The other worker A moves toward the _second tower T ₃ (NO.3), and the worker B moves toward the third tower T ₃ (NO. 3). ₂ and worker A climbs up to the third tower T ₃ (NO. 3) and waits for the arrival of self-propelled aircraft 1 from the preceding tower.
[0016]
"Second work order"
(1) The self-propelled body 1 travels and arrives at the second tower T ₂ (NO. 2) after completing the necessary photographing with the special camera 11.
(2) The workers C and B on board the second tower T ₂ (NO.2) arrived at the _second tower T ₂ from the _first tower T ₁ (NO.1). the No. 3 tower and was transferred to self-propelled body 1 in the No. 2 tower _T 2 (NO.2) and No. 3 steel _T 3 (NO.3) to ground wire V side being cathodic stretched It mounted so as to be able to travel towards the T _3.
(3) the running and stopping and photographing to a predetermined position of the subsequent self-propelled body 1, repeat the same process as performed first tower T ₁ and working step in between the second pylon T _2.
(4) The ground observer D moves between the second tower T ₂ (NO. 2) and the third tower T ₃ (NO. 3), and monitors the operation status at this place.
(5) Two workers CB, who ascend the second tower T ₂ (No. 2), descend immediately after the self-propelled aircraft 1 departs, and one of them, C move toward the No. 3 tower T _{3 (NO.3),} other workers B moves toward the No. 4 pylon (not shown), and operator C in No. 3 tower T ₃ After climbing up, the worker B climbs up to the No. 4 tower and waits for the arrival of the self-propelled aircraft 1 from the preceding tower.
[0017]
"End of work process"
The self-propelled aircraft 1 arriving at the last tower after finishing the work of photographing by the special camera 11 is lowered to the ground by the worker CB or AC or AB on the last tower. It is.
[0018]
【The invention's effect】
Since the present invention has the above configuration, it is possible to work at low cost, regardless of the site conditions, and also to shoot a place where the worker can not approach, so that the field structure, dimensions and distance of the transmission line and the like are measured, It is also effective when used for drawing.
[0019]
That is, when a plan view and a vertical and horizontal cross-sectional view near the transmission line are created, the measurement accuracy is good because the special camera is close to the structure / terrain and the electric wire to be measured.
[0020]
Since the photograph is taken from the overhead ground line of the transmission line, the work can be performed without any problem on the ground. In addition, there is no noise to nearby residents because there is no noise.
[0021]
Further, even in the case of finding and measuring a damaged portion of the transmission line, the camera can be easily found because the camera is closer to the electric wire than when trying to find it with binoculars or the like from the ground.
[0022]
Furthermore, when measuring the dimensions and distances of each part of the transmission line, when the transmission line is in a live state, imaging is performed away from the transmission line to a safe zone, so there is no need for a power outage. Further, since the measurement object is not touched, an accurate value can be obtained because the measurement object is in a stationary state.
[0023]
As described above, according to the present invention, it is possible to safely and easily take an image of a place where human beings cannot access, regardless of the situation of the land. It is effective when used.
[Brief description of the drawings]
FIG. 1 is a schematic view showing an embodiment of a three-dimensional photograph measurement method using a self-propelled machine with a special camera for measurement according to the present invention, using a first tower and a second tower.
FIG. 2 is a schematic view showing an embodiment of a three-dimensional photograph measurement method using a self-propelled machine equipped with a first special camera, using a second tower and a third tower.
FIG. 3 is a front side view of a special camera for three-dimensional photograph measurement mounted on a self-propelled body.
FIG. 4 is a front view of a self-propelled body equipped with the special camera of FIG. 1;
FIG. 5 is a side view of FIG. 3;
FIG. 6 is a plan view of FIG. 3;
[Explanation of symbols]
1 self-propelled body 2 self-propelled body running roller 3 power transmission mechanism 4 to running roller 4 gear 5 chain 6 transmission gear 7 mounted on motor driven take-out shaft Gear 8 Motor 9 Battery 10 Control panel 11 Special camera 12 Pan head 13 Head mounting bracket 14 Clutch (rescue joint bracket)
T (T1, T2, T3 ...) ... tower U ... transmission line V ... overhead ground wire W ... counterweight

Claims (2)

A self-propelled vehicle (1) equipped with a ground-scanning special camera (11) is run on the overhead ground line (V) of the transmission line, and the overhead ground line is moved between adjacent steel towers every several meters (L). The lower part is photographed, and the structure on the ground, the topography, and the transmission line are captured in three-dimensional coordinates. Based on the three-dimensional coordinates, a plan view and a vertical and cross-sectional view of the vicinity of the transmission line are created, and a damaged portion of the transmission line (U) is created. A three-dimensional photo measurement method using a self-propelled machine equipped with a special camera for measurement characterized by discovering and measuring objects. A plurality of rollers (2) for traveling on the overhead ground line (V) are mounted on the upper part of the self-propelled body (1), and a gear (4), a chain (5), and a transmission gear (6) are attached to the self-propelled body. ). A power transmission mechanism (3) for rollers including a gear (7) attached to a motor drive take-out shaft, a motor (8), a battery (9), and a control panel (10) are provided. A special camera (11) is mounted so that it can be swung right and left and back and forth through a camera platform (12). Running machine.

Images