JP2009068951A - Aerial wire controlling system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an aerial wire controlling system which measures and controls a state of an electric wire or the like supported by electric poles, precisely and inexpensively. <P>SOLUTION: The system comprises: a photographing section which is mounted on a vehicle and photographs an aerial wire to obtain image data; a distance/azimuth data acquiring section which is mounted on the vehicle and acquires distance/azimuth data for the aerial wire by scanning a laser; and a computer which is mounted on the vehicle and measures a position and an attitude angle of the vehicle. The computer inputs the data of the image photographed by the photographing section and the distance/azimuth data acquired by the distance/azimuth data acquiring section, detects an electric pole from the image data, extracts distance/azimuth data existing in a space plane containing the electric pole, obtains distance/azimuth data corresponding to the aerial wire from the extracted distance/azimuth data, and measures a ground height of the aerial wire based on the obtained distance/azimuth data. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to an aerial overhead wire management system for monitoring and managing electric wires and the like.

  A power outage accident may occur when an object approaches or comes into contact with the transmission line that sends power from the power generation facility to the substation facility. Conventionally, as a countermeasure, the distance from obstacles such as trees approaching the transmission line An approaching tree separation detection device for measuring the distance is disclosed (for example, see Patent Document 1).

JP-A-5-192188

Thus, conventionally, the management of electric wires such as power transmission lines has been carried out by mounting measurement equipment such as a racer measurement device on an aircraft, and the aircraft flies over the area to be managed to perform laser measurement and image measurement of the object. .
In recent years, it has occurred that an accident occurs when the tip of a high portion of a vehicle having a height such as a crane vehicle contacts an electric wire installed in an urban area.
Management of power transmission lines that send power from power generation facilities to substation facilities has been performed by flying airplanes in the past.For example, for each electric wire stretched on a power pole installed along a city road There is a problem that it is difficult to measure and manage the aircraft by the aircraft up to the state of drooping in terms of measurement accuracy and cost with respect to electric wires stretched near the ground.

This invention was made in order to solve the subject which concerns, and it aims at providing the management apparatus of the aerial overhead wire which measures and manages the state of the electric wire etc. which hung on the utility pole accurately and cheaply.

  An aerial overhead line management system according to the present invention is an aerial overhead line management system that measures and manages aerial overhead lines such as electric wires, and is mounted on the vehicle and an imaging unit that captures image data of the aerial overhead line. A distance azimuth data acquisition unit that acquires distance azimuth data with respect to an aerial overhead line by scanning a laser, and a computer that is mounted on the vehicle and measures a position and an attitude angle of the vehicle, the computer including the imaging unit The photographed image data and the distance azimuth data acquired by the distance azimuth data acquisition unit are input, the electric pole is detected from the image data, and the distance azimuth data in the space plane including the electric pole is extracted and extracted. The distance azimuth data corresponding to the aerial overhead line is acquired from the distance azimuth data, and the ground height of the aerial overhead line is measured based on the distance azimuth data.

  According to the present invention, it is possible to accurately and inexpensively measure the hanging state of an aerial overhead wire such as an electric wire hanging on a utility pole, and to facilitate the management of the aerial overhead wire.

  Hereinafter, an example of a preferred embodiment of the present invention will be specifically described with reference to the drawings.

Embodiment 1 FIG.
FIG. 1 shows an operational concept diagram of the aerial overhead line management system according to the first embodiment.
In FIG. 1, a vehicle 100 includes an odometry device 200, three gyros 210, three GPS 220 (Global Positioning System), a camera 230, a laser scanner 240, and a processing device (computer) 250. An IMU (Inertial Measurement Unit) may be used instead of the gyro.

The vehicle 100 has the same configuration as the odometry device, gyroscope, GPS, camera, and laser scanner mounted on the measurement carriage (base, vehicle) described in Japanese Patent Application Laid-Open No. 2007-218705. Using the output data from the device, gyroscope, GPS, camera, and laser scanner, the processing device 250 performs the positioning calculation of the vehicle 100 and measures the state of the suspension of the aerial overhead wire such as the electric wire on the utility pole.
Further, in this embodiment, the processing device 250 is mounted on the vehicle 100, but the output data of the odometry device 200, the three gyros 210, the three GPS 220, the camera 230, and the laser scanner 240 are temporarily stored in a storage device (not shown). In the post-processing, the hanging state of the aerial overhead wire such as an electric wire is measured by the processing device (computer) 250 provided in a place different from the vehicle by using the data stored in the storage device. It may be.

FIG. 2 is a block diagram of the vehicle 100 of the present embodiment.
The odometry apparatus 200 executes an odometry method and calculates distance data indicating the travel distance of the vehicle 100.
The three gyros 210 calculate angular velocity data indicating the inclination (pitch angle, roll angle, yaw angle) of the vehicle in three axial directions.
The three GPSs 220 calculate positioning data indicating the travel position (coordinates) of the vehicle.
The gyro 210 and the GPS 220 measure the position and posture of the vehicle by dead reckoning.
A camera (corresponding to an imaging unit) 230 images the front of the vehicle in the traveling direction with visible light.
The laser scanner (corresponding to the distance direction data acquisition unit) 240 is set obliquely upward in the traveling direction of the vehicle 100, emits a laser while swinging the laser transmission / reception unit to the left and right, By receiving a laser beam reflected by a feature such as a building, the laser scanner 240 measures the direction in which the feature exists and the distance from the laser scanner 240 to the feature. In other words, as the vehicle 100 travels, the laser scanner 240 continues to measure the features located on the horizontal scanning line including a point separated by a specific distance in the traveling direction, so that all existing on the road on which the vehicle 100 travels. In this case, the position and distance from the laser scanner 240 can be measured for the utility pole 10 and the electric wire 20 stretched between the utility poles. The measurement value of the laser scanner 240 is represented as point cloud data indicating the direction and distance from the laser scanner 240. Hereinafter, the point cloud data measured by the laser scanner 240 is referred to as laser data (an example of feature shape information). The laser data represents the surface of an electric pole or electric wire existing on the road as a point group indicating the direction and distance from the laser scanner 240.
That is, based on the position and orientation of the vehicle calculated by the odometry apparatus 200, the gyro 210, and the GPS 220, and the laser data, the position and surface shape of the utility pole and electric wire can be specified.
The processing device 250 recognizes the electric wire based on the data measured by the camera 230, the laser scanner 240, the odometry 200, the gyro 210, and the GPS 220, and sets the lowest point of the electric wire hanging between the electric poles. The ground clearance is estimated and evaluated using a CPU (Central Processing Unit).

  FIG. 3 is an algorithm flow diagram of electric wire detection performed by the processing device 250 according to the first embodiment.

First, distance data output from the odometry device 200, angular velocity data output from the gyro 210, and positioning data output from the GPS 220 are input to calculate the vehicle position and orientation (S101).
Next, the vehicle position and orientation and a camera attachment offset which is an offset value when the camera 230 is attached to the vehicle 100 are input to calculate the camera position and orientation (S102).
In addition, image data output from the camera 230 is input, a utility pole is detected from the image data (S103), and the detected image position of each utility pole is calculated as a recognition result (S104). The utility pole can be detected by processing such as pattern matching.
Next, the camera position and orientation and the recognition result obtained in S104 are input to calculate the utility pole prospective angle. (S105).
On the other hand, the azimuth / distance data output by the laser scanner 240 and the laser scanner position and orientation calculated by inputting the laser scanner mounting offset, which is an offset value when the laser scanner 240 is mounted on the vehicle 100, are input, and the three-dimensional point is input. A group model is calculated (S106).
Next, a three-dimensional point cloud model is input, the three-dimensional point cloud model is projected and converted onto the image plane of the camera 230 (S107), and a point cloud corresponding to the position of each utility pole is extracted from the three-dimensional point cloud model. (S108).
Next, the space plane 50 including two adjacent power poles is calculated (S109).
And the point cloud corresponding to an electric wire is extracted from the point cloud contained in the space surface 50, and the height from the ground of the point with the lowest hanging of an electric wire is calculated (S110).

  The generation process of the three-dimensional point cloud model can be performed according to the process described in, for example, Japanese Patent Application Laid-Open No. 2007-218705.

  FIG. 4 is a diagram illustrating an example of a three-dimensional point cloud model. In FIG. 4, point groups corresponding to two utility poles are shown on the left and right. In addition, FIG. 4 illustrates a space surface 50 including two adjacent utility poles on the left and right.

FIG. 5 is an algorithm flow of processing for calculating the height of the lowest point of the extraction of the electric wire and the drooping of the extracted electric wire performed by the processing device 250 in the present embodiment.
The processing device 250 measures the ground clearance at the lowest point of the hanging of the electric wire by the method shown in FIG.

  First, a point group included in the space plane 50 is extracted. This is because the electric wire is considered to be located on the surface including the adjacent electric pole. In addition, about the space surface 50 containing two adjacent electric poles, it is good also as a solid | 3D shape (cuboid) with predetermined thickness, and you may make it extract the point group contained in this 3D shape.

Next, a procedure for extracting an aerial overhead line such as an electric wire from the point group extracted in this way and measuring the height of the lowest point of the aerial overhead line will be described.
FIG. 5 is an algorithm flow chart for calculating the height of the lowest point of the wire sag performed by the processing apparatus 250 according to the present embodiment.
In FIG. 5, the processing device 250 first calculates a point density around a predetermined point around one point in the extracted point group. For selection of one point, for example, a point near the center between the two left and right utility poles may be selected, or a point around the tip of the utility pole may be selected ((step ) S201). For a predetermined circumference, a range such as a 1 m circumference is set in advance, and the point density of the range is calculated.
Next, it is evaluated whether or not the point density is equal to or lower than a predetermined value. If the point density is equal to or lower than the predetermined value, the process proceeds to S203 which is the next step (S202). This is because the overhead wire has fewer measurement points by the laser scanner 240 than the utility pole or the like. If the point density is not less than or equal to the predetermined value in S202, it is determined that it is a point where a structure with a high point density, such as a utility pole or a building, is measured, and the process returns to S201 to select a different point.
In S203, the selected point is stored as a candidate point on the aerial overhead line (S203).
A plurality of points stored in this way are connected to create a curve (S204).
Next, it is determined whether or not the curve created in S204 has a downwardly convex shape and the curvature is equal to or less than a certain value (S205). If the curve has a downwardly convex shape and the curvature is not more than a certain value, the process proceeds to S206, and if not, the process returns to S204 to create the next curve.
In S206, the processing apparatus 250 determines that the curve whose curvature is equal to or less than a certain value is an aerial overhead line (S206).
Next, the top point that protrudes downward in the curve determined to be an aerial overhead line is determined as the lowest point of the aerial overhead line. Then, the height of the lowest point of the aerial overhead line is measured by taking the difference from the ground determined in the vertical direction from the point determined to be the lowest point (S207).

  As described above, the processing device 250 according to the present embodiment extracts a point cloud on the space plane 50 created from two power poles, and the surrounding point density is a predetermined value or less in the point cloud. Select and memorize. Then, a curve is created by connecting the stored points. If the curvature of the created curve is less than or equal to a predetermined value, the curve is determined to be an aerial overhead wire (electric wire). The top point that protrudes downward in the curve determined to be an aerial overhead line is determined as the lowest point of the aerial overhead line, and the intersection of the lowest point and the point group (ground) that descends vertically from the lowest point By taking the difference, the ground clearance at the lowest point of the wire is measured.

In the present embodiment, the vehicle with the laser scanner 240 installed upward is run, and the aerial overhead line is scanned and measured by the laser scanner 240 from below, so the aerial overhead line to be measured and its background It becomes easy to make the interval of the long distance. For example, if there is no building or the like in the background of the aerial overhead line during measurement by the laser scanner 240 and the background is empty, the measurement data of the aerial overhead line and the background (sky) can be easily separated, and the aerial overhead line is extracted. Can be made easier.
In addition, since the laser scanner 240 of the present embodiment measures an object (such as an aerial overhead line or a utility pole) from a relatively short distance, the measurement accuracy is improved as compared with the measurement by an aircraft, and the space plane 50 is reduced. It is possible to accurately extract the utility pole that is performed when creating.
Moreover, since the space plane 50 is first obtained based on the utility pole and the electric wires are searched for from the point cloud in the space plane 50, the aerial overhead line can be easily extracted, and the ground at the lowest point of the aerial overhead line can be efficiently obtained. High can be calculated.

Embodiment 2. FIG.
In the first embodiment, the ground height at the lowest point of the aerial overhead line is calculated, but the slackness of the aerial overhead line may be measured. In the second embodiment, the aerial overhead line is managed by measuring the amount of slack in the aerial overhead line.

The block diagram of the vehicle 100 of the present embodiment is the same as FIG. 2 shown in the first embodiment. Further, the flow until the aerial overhead line is extracted from the measurement result is the same as that up to (step) S206 in FIG. 5 described in the first embodiment.
In the second embodiment, in the aerial overhead line curve extracted in S206 of FIG. 5, the difference between the height of the both end positions of the curve and the height of the lowest point of the curve that protrudes downward is calculated. Is stored as the amount of slack in the overhead cable.
If the amount of slack in the aerial overhead line exceeds a predetermined value, it is determined that the aerial overhead line has fallen out of the set range for some reason, and a warning is issued to a warning means (not shown).
Thus, in Embodiment 2, the amount of slack in the aerial overhead line is measured, and the aerial overhead line is managed based on this amount of slack. According to the second embodiment, by traveling the vehicle 100, it is possible to easily detect and manage an abnormality in the aerial overhead line.

Embodiment 3 FIG.
In the first embodiment, a space plane 50 including two utility poles is obtained and an aerial overhead line is extracted for a point group in the space plane 50. However, the space plane 50 is determined from one utility pole, and the space plane 50 is determined. An aerial overhead line may be extracted from the point cloud.

FIG. 6 is a diagram illustrating an example of setting of the space plane 50 according to the third embodiment. One utility pole is extracted from the point cloud measured by the laser scanner 240. The utility pole can be extracted by pattern matching or the like as in the first embodiment.
Next, a plane including the longitudinal direction of the extracted utility pole is set, and this is defined as a space plane 50. An aerial overhead line is extracted in accordance with the flow of FIG. 5 shown in the first embodiment for the point group included in the space plane. If an aerial overhead line cannot be extracted on the set space plane 50, the aerial overhead line is extracted again according to the flow of FIG. 5 by rotating the space plane 50 around the longitudinal direction of the utility pole.

  As described above, a space plane may be set by one recognized utility pole, and an aerial overhead line may be extracted from a point group in the space plane while rotating the space plane around the longitudinal direction of the utility pole. .

Embodiment 4 FIG.
In the first to third embodiments, the space plane is set based on the recognized utility pole, and the aerial overhead line is extracted from the point group in the space plane. However, without setting such a space plane, the laser scanner All of the point groups measured by 240 may be subjected to the processing of (steps) S201 to S202 in FIG. 5 shown in the first embodiment to extract point candidates on the aerial overhead line.
By using the points extracted in this way, it is possible to determine an aerial overhead line by performing the processing of steps S204 to S207 in FIG. 5 and measure the height of the lowest point of the aerial overhead line.

Embodiment 5 FIG.
In the first to third embodiments, the aerial overhead line is extracted based on the recognized utility pole, but the aerial overhead line may be drawn into and connected to a building such as a building or a house. If it is known in advance that an aerial overhead line has been drawn into the building in this way, first recognize the building, such as a building or a house, and extract points with priority from the point cloud around the recognized building. Based on this point, the processing after step S201 of FIG. 5 shown in the first embodiment may be performed.
By doing in this way, the processing time until measuring the height of the lowest point of an aerial overhead line can be shortened.

Embodiment 6 FIG.
In the first to third and fifth embodiments, the processing device 250 recognizes the utility pole and the building and extracts the aerial overhead line based on the utility pole and the building. For example, the processing device 250 performs the measurement from the laser scanner 240. At the time when data (laser data) is input, the measurement data may be displayed on the CAD, and the operator may be input where there is likely to be an overhead cable.
FIG. 7 is a diagram illustrating an example of processing performed by the processing device 250. When the operator inputs a mark that is likely to be an electric wire on the CAD (S301), the processor 250 stores the detected point by the laser scanner above the marked area (S302) and finds it. The detection points are connected and drawn as a curve (S303). Then, the height is calculated by taking the difference between the lowest point on the curve and the point on the ground that has been lowered vertically (S304).
By doing in this way, an aerial overhead line can be extracted more accurately and the height of the lowest point of the aerial overhead line can be measured.

FIG. 3 is an operational concept diagram according to the first embodiment. 1 is a block diagram of a vehicle 100 according to Embodiment 1. FIG. It is an algorithm flow figure of electric wire detection of processing unit 250 concerning Embodiment 1. FIG. 3 is a diagram illustrating an example of a three-dimensional point cloud model according to Embodiment 1. FIG. It is an algorithm flow figure which calculates the height of the lowest point of the hanging of an electric wire which processing device 250 concerning Embodiment 1 performs. FIG. 10 is a diagram showing an example of setting a spatial plane according to the third embodiment. FIG. 10 is a diagram illustrating an example of processing performed by a processing device 250 according to Embodiment 6.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Utility pole, 20 Electric wire, 50 Space plane, 100 Vehicle, 200 Odometry apparatus, 210 Gyro, 220 GPS, 230 camera, 240 Laser scanner, 250 Processing apparatus

Claims (3)

An aerial overhead line management system for measuring and managing aerial overhead lines such as electric wires,
An imaging unit mounted on a vehicle for acquiring image data of an aerial overhead line;
A distance azimuth data acquisition unit for acquiring distance azimuth data for an aerial overhead line by scanning a laser mounted on the vehicle;
A computer mounted on the vehicle and measuring a position and an attitude angle of the vehicle,
The calculator inputs the image data captured by the imaging unit and the distance direction data acquired by the distance direction data acquisition unit, detects a power pole from the image data, and the distance direction within a space plane including the power pole An aerial overhead line management system that extracts data, acquires distance orientation data corresponding to an aerial overhead line from the extracted distance orientation data, and measures the ground height of the aerial overhead line based on the distance orientation data. The calculator creates a curve connecting the distance and azimuth data in the space plane, and determines that the curve is distance azimuth data corresponding to an aerial overhead line if the curvature of the curve is equal to or less than a predetermined value. The aerial overhead wire management system according to claim 1. The aerial overhead wire management system according to claim 2, wherein the space plane is formed to include two utility poles.

Images