JP2020048258A - Electrical facility check system - Google Patents

Abstract

To provide an electrical facility check system capable of accurately checking electrical facilities which are provided in the premise.SOLUTION: The present invention relates to an electrical facility check system for checking multiple electrical facilities which are provided in the premise. The electrical facility check system comprises: a self-traveling machine 3 which includes a first imaging unit 34 for imaging the electrical facilities and is traveled in the premise along a travel route including multiple measurement points; and a flying body 2 which includes a second imaging unit 24 for imaging the electrical facilities, acquires positional information of the self-traveling machine and flies while being linked with traveling of the self-traveling machine.SELECTED DRAWING: Figure 4

Description

  The present invention relates to an electrical equipment inspection system.

  Many premises such as a substation are provided with a large number of electric facilities such as a transformer and a circuit breaker. It is necessary to periodically check each electrical equipment for any abnormalities and to check the meter readings. Patent Literature 1 below describes a power transmission equipment inspection system that inspects transmission lines and the like of power transmission equipment using an unmanned aerial vehicle.

JP 2017-131019 A

  In a premises such as a substation, electric wires are connected to respective electric facilities, and insulators and iron structures for supporting these electric wires are provided. For this reason, if the flying object flies in a premises such as a substation, the flying object may collide with an electric wire or a steel structure. Flying the flying object above the electrical equipment and electric wires can avoid the collision of the flying object, but the electrical equipment must be inspected from above, which may make it difficult to inspect the electrical equipment accurately. is there.

  An object of the present invention is to solve the above problems and to provide an electric equipment inspection system capable of accurately inspecting electric equipment provided in a premises.

  An electrical equipment inspection system according to one embodiment of the present invention is an electrical equipment inspection system for inspecting a plurality of electric facilities provided in a premises, including a first imaging unit that images the electric facilities, and A self-propelled machine that travels in the premises according to a traveling route including a point, and a second imaging unit that images the electric equipment, acquires position information of the self-propelled machine, and interlocks with the traveling of the self-propelled machine And a flying object flying.

  According to this, the first imaging unit provided in the self-propelled machine can image the external appearance of the electric equipment from the side or the lower side. Further, the second imaging unit provided on the flying object can image the external appearance of the electric equipment from above. For this reason, the electrical equipment inspection system can accurately inspect the electrical equipment. As a result, the inspection of the electric equipment by the patrol personnel can be saved, and the cost can be reduced. Further, since the flying object flies in conjunction with the self-propelled aircraft, control of the flying object is easy.

  As a desirable mode of the present invention, an iron structure supporting a plurality of electric wires connected to the electric equipment, and an overhead ground wire connected to the iron structure and provided above the plurality of electric wires, The flying object detects the overhead ground line by the second imaging unit, and flies above the overhead ground line. According to this, the electric equipment inspection system can suppress the collision between the electric equipment, electric wires, and the like and the flying object.

  As a desirable mode of the present invention, the self-propelled machine has a height adjustment mechanism for adjusting the height of the first imaging unit, and the first imaging unit is provided on the exterior of the electric equipment and the electric equipment. An image of the measured instrument is taken. According to this, the electric equipment inspection system can image the instrument and the like in addition to the external appearance of the electric equipment by adjusting the height of the first imaging unit by the height adjustment mechanism. The electrical equipment inspection system can read the indicated value of a meter or the like based on the imaging data of the first imaging unit.

  As a desirable mode of the present invention, it has a control device for controlling the self-propelled aircraft and the flying object, the control device includes: position information of the measurement point; and imaging data captured by the first imaging unit. , And the image data captured by the second image capturing unit are stored in the storage device in association with each other. According to this, the management of the electric equipment can be performed efficiently.

  As a desirable mode of the present invention, the control device, at the same measurement point, an image analysis unit that detects a difference between the past imaging data and the imaging data captured this time, and the difference detected by the image analysis unit And a determination unit that determines whether or not exceeds a predetermined value. According to this, by accumulating the imaging data for a long period of time, it is possible to grasp a change in the appearance of the electrical equipment, and it is possible to perform an inspection with high accuracy.

  According to the electrical equipment inspection system according to one embodiment of the present invention, electrical equipment provided on the premises can be inspected with high accuracy.

FIG. 1 is a block diagram illustrating the configuration of the electrical equipment inspection system according to the embodiment. FIG. 2 is a block diagram illustrating configurations of the flying object, the self-propelled aircraft, and the control device. FIG. 3 is a plan view of the substation. FIG. 4 is a view taken in the direction of arrows A-A 'in FIG. FIG. 5 is a front view showing an instrument provided in the control box. FIG. 6 is a view on arrow B-B 'in FIG. FIG. 7 is a table showing inspection data stored in the server.

  Hereinafter, an embodiment of an electric equipment inspection system according to the present invention will be described in detail with reference to the drawings. The present invention is not limited by the following embodiments. The components of this embodiment include those that can be replaced and are obvious to replace while maintaining the identity of the invention. In addition, the method, the device, and the modification described in the embodiment can be arbitrarily combined within a range obvious to those skilled in the art.

  FIG. 1 is a block diagram illustrating the configuration of the electrical equipment inspection system according to the embodiment. FIG. 2 is a block diagram illustrating configurations of the flying object, the self-propelled aircraft, and the control device.

  As shown in FIG. 1, the electrical equipment inspection system 1 includes a flying object 2, a self-propelled aircraft 3, a control device 41, and a server 42. The self-propelled machine 3 travels on the premises of the substation 5 according to the traveling route R including the plurality of measurement points P, and checks electric facilities provided in the premises of the substation 5. The flying object 2 acquires the position information of the self-propelled aircraft 3, flies in conjunction with the self-propelled aircraft 3, and checks electric facilities provided on the premises of the substation 5. The power station 4 is a facility that manages the substation 5. The control device 41 provided in the power station 4 is a device that controls the self-propelled aircraft 3 and the flying object 2. The control device 41 detects whether or not an abnormality has occurred in the electric equipment of the substation 5 based on image data of the electric equipment by the self-propelled aircraft 3 and the flying object 2. Image data and the like of the self-propelled aircraft 3 and the flying object 2 are stored in the server 42 of the power station 4. Note that the power station 4 may manage a plurality of substations 5.

  As shown in FIG. 2, the flying object 2 includes a flight control unit 21, a driving unit 22, a storage unit 23, a second imaging unit 24, a communication unit 25, and a sensor 26. The flying object 2 is an unmanned air vehicle (UAV), a drone, a multicopter, or the like configured to be capable of flying and hovering in the air.

  The flight control unit 21 includes a circuit that controls the flight of the flying object 2, and is, for example, an arithmetic device such as a CPU (Central Processing Unit). The drive unit 22 is, for example, a motor and drives a propeller 27 (see FIG. 4) of the flying object 2.

  The storage unit 23 is, for example, at least one of a hard disk drive, a solid state drive, a flash memory, and other storage devices, and stores various data read by the flight control unit 21. The storage unit 23 stores a flight program.

  The flight program includes at least a flight path, a measurement point, time information, and the like. The flight path is information on the path on which the flying object 2 flies, and also includes information on the flight altitude (for example, the height from the overhead ground line 110 and the height from the ground). The measurement point is position information that is a place where the electric equipment is inspected. The time information is information on the time at which the airplane stops at the measurement point. The flight path and the measurement point are configured by coordinate information. The coordinate information includes, for example, latitude and longitude. A plurality of measurement points are set on the flight path. Note that the measurement point on the flight route may be the same position (latitude and longitude) as the measurement point P on the traveling route R (see FIG. 3), or may be a position shifted from the measurement point P.

  The second imaging unit 24 is, for example, a camera, and images the electrical equipment to be inspected at the measurement point. Further, the second imaging unit 24 captures an image of the self-propelled machine 3 and acquires the position information of the self-propelled machine 3. The communication unit 25 is a device that wirelessly communicates with the self-propelled machine 3 and the control device 41. The communication unit 25 outputs imaging data from the second imaging unit 24 and detection data from the sensor 26 to the control device 41.

  The sensor 26 includes, for example, a positioning sensor 26A, a distance sensor 26B, and a temperature sensor 26C. The positioning sensor 26A is a device that receives time signals emitted from a plurality of satellites and measures the position of the flying object 2 on the earth. The positioning sensor 26A is realized by, for example, a GPS (Global Positioning System) receiver. The distance sensor 26 </ b> B measures the distance between the flying object 2 and an object such as the overhead ground wire 110 or each electric facility. The distance sensor 26B is a device that irradiates a target object with a laser, measures the time required to return after hitting the target object, and calculates the distance from the measurement result. The temperature sensor 26C is, for example, a thermography, and is a device that detects infrared radiation emitted from an object to detect a heat distribution of the object as an image. Note that the sensor 26 may include another sensor such as a posture sensor.

  The self-propelled machine 3 includes a self-propelled control unit 31, a driving unit 32, a storage unit 33, a first imaging unit 34, a communication unit 25, and a sensor 26. The self-propelled machine 3 is an electric cart, an electric vehicle, or the like that can travel unmanned.

  The self-propelled control unit 31 includes a circuit that controls the traveling of the self-propelled machine 3, and is, for example, an arithmetic device such as a CPU. The drive unit 32 is, for example, a motor and drives the wheels 37A of the self-propelled machine 3 (see FIG. 4).

  The storage unit 33 is, for example, at least one of a hard disk drive, a solid state drive, a flash memory, and other storage devices, and stores various data read by the self-propelled control unit 31. The running program is stored in the storage unit 33.

  The traveling program includes at least a traveling route R (see FIG. 3), measurement points P1-1, P1-3, P1-4,..., Time information, and the like. The traveling route R is information on a route on which the self-propelled machine 3 travels, and is information set in advance. In the following description, a plurality of measurement points P1-1, P1-3, P1-4,. The measurement point P is position information on a place where the electric equipment is inspected. The time information is information on the time at which the measurement point P stops. The travel route R and the measurement point P are configured by coordinate information. The coordinate information includes, for example, latitude and longitude. A plurality of measurement points P are specified on the traveling route R.

  The first imaging unit 34 is, for example, a camera, and captures an image of the electrical equipment to be inspected at the measurement point P. In addition, the first imaging unit 34 captures an image of a meter such as a meter or a counter provided in the electric equipment.

  The communication unit 35 is a device that wirelessly communicates with the flying object 2 and the control device 41. The communication unit 35 outputs image data obtained by the first imaging unit 34 and data detected by the sensor 36 to the control device 41. Further, the self-propelled control unit 31 may transmit the position information of the self-propelled aircraft 3 to the flying object 2 via the communication unit 35.

  The sensor 36 includes, for example, a positioning sensor 36A, a distance sensor 36B, a temperature sensor 36C, and a magnetic sensor 36D. The positioning sensor 36A, the distance sensor 36B, and the temperature sensor 36C are the same as the sensors provided on the flying object 2, and the detailed description is omitted. The magnetic sensor 36D detects a magnetic force from an induction wire provided in the substation 5 premises. The guide line is embedded in the premises along the traveling route R. The guide line outputs different signals at a position corresponding to the measurement point P and at a position other than the measurement point P on the traveling route R. Thereby, the self-propelled machine 3 can travel along the traveling route R based on the detection signal from the magnetic sensor 36D, and can stop at the measurement point P.

  The control device 41 is a computer provided in the power station 4. The control device 41 may be a mobile terminal or the like. The control device 41 includes an inspection control unit 43, a display unit 47, a communication unit 44, an image analysis unit 45, and a determination unit 46. The inspection control unit 43 is a circuit that controls the inspection of the electrical equipment by the flying object 2 and the self-propelled aircraft 3. The inspection control unit 43 is, for example, a CPU.

  The display unit 47 is, for example, a liquid crystal display, and displays image data and inspection results of electric facilities by the flying object 2 and the self-propelled aircraft 3. The communication unit 44 is a device that wirelessly communicates with the flying object 2 and the self-propelled aircraft 3.

  The image analysis unit 45 detects a difference between the past image data and the current image data at the same measurement point based on the image data obtained by the flying vehicle 2 and the self-propelled vehicle 3. The determination unit 46 determines whether the difference detected by the image analysis unit 45 exceeds a predetermined value. Thereby, the inspection control unit 43 can detect the occurrence of the abnormality of the electric equipment.

  Next, a method for inspecting electrical equipment using the flying object 2 and the self-propelled aircraft 3 will be described. FIG. 3 is a plan view of the substation. FIG. 4 is a view taken in the direction of arrows A-A 'in FIG. FIG. 5 is a front view showing an instrument provided in the control box. FIG. 6 is a view on arrow B-B 'in FIG.

  As shown in FIG. 3, the substation 5 is connected to a first branch line L1, a second branch line L2, a third branch line L3, and a fourth branch line L4. Each of the first branch line L1, the second branch line L2, the third branch line L3, and the fourth branch line L4 is a transmission and distribution line that transmits and distributes electricity generated by the power plant. In the following description, the first branch line L1, the second branch line L2, the third branch line L3, and the fourth branch line L4 are simply referred to as branch lines L when it is not necessary to distinguish them. The branch line L is configured by three units in the case of three-phase alternating current.

  In the substation 5, as the electrical equipment, the steel structure 101, the stranded iron structure 102, the line switch LS, the gas circuit breaker GCB, the main line switch MLS, the vacuum circuit breaker VCB, the main transformer MTr, the switch PD for the instrument, work A distribution box PB, electric wires 111, 112, 113, an overhead ground wire 110, and the like are provided.

  The branch lines L are respectively supported by the staying iron structure 102, and are connected to the electric wires 111, 112, and 113 via a drop line 117, a line switch LS, a gas circuit breaker GCB, and a line switch LS. The incoming iron structure 102, the line switch LS, the gas circuit breaker GCB, and the line switch LS are connected by a drop line 117, respectively.

  The electric wires 111, 112, 113 are connected to the main transformer MTr via the main line switch MLS and the vacuum circuit breaker VCB. Electricity supplied from the branch line L is converted into a low voltage by the main transformer MTr and supplied to the secondary transmission and distribution line. Although FIG. 3 shows only one main transformer MTr, the substation 5 may include a plurality of transformers.

  The traveling route R is set in the substation 5 premises. The traveling route R includes an outer traveling route R0 and partial traveling routes R1, R2, R3, and R4. The outer traveling route R0 is provided along the outer periphery of the substation 5, and each electric facility of the substation 5 is provided in a region surrounded by the outer traveling route R0. Each of the partial traveling routes R1, R2, R3, R4 is provided inside the outer peripheral traveling route R0. The partial travel routes R1, R2, R3, R4 are provided corresponding to the first branch line L1, the second branch line L2, the third branch line L3, and the fourth branch line L4, respectively. The partial travel routes R1, R2, R3, R4 are provided along a line switch LS, a gas circuit breaker GCB, and a line switch LS connected to each branch line L. A plurality of measurement points P are set on the traveling route R. In FIG. 3, some measurement points P1-1, P1-3, and P1-4 are shown for easy viewing of the drawing.

  As shown in FIG. 4, the self-propelled machine 3 includes a self-propelled machine body 37, wheels 37A, a support portion 38, and a height adjustment mechanism 38A. Self-propelled machine 3 starts inspection based on a control signal from control device 41, and travels on travel route R according to a travel program. The self-propelled machine 3 can travel along the travel route R by detecting the magnetic field from the guide route embedded in the travel route R and the measurement point P by the magnetic sensor 36D. However, the present invention is not limited to this, and the self-propelled machine 3 may travel along the travel route R based on the position information of the positioning sensor 36A without having the magnetic sensor 36D.

  The self-propelled machine 3 stops at the measurement point P, and the first imaging unit 34 images the electric equipment. The first imaging unit 34 is provided on the support unit 38, and the height position of the first imaging unit 34 can be adjusted by a height adjustment mechanism 38A. The height adjusting mechanism 38A can use, for example, a slider or a ball screw mechanism, and automatically adjusts the length of the support portion 38 based on information on the height position of the inspection target (electrical equipment or instruments). I do. The information on the height position of the inspection target is stored in the server 42 in advance. The self-propelled control unit 31 acquires information on the height position of the inspection target from the inspection control unit 43.

  The flying object 2 detects the self-propelled aircraft 3 by the second imaging unit 24 and acquires the position information of the self-propelled aircraft 3. Thereby, the flying object 2 flies in an interlocked manner so as to follow the self-propelled aircraft 3. The flying object 2 may fly on a route that overlaps the traveling route R, that is, directly above the self-propelled aircraft 3, or may fly along the traveling route R so as not to overlap with the traveling route R. The invention is not limited to the case where the flying object 2 detects the self-propelled aircraft 3. For example, the self-propelled aircraft 3 may transmit the position information of the positioning sensor 36A to the flying object 2 via the communication units 35 and 25.

  The self-propelled aircraft 3 and the flying object 2 move along the traveling route R shown in FIG. The self-propelled aircraft 3 and the flying object 2 move along, for example, the outer circumference traveling route R0, and inspect the outer fence, the outer wall, the entrance, and the like of the substation 5 in addition to the inspection of the steel structure 101 and the terminated steel structure 102. You may. Further, the self-propelled aircraft 3 and the flying object 2 move along the partial traveling routes R1, R2, R3, R4, and the line switches LS, the gas circuit breakers GCB, the control boxes 52, 53, Inspect compressor CP, instrument switch PD, etc.

  FIG. 4 illustrates a case where the vacuum circuit breaker VCB is inspected as an example of the electrical equipment. The vacuum circuit breaker VCB includes a control box 51, a gantry 55, and an insulator 56. The insulator 56 is provided on the gantry 55 and supports the connection wires 115 and 116. The control box 51 is provided on a side surface of the gantry 55.

  The height of the self-propelled machine body 37 is lower than the upper surface of the gantry 55. Therefore, contact between the insulator 56 and the connection lines 115 and 116 and the self-propelled machine main body 37 can be suppressed by the traveling of the self-propelled machine main body 37. The self-propelled machine 3 stops at a preset measurement point P near the vacuum circuit breaker VCB. At this time, the self-propelled control unit 31 detects the distance between the vacuum circuit breaker VCB and the self-propelled machine body 37 based on information from the distance sensor 36B. The self-running control unit 31 operates the height adjustment mechanism 38A to set the height position of the first imaging unit 34 to the same height as the insulator 56. The first imaging unit 34 images the appearance of the insulator 56 from the side or the lower side.

  As shown in FIG. 5, instruments such as a pressure meter 51b and a counter 51c are provided inside the control box 51. The pressure meter 51b indicates the gas pressure of the vacuum circuit breaker VCB. The counter 51c displays the number of times the vacuum circuit breaker VCB has been cut off. Instruments such as the pressure meter 51b and the counter 51c can be observed through the window 51a. The self-propelled control unit 31 operates the height adjustment mechanism 38A to set the height position of the first imaging unit 34 to the same height as the window 51a. The first imaging unit 34 captures images of instruments such as the pressure meter 51b and the counter 51c.

  When the self-propelled vehicle 3 stops at the measurement point P near the vacuum circuit breaker VCB, the flying object 2 hoveres in the air above the self-propelled vehicle 3. In the flying object 2, the second imaging unit 24 images the appearance of the insulator 56 from above. Further, the flying object 2 can also image the connection portion between the terminal of the insulator 56 and the connection lines 115 and 116 by the second imaging unit 24. The flying object 2 can detect the temperature of the connection lines 115 and 116 by the temperature sensor 26C. When the contact resistance between the terminals of the insulator 56 and the connection lines 115 and 116 increases, the temperature of the connection lines 115 and 116 increases. The flying object 2 can detect a poor connection between the terminal of the insulator 56 and the connection lines 115 and 116 based on the temperature information of the temperature sensor 26C.

  As shown in FIG. 6, a part of the service line 117 connected to the stay iron structure 102 is connected to an instrument switch PD, a blocking capacitor BC, and a coupling capacitor CC. Further, the overhead ground wire 110 is provided between the plurality of iron structures 101 at a position above the terminated iron structure 102. That is, the overhead ground wire 110 is provided above the electric facilities, the electric wires 111, 112, 113 and the drop line 117. The flying object 2 detects the overhead ground line 110 by the second imaging unit 24, and detects the distance between the overhead ground line 110 and the flying object 2 by the distance sensor 26B. The flying object 2 flies above the overhead ground line 110 based on the detection data from the second imaging unit 24 and the distance sensor 26B. Thereby, the flying object 2 can suppress the contact with each electric equipment, the electric wires 111, 112, 113, and the drop line 117, and can fly well in conjunction with the self-propelled aircraft 3. Alternatively, the flying object 2 detects the height position of the overhead ground wire 110, and flies between each electrical facility, the electric wires 111, 112, 113 and the drop wire 117, and the overhead ground wire 110 in the height direction. Is also good.

  FIG. 7 is a table showing inspection data stored in the server. The control device 41 of the power station 4 acquires image data from the self-propelled aircraft 3 and the flying object 2. The control device 41 associates the image data acquired from the self-propelled aircraft 3 and the flying object 2 with the position information of the measurement points P1-1, P1-2, P1-3, P1-4, P2,. 42. Further, the server 42 also stores imaging data obtained in past inspections. FIG. 7 shows, for the sake of simplicity, the results of two runs for the anchorage structure 102, the instrument switch PD, the line switch LS, the gas circuit breaker GCB, the gas pressure, and the counter of the first branch line L1. However, the imaging data is also stored for each of the electric facilities of the second branch line L2, the third branch line L3, and the fourth branch line L4. Further, the server 42 stores three or more long-term imaging data.

  At the same measurement point P, the image analysis unit 45 detects a difference between the past (for example, X / X) imaging data and the current (for example, X / Y) imaging data. The image analysis unit 45 detects a difference between image data obtained by the flying object 2 for each electric facility. Further, the image analysis unit 45 detects a difference between image data obtained by the self-propelled machine 3 for each electric facility. More specifically, the image analysis unit 45 may, for example, capture the image data of the past (X / X) of the anchored iron structure 102 acquired by the flying vehicle 2 and the captured iron structure captured this time (X / Y). The difference from the imaging data of 102 is detected. Further, the image analysis unit 45 may, for example, obtain the image data of the past (X / X) of the anchored steel structure 102 acquired by the self-propelled vehicle 3 and the image of the anchored steel structure 102 imaged this time (X / Y). The difference from the imaging data is detected. In the case where dirt is attached or damaged in the electrical equipment, the difference detected by the image analysis unit 45 increases.

  The determination unit 46 determines whether the difference detected by the image analysis unit 45 exceeds a predetermined value. Thereby, the control device 41 can detect the occurrence of adhesion and breakage of dirt in the electric facilities such as the stranded iron structure 102, the instrument switch PD, the line switch LS, and the gas circuit breaker GCB. The control device 41 causes the server 42 to store the determination result by the determination unit 46 for each electric facility.

  Further, the image analysis unit 45 analyzes the gas pressure and the value of the counter based on, for example, image data of the pressure meter 51b and the counter 51c shown in FIG. The server 42 stores in advance a table indicating the relationship between the image of the pressure meter 51b and the gas pressure and a table indicating the relationship between the image of the counter 51c and the value of the counter. The image analyzer 45 analyzes the gas pressure and the numerical data of the counter by comparing the image data of the pressure meter 51b and the counter 51c with a table stored in advance.

  The determination unit 46 determines whether the numerical data of the meter detected by the image analysis unit 45 exceeds a predetermined value. Thereby, the control device 41 can detect the abnormality of the numerical value of each instrument. The control device 41 causes the server 42 to store the determination result of the determination unit 46 for each instrument.

  The control device 41 causes the display unit 47 to display the inspection result by the self-propelled aircraft 3 and the flying object 2. The display unit 47 displays “OK” when the difference detected by the image analysis unit 45 is equal to or smaller than a predetermined value, and displays “NG” when the difference exceeds the predetermined value. The patrol member actually inspects the electrical equipment or the instrument indicated with “NG” at the substation 5. Thereby, according to the electrical equipment inspection system 1, the premises of the substation 5 can be efficiently inspected. In addition, since the server 42 stores the imaging data of the past, the control device 41 needs to grasp the tendency of the long-term inspection result and accurately detect the occurrence of the abnormality of the electric equipment and the instrument. Can be.

  As described above, the electric equipment inspection system 1 of the present embodiment is an electric equipment inspection system 1 for inspecting a plurality of electric equipment provided on the premises, and includes a self-propelled aircraft 3, a flying object 2, And Self-propelled machine 3 is provided with the 1st image pick-up part 34 which picturizes electric equipment, and runs in a yard according to run route R including a plurality of measurement points P. The flying object 2 includes a second imaging unit 24 that captures an image of the electric equipment, acquires the position information of the self-propelled aircraft 3, and flies in conjunction with the travel of the self-propelled aircraft 3.

  According to this, the first imaging unit 34 provided in the self-propelled machine 3 can image the external appearance of the electric equipment from the side or the lower side. In addition, the second imaging unit 24 provided in the flying object 2 can image the external appearance of the electric equipment from above. The self-propelled aircraft 3 and the flying object 2 cooperate with each other to inspect the electrical equipment, so that the electric equipment and instruments in a place where the self-propelled aircraft 3 cannot travel can be inspected by the flying object 2. The self-propelled machine 3 can check the electrical equipment and instruments below the electric wires that cannot fly. For this reason, the electrical equipment inspection system 1 can accurately inspect electrical equipment. As a result, the inspection of the electric equipment by the patrol personnel can be saved, and the cost can be reduced. Further, since the flying body 2 flies in conjunction with the self-propelled aircraft 3, the control of the flying body 2 is easy.

  Further, in the electrical equipment inspection system 1 of the present embodiment, the steel structure 101 that supports a plurality of electric wires (for example, the drop wire 117) connected to the electric equipment, and is connected to the steel structure 101 and provided above the plurality of electric wires. Overhead ground wire 110 provided. The flying object 2 detects the overhead ground line 110 by the second imaging unit 24 and flies above the overhead ground line 110. According to this, the electric equipment inspection system 1 can suppress the collision between the electric equipment, electric wires, and the like and the flying object 2.

  In the electrical equipment inspection system 1 of the present embodiment, the self-propelled machine 3 has a height adjustment mechanism 38A that adjusts the height of the first imaging unit 34. The first imaging unit 34 captures an image of the external appearance of the electric equipment and an instrument provided in the electric equipment. According to this, the electric equipment inspection system 1 can image the instrument and the like in addition to the external appearance of the electric equipment by adjusting the height of the first imaging unit 34 by the height adjustment mechanism 38A. Then, the electrical equipment inspection system 1 can read the indicated values of the instruments based on the imaging data of the first imaging unit 34.

  Further, the electric equipment inspection system 1 of the present embodiment includes a control device 41 that controls the self-propelled aircraft 3 and the flying object 2. The control device 41 stores the position information of the measurement point P, the image data captured by the first image capturing section 34, and the image data captured by the second image capturing section 24 in the storage device (server 42) in association with each other. Let it. According to this, the management of the electric equipment can be performed efficiently.

  Further, in the electrical equipment inspection system 1 of the present embodiment, the control device 41 includes, at the same measurement point P, an image analysis unit 45 that detects a difference between the past imaging data and the imaging data captured this time; A determination unit 46 that determines whether the difference detected by the unit 45 exceeds a predetermined value. According to this, the electrical equipment inspection system 1 can grasp changes in the appearance of the electrical equipment by accumulating the imaging data over a long period of time, and can perform the inspection with high accuracy.

  Although the embodiment of the present invention has been described above, the present invention is not limited by the contents of the embodiment, and can be appropriately changed. For example, in the embodiment, the case where the electric equipment in the premises of the substation 5 is inspected has been described, but the electric equipment inspection system 1 can be applied to the case where other electric equipment is inspected.

DESCRIPTION OF SYMBOLS 1 Electrical equipment inspection system 2 Aircraft 3 Self-propelled machine 4 Power station 5 Substation 21 Flight control unit 22, 32 Drive unit 23, 33 Storage unit 24 Second imaging unit 26, 36 Sensor 34 First imaging unit 38A Height adjustment Mechanism 41 Control unit 45 Image analysis unit 46 Judgment unit 51, 52, 53 Control box 51b Pressure meter 51c Counter 55 Mount 56 Insulator 101 Iron structure 102 Terminating iron structure 110 Overhead ground wire 111, 112, 113 Electric wire 115, 116 Connection line 117 Service line GCB Gas circuit breaker LS Line switch MLS Main line switch PD Instrument switch PB Work distribution box VCB Vacuum circuit breaker

Claims (5)

An electrical equipment inspection system for inspecting a plurality of electrical equipment provided on the premises,
A self-propelled machine that includes a first imaging unit that captures an image of the electrical facility, and that travels in the premises according to a travel route including a plurality of measurement points;
A flying object that includes a second imaging unit that images the electric facility, acquires position information of the self-propelled aircraft, and flies in conjunction with the travel of the self-propelled aircraft. A steel structure supporting a plurality of electric wires connected to the electrical equipment,
An overhead ground wire connected to the steel structure and provided above the plurality of electric wires,
The electrical equipment inspection system according to claim 1, wherein the flying object detects the overhead ground line by the second imaging unit, and flies above the overhead ground line. The self-propelled machine has a height adjustment mechanism that adjusts the height of the first imaging unit,
The electrical equipment inspection system according to claim 1 or 2, wherein the first imaging unit captures an image of the external appearance of the electrical equipment and an instrument provided in the electrical equipment. Having a control device for controlling the self-propelled aircraft and the flying object,
The control device causes the storage device to store the position information of the measurement point, the imaging data captured by the first imaging unit, and the imaging data captured by the second imaging unit in association with each other. The electrical equipment inspection system according to any one of claims 1 to 3. The control device, at the same measurement point, the past image data, the image analysis unit that detects the difference between the image data captured this time,
The electrical equipment inspection system according to claim 4, further comprising: a determination unit configured to determine whether the difference detected by the image analysis unit exceeds a predetermined value.

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