JP2019213132A - Remote monitoring system - Google Patents

Abstract

To provide a remote monitoring system that enables simple remote monitoring of an unmanned substation premise regardless of the layout or the change of the layout in the unmanned substation.SOLUTION: A remote monitoring system includes a self-propelled device 20 that patrols an unmanned substation premise and images equipment on the premise and a control device that remotely controls the self-propelled device and receives patrol data from the self-propelled device. The self-propelled device includes a command receiving unit 241 that receives a movement command and an imaging command from the control device, and a drive unit 242 that drives a traveling device 21 such that the self-propelled device patrols the premise on the basis of the movement command, an imaging unit 243 that images the equipment on the premise by the imaging device on the basis of the imaging command, and a patrol data transmission unit 245 that transmits patrol data including video data captured by the imaging unit to the control device. The movement command and the imaging command are routinized.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a remote monitoring system for remotely monitoring the premises of an unmanned substation.

  Conventionally, in order to monitor the premises or the inside of a substation or power plant, a supervisor regularly checks each facility on the premises or the site visually. However, because the substations and power plants are very large, the human cost for daily monitoring was high. In addition, in recent years, with the unmanned substation and power plant equipment, the status of various equipment and devices is constantly monitored at a remote monitoring center. , It is necessary to take initial measures such as dispatching observers to the site regardless of day or night, and visually checking the situation, which is accompanied by the recent unmanning of substations and power plants. The burden of monitoring work has increased.

  In this regard, Patent Document 1 discloses that a track rail is arranged so as to connect the premises of an unmanned substation or unmanned power plant or a place where monitoring is performed within the site, and a moving body is provided on the track rail so as to be movable. An on-site monitoring device that has a daytime surveillance camera and a nighttime surveillance camera that perform vertical swing and horizontal rotation with a control motor on the body, and a control circuit and SS wireless module that perform image transmission and reception and remote control Disclosure.

JP 2000-132773 A

  However, the technology according to Patent Document 1 is to monitor the premises by laying rails on the premises and moving a monitoring device with a camera along the route. However, in actual substations and power plants, daily In some cases, the layout of the premises changes frequently due to maintenance work or equipment renovation work, or replacement equipment is temporarily installed on the premises. Since changes and the like are necessary, it takes time and cost to respond.

  An object of the present invention is to provide a remote monitoring system capable of easily and remotely monitoring the premises of an unmanned substation regardless of the layout of the unmanned substation or its change.

In order to achieve the above object, the present invention has the following configuration.
(1) A remote monitoring system for remotely monitoring the premises of an unmanned substation, wherein the self-propelled device that runs on the premises and images the equipment on the premises, and remotely controls the self-propelled device, A control device that receives inspection data from the self-propelled device, the self-propelled device receiving a movement command and an imaging command from the control device, and the self-propelled based on the movement command. A driving unit that drives a traveling device in order for the mobile device to move within the premises, an imaging unit for imaging equipment on the premises with an imaging device based on the imaging command, and an image captured by the imaging unit A patrol data transmission unit that transmits patrol data including data to the control device, and the control device transmits a command transmission unit that transmits the movement command and the imaging command to the self-propelled device; and the patrol Patrol data to receive data A remote monitoring system in which the movement command and the imaging command are routineized.

  (2) In the remote monitoring system, the control device may further include a data display unit that displays the inspection data in time series.

  (3) In the remote monitoring system, the control device may further include an abnormality detection unit that detects abnormality data in the inspection data.

  (4) In the remote monitoring system, the control device further includes a patrol condition setting unit for setting a patrol condition for the self-propelled device to perform patrol of the premises, and the command transmission unit includes the patrol condition The movement command and the imaging command corresponding to the above may be transmitted to the self-propelled device.

  (5) In the remote monitoring system, the imaging unit may further capture a thermo image with an imaging device, and the inspection data may include a thermo image.

  (6) In the remote monitoring system, the self-propelled device further includes an odor sensor and an odor data acquisition unit that acquires odor data from the odor sensor, and the odor is acquired based on an odor data acquisition command from the control device. Data is acquired, and the patrol data may include odor data.

  ADVANTAGE OF THE INVENTION According to this invention, it becomes possible to provide the remote monitoring system which can perform remote monitoring of the premises of an unmanned substation easily regardless of the layout in a substation, its change, etc.

1 is a diagram illustrating an overall configuration of a remote monitoring system according to an embodiment of the present invention. It is a figure which shows the structure of the control apparatus which the remote monitoring system which concerns on embodiment of this invention has. It is a figure which shows the structure of the self-propelled apparatus which the remote monitoring system which concerns on embodiment of this invention has. It is a flowchart which shows operation | movement of the remote monitoring system which concerns on embodiment of this invention. It is a flowchart which shows operation | movement of the remote monitoring system which concerns on embodiment of this invention. It is a flowchart which shows operation | movement of the remote monitoring system which concerns on embodiment of this invention. It is a figure which shows the example of the data display method of the remote monitoring system which concerns on embodiment of this invention. It is a figure which shows the example of the data display method of the remote monitoring system which concerns on embodiment of this invention. It is a figure which shows the example of the data display method of the remote monitoring system which concerns on embodiment of this invention. It is a figure which shows the example of the display screen of the remote monitoring system which concerns on embodiment of this invention. It is a figure which shows the example of the abnormality alerting | reporting method of the remote monitoring system which concerns on embodiment of this invention. It is a figure which shows the example of the display screen of the remote monitoring system which concerns on embodiment of this invention.

Hereinafter, embodiments of the present invention will be described with reference to FIGS. 1 to 7B.
[1. Configuration of the Invention]
First, the configuration of the present invention will be described with reference to FIGS.
FIG. 1 is an overall configuration diagram of a remote monitoring system 1 according to an embodiment of the present invention. The remote monitoring system 1 includes a control device 10 and a self-propelled device 20.

  The control device 10 remotely controls the self-propelled device 20 to cause the self-propelled device 20 to travel on the premises of the unmanned substation and to image the equipment on the premises, and to include the imaging data from the self-propelled device 20. Receive patrol data. Further, the control device 10 displays the inspection data received from the self-propelled device 20 on the display device, and notifies the abnormal data in the inspection data. Normally, the control device 10 is installed in the monitoring center, and a monitor stationed at the monitoring center can visually check the patrol data displayed by the control device 10 and is notified of an abnormality reported by the control device 10. It is possible to recognize the data.

The self-propelled device 20 travels on the premises of the unmanned substation based on a command from the control device 10, images the facilities on the premises, and transmits patrol data including the imaging data to the control device 10. The self-propelled device 20 is off-road compatible in order to be able to travel on the premises of an unmanned substation. Moreover, you may perform driving | running | working and imaging based on the real-time command from the control apparatus 10, and memorize | stores the command from the control apparatus 10 collectively beforehand, and performs driving | running | working and imaging based on the memorize | stored instruction | command. May be.
In addition, the self-propelled device 20 can also execute traveling and imaging by being automatically controlled by the control device 10, and can execute traveling and imaging by being manually controlled by a monitor of the monitoring center. Is also possible.
The self-propelled device 20 is connected to the home station and charged from the home station when not in use.

  In FIG. 1, one control device 10 and one self-propelled device 20 are linked, but the present invention is not limited to this. For example, the self-propelled device 20 may be installed in each of a plurality of unmanned substations, and one control device 10 installed in one monitoring center may control the plurality of self-propelled devices 20.

  FIG. 2 is a configuration diagram of the control device 10. The control device 10 includes a control unit 11, a storage unit 12, and a display device 13. The control unit 11 includes a command transmission unit 111, a patrol data reception unit 112, a data display unit 113, an abnormality detection unit 114, and a patrol condition setting. Part 115 is provided.

The control unit 11 includes a CPU, a ROM, a RAM, a CMOS memory, and the like, which are known to those skilled in the art and configured to be able to communicate with each other via a bus.
The CPU is a processor that controls the control device 10 as a whole. The CPU reads the system program and application program stored in the ROM via the bus and controls the entire control device 10 according to the system program and application program, thereby instructing the control unit 11 as shown in FIG. The transmission unit 111, the inspection data reception unit 112, the data display unit 113, the abnormality detection unit 114, and the inspection condition setting unit 115 are configured to be realized. Various data such as temporary calculation data and display data are stored in the RAM. The CMOS memory is configured as a non-volatile memory that is backed up by a battery (not shown) and retains the memory state even when the control device 10 is powered off.

The command transmission unit 111 generates and transmits a movement command for instructing movement of the unmanned substation on the premises and an imaging command for instructing imaging of the facilities on the premises to the self-propelled device 20. The movement command and the imaging command may be transmitted to the self-propelled device 20 in real time while the self-propelled device 20 is moving on the campus, and before the self-propelled device 20 moves on the campus. Alternatively, they may be transmitted to the self-propelled device 20 in advance.
In addition, the movement command and the imaging command are basically made routine. This “routine” means that the self-propelled device 20 travels to a predetermined facility by traveling on a predetermined movement route at a predetermined time, and images the facility at a predetermined time. In this case, the movement command is generated corresponding to a predetermined movement route of the self-propelled device 20. The imaging command instructs the imaging at the position when the self-propelled device 20 arrives at a position where the facility to be imaged can be imaged.
Further, the command transmission unit 111 generates a movement command and an imaging command even in a case where the self-propelled device 20 moves to a specific facility and takes an image in an emergency, and the movement command and the imaging command are transmitted to the self-propelled device 20. Send. In this case, the movement route of the self-propelled device 20 is determined according to the facility of the movement destination of the self-propelled device 20, a movement command is generated corresponding to this movement route, and the imaging command includes this specific facility. Generated corresponding to the location.
Furthermore, when it is assumed that there is an entry-inhibited location in the premises of the unmanned substation, the command transmission unit 111 generates a movement command corresponding to a route that bypasses the entry-inhibited location.
Further, the command transmission unit 111 may generate and transmit an odor data acquisition command to the self-propelled device 20 in order to measure the odor index within the premises of the unmanned substation.

  The patrol data receiving unit 112 receives patrol data including video data and odor data captured by the self-propelled device 20 from the self-propelled device 20 and stores them in the storage unit 12.

The data display unit 113 displays the inspection data stored in the storage unit 12 on the display device 13 in time series. In particular, the data display unit 113 displays the video data included in the inspection data in a time series together with the location ID of the location where the video data was captured. When the data display unit 113 displays video data in time series, thumbnail images of the video data can be displayed as a list.
In addition, the data display unit 113 can also display abnormality data in which an abnormality is detected by an abnormality detection unit 114 described later in the display device 13.
Furthermore, the data display unit 113 can also display on the display device 13 a floor plan such as a plan view of the substation ground that the self-propelled device 20 patrols.

The abnormality detection unit 114 detects abnormality data in the inspection data. For example, the abnormality detection unit 114 can detect abnormality data in the inspection data using a learning model generated as a result of machine learning. More specifically, for each piece of past inspection data stored in the storage unit 12, the control device 10 performs machine learning using learning data provided with a binarized flag depending on whether the monitor is normal or abnormal. The abnormality detection unit 114 can determine whether each inspection data is normal or abnormal by using the learning model generated by the machine learning.
In particular, when the video data included in the patrol data is a moving image composed of continuous still images, and this moving image is a moving image captured at a predetermined location at a predetermined time, each still image constituting the moving image Even if the video data included in the inspection data is a moving image, machine learning is performed using this moving image by using learning data with a flag that binarizes whether the observer is normal or abnormal. It is possible to generate a learning model.

The patrol condition setting unit 115 sets a patrol condition for the self-propelled device 20 to perform patrols on the premises of the unmanned substation. The patrol condition setting unit 115 can set the patrol conditions so that the equipment and the patrol time that the self-propelled device 20 patrols differ depending on the weather, for example. When the inspection condition setting unit 115 sets the inspection condition, the command transmission unit 111, when the inspection condition set by the inspection condition setting unit 115 is satisfied, the movement command and the imaging instruction of the routine corresponding to the inspection condition. Is transmitted to the self-propelled device 20. Alternatively, the command transmission unit 111 may transmit the movement command and the imaging command to the self-propelled device 20 in advance so that the self-propelled device 20 performs a patrol based on the patrol condition.
For example, when the weather is sunny, the patrol condition setting unit 115 performs the patrol according to a normal routine, and when the weather is not sunny, the self-propelled device 20 sets each weather. The inspection conditions can be set so that a routine according to the corresponding movement route and inspection time (movement time) is executed. Alternatively, for example, when the weather is not normal such as a typhoon, it is possible to set the inspection condition so that the self-propelled device repeats the inspection at a predetermined time interval.

The storage unit 12 stores the inspection data received from the self-propelled device 20 by the inspection data receiving unit 112. Further, the storage unit 12 stores a learning model used by the abnormality detection unit 114 to detect abnormality data. In addition, the storage unit 12 stores a floor plan such as a plan view of the premises of the unmanned substation displayed by the display device 13.
Furthermore, the memory | storage part 12 can memorize | store in advance the movement command and / or imaging command which the command transmission part 111 transmits with respect to the self-propelled apparatus 20. FIG. Specifically, the storage unit 12 stores routine movement commands and imaging commands, and the command transmission unit 111 reads the movement commands and imaging commands stored in the storage unit 12, and the self-propelled device 20. Can be sent to.
Furthermore, the storage unit 12 assumes that an intrusion prohibited place or an obstacle exists in an arbitrary place in the moving route that the self-propelled device 20 patrols on the premises of the unmanned substation. It is also possible to store in advance a movement command corresponding to a detour route that detours an obstacle.
Furthermore, when the self-propelled device 20 moves near an arbitrary facility in the premises of the unmanned substation and picks up an image, the storage unit 12 sends a movement command and an imaging command corresponding to the movement route moving to the location of the facility. It is possible to read the movement command and the imaging command stored in advance and stored in the storage unit 12 and transmit them to the self-propelled device 20.

  The display device 13 is a device used to display a floor plan such as inspection data and a plan view and to notify the detection of abnormal data.

  FIG. 3 is a configuration diagram of the self-propelled device 20. The self-propelled device 20 includes a traveling device 21, an imaging device 22, an odor sensor 23, and a control unit 24. The control unit 24 includes a command receiving unit 241, a driving unit 242, an imaging unit 243, an odor data acquisition unit 244, And a patrol data transmission unit 245.

  The traveling device 21 is a physical device used when the self-propelled device 20 is self-propelled for patrol of the premises of the unmanned substation, and can include, for example, a motor, a tire, a caterpillar, and the like. As described above, since the self-propelled device 20 supports off-road, the traveling device 21 is also configured to be able to travel off-road.

  The imaging device 22 is a device for imaging facilities in the unmanned substation. The imaging device 22 may be a normal camera for capturing still images, or may be a normal camera for capturing moving images composed of continuous still images. The imaging device 22 may further include a thermo camera for capturing a thermo image of the facility on the premises. Furthermore, the imaging device 22 can capture an intrusion prohibited place or an obstacle on the moving route.

  The odor sensor 23 is a sensor for measuring an odor index. For example, when combustion occurs in a part of the equipment on the premises, it is possible to measure the odor index of the odor generated by the combustion. .

The control unit 24 includes a CPU, a ROM, a RAM, a CMOS memory, and the like, which are known to those skilled in the art and configured to be able to communicate with each other via a bus.
The CPU is a processor that controls the self-propelled device 20 as a whole. The CPU reads the system program and the application program stored in the ROM via the bus, and controls the entire self-propelled device 20 according to the system program and the application program. The command receiving unit 241, the driving unit 242, the imaging unit 243, the odor data acquiring unit 244, and the patrol data transmitting unit 245 are configured to be realized. Various data such as temporary calculation data and display data are stored in the RAM. The CMOS memory is configured as a non-volatile memory that is backed up by a battery (not shown) and retains the memory state even when the power of the self-propelled device 20 is turned off.

  The command receiving unit 241 receives a movement command and an imaging command from the control device 10. The command receiving unit 241 may transmit the movement command to the driving unit 242 described later every time the movement command is received, and may transmit the imaging command to the imaging unit 243 described later every time the imaging command is received. The received movement command and imaging command are stored in a storage unit (not shown), the driving unit 242 reads the movement command stored in the storage unit, and the imaging unit 243 reads the imaging command stored in the storage unit. Also good.

  The driving unit 242 drives the traveling device 21 based on the movement command received by the command receiving unit 241. More specifically, the drive unit 242 detects the location where the self-propelled device 20 is located by GPS (not shown) provided in the self-propelled device 20, and the location information of the location detected by the GPS is a movement command. The traveling device 21 may be driven so as to match the destination included. Alternatively, the drive unit 242 acquires the location information where the self-propelled device 20 is located by a beacon, and drives the traveling device 21 so that the location indicated by the location information matches the destination included in the movement command. Also good. Alternatively, the traveling device 21 may be driven based on a movement command received from a radio controlled radio that is included in the control device 10 and is manually operated by a supervisor.

Based on the imaging command received by the command receiving unit 241, the imaging unit 243 images the equipment inside the unmanned substation with the imaging device 22. More specifically, the imaging unit 243 acquires location information on the position of the self-propelled device 20 detected by the GPS or beacon as described above, and the imaging location included in the imaging command matches the location information. In addition, the equipment on the premises of the unmanned substation may be imaged. Alternatively, when the self-propelled device 20 performs a patrol according to a normal routine or performs a patrol by moving a preset moving route, the traveling speed and movement of the self-propelled device 20 are started. When the travel distance of the self-propelled device 20 is calculated according to the time after the current position, the current position corresponding to the travel distance on the travel route of the self-propelled device 20 matches the imaging location included in the imaging command. In addition, the imaging unit 243 may execute imaging. Alternatively, the image capturing unit 243 may recognize an image of a facility on the premises, and the image capturing unit 243 may perform image capturing when the facility included in the image capturing command matches the image recognized facility.
Further, the imaging unit 243 can detect the presence of a prohibited entry point and an obstacle when the imaging device 22 images a prohibited entry point and an obstacle on the movement route.

  The odor data acquisition unit 244 measures the odor index with the odor sensor 23 based on the odor data acquisition command received by the command reception unit 241. Similar to the imaging unit 243, the odor data acquisition unit 244 detects the odor data when the location information of the self-propelled device 20 detected by GPS or a beacon matches the acquisition location included in the odor data acquisition command. May be obtained. Alternatively, when the self-propelled device 20 performs a patrol according to a normal routine or performs a patrol by moving a preset moving route, the traveling speed and movement of the self-propelled device 20 are started. The travel distance of the self-propelled device 20 is calculated according to the time after that, and the current position corresponding to this travel distance on the travel route of the self-propelled device 20 is the data acquisition location included in the odor data acquisition command. If they match, the odor data acquisition unit 244 may acquire odor data.

The inspection data transmission unit 245 transmits the inspection data including the video data captured by the imaging unit 243 and the odor data acquired by the odor data acquisition unit 244 to the control device 10. This video data is transmitted to the control device 10 in a form associated with a location ID that is an identifier of the location of the unmanned substation. For example, when a video of a certain location is included in the video of the video data, the video data and the location ID of the location may be associated with each other. Alternatively, a mark may be attached to the facility on the premises, and an image including the mark may be associated with a location ID of a place where the facility to which the mark is added is installed. In this case, the still image included in the video as a still image or the video as a moving image is corrected by using the mark, so that still images at different imaging points are corrected to become still images of the same angle. Also good.
Alternatively, when the self-propelled device 20 performs a patrol according to a normal routine or performs a patrol by moving a preset moving route, the traveling speed and movement of the self-propelled device 20 are started. Then, the travel distance of the self-propelled device 20 may be calculated according to the time after the operation, and the location ID of the current position corresponding to this travel distance on the travel route of the self-propelled device 20 may be associated with the video data. .
Further, the patrol data transmission unit 245 associates the normal camera video, the thermo camera video, and the odor data acquired at the same time, and transmits them to the control device 10.
Note that the inspection data transmission timing by the inspection data transmission unit 245 is not particularly limited. For example, the patrol data transmission unit 245 may transmit the patrol data to the control device 10 in real time while the self-propelled device 20 is moving on the premises, and the self-propelled device 20 returns to the home station. In this case, the inspection data may be collectively transmitted to the control device 10 directly from itself or via the home station.

[2. (Patrol data acquisition operation)
4A to 4C show an operation of the remote monitoring system 1, particularly a flow in which the control device 10 of the remote monitoring system 1 acquires inspection data from the self-propelled device 20.

  In step S1, the control device 10 sets the operation time, inspection route, inspection conditions, and the like of the self-propelled device 20. Specifically, it is possible to set the operation time, inspection route, inspection condition, and the like of the self-propelled device 20 based on the input data input to the control device 10 by the monitor.

  If the control method is automatic in step S2 (S2: automatic), the process proceeds to step S3. If the control method is manual (S2: manual), the process proceeds to step S4.

  If the condition is normal in step S3 (S3: YES), the process proceeds to step S5. If the condition is not normal (S3: NO), the process proceeds to step S6. Here, the “normal condition” is a condition set as “normal condition” within the inspection condition set in step S1. For example, when it is set as “normal condition” that the weather is sunny, if the current weather is sunny, the process proceeds to step S5, and if the current weather is not sunny, the process proceeds to step S5. The process proceeds to S6.

  In step S4, the monitor manually operates the self-propelled device 20 to move to the designated monitoring location. For example, as will be described later, the monitoring person designates a designated monitoring place in a floor plan such as a plan view of the premises of the unmanned substation displayed on the display device 13 included in the control device 10, so that the self-propelled device 20 can be moved to a designated monitoring location. Alternatively, the monitor may move the self-propelled device 20 to the designated monitoring location by manually operating a radio controlled radio equipped in the control device 10. Thereafter, the process proceeds to step S17.

  In step S5, the control device 10 confirms that the current time has reached the operation time set in step S1, and activates the self-propelled device 20. More specifically, the control device 10 activates the self-propelled device 20 so that the self-propelled device 20 performs a patrol according to a routine in normal conditions.

  In step S <b> 6, the control device 10 confirms the movement route in a specific condition that is not a normal condition, and activates the self-propelled device 20. For example, when the weather of “normal condition” is clear and the current weather is rainy, the self-propelled device 20 patrols according to the travel route and the patrol time (travel time) when the weather is rainy. The control device 10 activates the self-propelled device 20 so as to execute.

  In step S <b> 7, the self-propelled device 20 travels on the inspection route and images facilities on the premises of the unmanned substation on the inspection route.

  In step S8, when there is an entry prohibition point on the inspection route (S8: present), the process proceeds to step S9. If there is no entry prohibition point on the inspection route (S8: none), the process proceeds to step S10.

In step S9, the self-propelled device 20 selects a bypass route.
In step S10, the self-propelled device 20 selects a normal route.
In step S11, the self-propelled device 20 travels the inspection route and images facilities in the unmanned substation on the inspection route.

  In step S12, when there is an obstacle on the inspection route (S12: present), the process proceeds to step S13. If there is no obstacle on the inspection route (S12: none), the process proceeds to step S14.

  In step S <b> 13, the self-propelled device 20 pauses and continues imaging. Thereafter, the process proceeds to step S8.

  In step S <b> 14, the self-propelled device 20 travels on the inspection route and images facilities on the premises of the unmanned substation on the inspection route.

  In step S <b> 15, the self-propelled device 20 returns to the home station and transmits inspection data to the control device 10.

  In step S16, the self-propelled device 20 is charged from the home station. After charging is complete, the series of processes ends.

In step S17, the self-propelled device 20 captures the designated monitoring place.
In step S <b> 18, the self-propelled device 20 returns to the home station and transmits inspection data to the control device 10.

  In step S19, the self-propelled device 20 is charged from the home station. After charging is complete, the series of processes ends.

  In addition, said steps S1-S19 may change the order of a process suitably as needed.

[3. (Patrol data display method)
5 to 6B show a patrol data display method in the control device 10.
FIG. 5 shows a display method of the inspection data acquired by the normal inspection routine. As shown in FIG. 5, a list of icons for displaying a monitor for each substation is displayed on the display device 13 included in the control device 10. In the example shown in FIG. 5, from left to right, an “A substation monitor” icon, a “B substation monitor” icon, a “C substation monitor” icon, and a “D substation monitor” icon are displayed in a list. Has been. For example, when the “A substation monitor” icon is clicked, a plan view a of the A substation is displayed.
The monitor selects a region in which the inspection data is to be confirmed as indicated by a dotted rectangle in the periodic inspection range in the plan view a in FIG. 5 and displays the normal camera image or the thermo camera image. In addition, the date and time of inspection data to be confirmed is input. Thereby, the video by the normal camera or the video by the thermo camera is displayed on the display device 13 as the inspection data selected by the operation of the monitor.
In addition, although the icon for displaying the monitor for every substation was displayed as a list on the display apparatus 13, it is not limited to this. For example, when the area of the monitor of the display device 13 is larger than a certain level, a plan view of each substation may be displayed as a list.
In the example shown in FIG. 5, a plan view of the premises of each substation is displayed on the display device 13, and the supervisor selects an area in the plan view for which inspection data is to be confirmed. Is not limited. The display device displays an elevation view of each substation premises and a three-dimensional view using a 3D drawing, and the supervisor may select an area in which the inspection data is to be confirmed in these premises drawings. .
In particular, when a three-dimensional map is displayed on the display device 13 as a floor plan, if the monitor designates an arbitrary place of the three-dimensional map displayed graphically, the “latitude / longitude / height” of the place or some “Vertical / Horizontal / Height” as a relative position from the reference is calculated, and “Latitude / Longitude / Height” or “Vertical / Horizontal / Height” is transmitted from the control device 10 to the self-propelled device 20. This is reflected in the movement command / shooting command. Alternatively, the monitor designates “latitude / longitude / height” or “vertical / horizontal / height” numerically on the display screen 13 and designates the designated “latitude / longitude / height” or “vertical / horizontal / height”. The “height” may be reflected in the movement command / shooting command transmitted from the control device 10 to the self-propelled device 20.

FIG. 6 shows a patrol data display method when patrol data is obtained by patroling an area not included in the regular patrol range by a normal patrol routine and displayed. As in FIG. 5, the display device 13 included in the control device 10 displays a list of icons for displaying monitors for each substation, and when one of the icons is selected, a floor plan of the substation corresponding to the icon is displayed. Is done. In the displayed floor plan, after selecting an area for which patrol data is to be acquired, it is selected whether to display a normal camera image or a thermo camera image. Then, the self-propelled device 20 moves to a location corresponding to the selected area on the premises of the substation, and performs imaging at the location. When the self-propelled device 20 finishes imaging, it returns to the home station and transmits inspection data to the control device 10. The control device 10 displays the patrol data received from the self-propelled device 20.
At this time, when the monitor selects the area from which the inspection data is to be acquired in the substation map a, and selects whether to display the normal camera image or the thermo camera image, the control device 10 blinks the dotted line surrounding the selected area in the floor plan a, and when the patrol data is received from the self-propelled device 20, the blinking may be terminated and the normal lighting state may be set. Alternatively, the dotted line surrounding the selected area in the floor plan a and the color of the selected area itself may be changed before and after the inspection data is received from the self-propelled device 20.

7A and 7B show a display method for displaying inspection data in time series. When the observer wants to display the inspection data in time series, the area for displaying the inspection data in the floor plan a is selected and the date bar is displayed in the floor plan a by a predetermined operation. When the period to be displayed is dragged, as shown in b in FIG. 7A, the thumbnail image of the inspection data of the place / period to be displayed (the thumbnail image of the video by the normal camera) is displayed with the location ID and the horizontal axis Are listed as the date and time.
When a thumbnail image for which video as patrol data is to be displayed is selected from the thumbnail images displayed in a list, as shown in FIG. 7B, together with the shooting date and time and weather, video c by a normal camera, video d by a thermo camera, and Various sensor values e are enlarged and displayed on the display device 13. Note that the image c by the normal camera and the image d by the thermo camera may be still images or moving images.

[4. Abnormal data notification method)
8A to 8B show a method of notifying abnormal data in the control device 10.
In the same way as the inspection data display method shown in FIG. 7A, the monitor selects the area in which the inspection data is to be displayed in the floor plan a, and is displayed in the date bar displayed in the floor plan a by a predetermined operation. When the period to be dragged is dragged, thumbnail images of the inspection data in the area / period to be displayed are displayed in a list with the vertical axis representing the location ID and the horizontal axis representing the date and time. Of the patrol data corresponding to each of these thumbnail images, the abnormality data in which the abnormality is detected by the abnormality detection unit 114 of the control device 10 is highlighted as shown in FIG. 8A. The
When the monitor selects a thumbnail image for which the content of the abnormality is to be displayed from the highlighted thumbnail image, as shown in FIG. 8B, the video c by the normal camera and the video d by the thermo camera are taken together with the shooting date and time and the weather. In addition, the notification content f describing the content of the abnormality is enlarged and displayed on the display device 13. Note that the image c by the normal camera and the image d by the thermo camera may be still images or moving images.

Further, as shown in the display device 13 in FIG. 8A, an icon of a substation including abnormal data may be highlighted in the inspection data. The monitor can recognize abnormal data more quickly by clicking the highlighted icon.
Although not shown, a location in the floor plan corresponding to the location ID of abnormal data may be highlighted.

[5. (Effects of the embodiment)
As described above, according to the present embodiment configured as described above, the self-propelled device 20 that patrols the premises of the unmanned substation and images the facilities on the premises is remotely controlled, and the self-propelled device 20 is remotely controlled. The remote monitoring system includes a control device 10 that receives patrol data from the traveling device 20, and the self-propelled device 20 patrols based on a movement command and an imaging command received from the control device 10, and the movement command And the imaging command is routineized. Thereby, regardless of the layout in the unmanned substation or its change, it becomes possible to easily remotely monitor the facilities in the unmanned substation.
In addition, since the movement command and the imaging command are routineized, when the inspection data is displayed in time series, it is easy to compare the inspection data of different dates and times, and the inspection obtained by the routineized movement command and the imaging command. Machine learning can be executed by using the data.

  Moreover, according to this embodiment, the control apparatus 10 displays patrol data in time series. The supervisor of the unmanned substation can easily determine the abnormal part by visually comparing the images of the inspection data along the time series.

  Further, according to the present embodiment, the control device 10 automatically detects abnormal data in the inspection data. Automating the detection of abnormal locations in the equipment of unmanned substations makes it easier than ever to detect abnormal locations manually, especially when the amount of patrol data is huge The location can be detected.

  Further, according to the present embodiment, the control device 10 sets a patrol condition in advance, and transmits a movement command and an imaging command corresponding to the patrol condition to the self-propelled device 20. As a result, when a special condition different from the normal routine occurs, the self-propelled device 20 can perform a patrol corresponding to the special condition.

  According to the present embodiment, the self-propelled device 20 captures a thermo image, and the patrol data includes the thermo image. Thereby, although no abnormality is recognized from the appearance of the facility, it is possible to deal with a case where an abnormality has occurred in the facility.

  Further, according to the present embodiment, the self-propelled device 20 acquires odor data, and the patrol data includes odor data. Thereby, for example, when combustion occurs in the facility, it is possible to detect the occurrence of abnormality based on the odor generated by the combustion.

  Although the above-described embodiment is a preferred embodiment of the present invention, the scope of the present invention is not limited to the above-described embodiment, and various modifications are made without departing from the gist of the present invention. Can be implemented.

  For example, the self-propelled device 20 can be provided with a sensor other than an odor sensor, such as an optical sensor, a magnetic sensor, a gas concentration sensor, etc., in order to monitor abnormalities in equipment in an unmanned substation.

  The self-propelled device 20 can include a camera other than a normal camera or a thermo camera, for example, an ultraviolet camera, as the imaging device 22.

  Moreover, although the remote monitoring system 1 according to the present embodiment monitors the premises of the unmanned substation, the present invention is not limited to this. For example, the remote monitoring system 1 can monitor the inside of an unmanned power plant or the like.

  Each device included in the remote monitoring system 1 can be realized by hardware, software, or a combination thereof. The remote monitoring method performed by each device included in the remote monitoring system 1 can also be realized by hardware, software, or a combination thereof. Here, “realized by software” means realized by a computer reading and executing a program.

  The program may be stored using various types of non-transitory computer readable media and supplied to the computer. Non-transitory computer readable media include various types of tangible storage media. Examples of non-transitory computer-readable media include magnetic recording media (for example, flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (for example, magneto-optical disks), CD-ROMs (Read Only Memory), CD- R, CD-R / W, and semiconductor memory (for example, mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, RAM (random access memory)). The program may also be supplied to the computer by various types of transitory computer readable media. Examples of transitory computer readable media include electrical signals, optical signals, and electromagnetic waves. The temporary computer-readable medium can supply the program to the computer via a wired communication path such as an electric wire and an optical fiber, or a wireless communication path.

DESCRIPTION OF SYMBOLS 1 Remote monitoring system 10 Control apparatus 11 Control part 12 Storage part 13 Display apparatus 20 Self-propelled apparatus 21 Traveling apparatus 22 Imaging apparatus 23 Odor sensor 24 Control part 111 Command transmission part 112 Patrol data reception part 113 Data display part 114 Abnormality detection part 115 patrol condition setting unit 241 command receiving unit 242 driving unit 243 imaging unit 244 odor data acquiring unit 245 patrol data transmitting unit

Claims (6)

A remote monitoring system for remotely monitoring the premises of an unmanned substation,
A self-propelled device that patrols the campus and images the facilities on the campus;
A remote control of the self-propelled device, and a control device for receiving inspection data from the self-propelled device,
The self-propelled device is
A command receiving unit for receiving a movement command and an imaging command from the control device;
Based on the movement command, the self-propelled device drives the traveling device to patrol the premises, and
Based on the imaging command, an imaging unit for imaging the equipment on the premises with an imaging device;
A patrol data transmitting unit that transmits patrol data including video data captured by the imaging unit to the control device;
The control device includes:
A command transmitter for transmitting the movement command and the imaging command to the self-propelled device;
A patrol data receiving unit for receiving the patrol data;
A storage unit for storing the inspection data;
With
The remote monitoring system, wherein the movement command and the imaging command are routineized.   The remote control system according to claim 1, wherein the control device further includes a data display unit that displays the inspection data in time series.   The remote monitoring system according to claim 1, wherein the control device further includes an abnormality detection unit that detects abnormality data in the inspection data. The control device further includes a patrol condition setting unit for setting a patrol condition for the self-propelled device to patrol the premises,
The remote monitoring system according to any one of claims 1 to 3, wherein the command transmission unit transmits the movement command and the imaging command corresponding to the inspection condition to the self-propelled device.   The remote monitoring system according to claim 1, wherein the imaging unit further captures a thermo image with an imaging device, and the patrol data includes a thermo image.   The self-propelled device further includes an odor sensor and an odor data acquisition unit that acquires odor data from the odor sensor, acquires odor data based on an odor data acquisition command from the control device, and The remote monitoring system according to claim 1, wherein odor data is included.