JP2020064555A - Patrol server, and patrol and inspection system - Google Patents

Abstract

To specify, if a distance between an object and another approaching object does not satisfy an installation standard relating to the object, a kind and a name of the object, and positional data thereof.SOLUTION: A patrol server according to the present invention has: an electric line facility information storing unit 10a for storing a kind and a name of an object and positional data thereof; a recognition result data generating unit 10b for recognizing a kind and a name of the object and positional data thereof and a positional data of an approaching object approaching the object based on image data, imaging direction data of the image data, and imaging positional data collected by moving capturing positions from a patrol target area to generate recognition result data including the kind and the name of the object and the positional data; a distance calculating unit 10c for calculating a distance between the positional data of the object and the positional data of the approaching object; a determining unit 10d for determining whether or not the distance satisfies an installation standard regarding the object; and a specifying unit 10e for specifying, when the determining unit determines that the distance does not satisfy the standard, the kind and the name of the object and the positional data.SELECTED DRAWING: Figure 6

Description

  The present invention relates to a patrol server and a patrol inspection system suitable for inspecting whether or not an electric line meets an installation standard.

In the conventional patrol inspection, it was inspected whether the electric line meets the installation standard.
For example, at electric power companies and telecommunications companies, patrols regularly make site inspections (field surveys) to determine whether supports such as utility poles on power lines, pole equipment, and wires meet the laws and various installation standards. Or visually inspecting for violations. Conventionally, many patrols have been dispatched to the site to carry out this work over time.
For example, whether or not there is damage to the support such as utility poles, whether the ground clearance of the bottom (first) scaffolding nail meets internal regulations based on electrical technology standards (national standards) and rules, and is not permitted. Is visually inspected to see if there is a facility installed.
Regarding electric wires, the ground clearance and the distance from buildings, antennas, signboards, trees, etc., and the degree of slack indicating the amount of slack when electric wires are installed are based on electrical standards (national standards) We visually inspect whether or not the regulations and rules are met.

  Patent Document 1 is suitable for measuring a distance between a track rail and a building installed around a track on which a train runs, and a position measuring device and a position measuring system device which are improved in operability and practicality. For the purpose of providing the above, the CPU unit issues a measurement start command to the distance measuring unit, and the distance measuring unit measures the distance to the measured point of the building by the reflected laser light from the building. The CPU unit calculates the distance to the building, in particular, the height and distance of the building limit of the building based on the measurement data from the distance measuring unit, and automatically displays it on the display unit. Is disclosed.

JP, 10-38568, A

However, the conventional patrol work by patrol staff requires a huge amount of work, which requires time and cost. For example, an overhead distribution line of an electric power company has a total length of about 80,000 km and supports (electric poles, etc.) of 1.65 million, which is a huge amount. For this reason, patrols perform visual inspections (patrols) once every two years based on the distribution maintenance guidelines.
Further, since a large number of patrol personnel are required for such patrol work, the quality of the results obtained by patrol also varies due to the variation of the skill of each patrol officer. For example, there is a problem that a measurement error occurs for each patrol officer due to the difference in the distance and angle to the object.
Further, in Patent Document 1, the height and the distance of the building limit of a building are calculated and automatically displayed on the display unit. However, by mounting the position measuring device rotatably in a plane substantially perpendicular to the track rail around a point that has a predetermined positional relationship with the track rail, the building limit of buildings existing farther than the track rail It was to calculate the height and distance of the track and stayed within the range where the track rail existed.
In Patent Document 1, since the measurement position and the photographing position are fixed, it cannot be diverted to a moving photographing position.
One embodiment of the present invention has been made in view of the above, and an object thereof is to sort an object when the separation distance between the object and the approaching object does not meet the installation standard for the object. It is to specify the name and position data.

  In order to solve the above-mentioned problems, the invention according to claim 1 is to move an imaging position from the inspection target area by an information storage unit that stores the type name and position data of the object arranged in the inspection target area. While referring to the stored information of the information storage means based on the collected image data, the shooting direction data of the image data, and the shooting position data, the type name and the position data of the target object and the proximity of the target object are obtained. Recognition result data generating means for recognizing the position data of the approaching object and generating recognition result data including the type name of the object and the position data, the position data of the object, and the approaching object. Separation distance calculation means for calculating a separation distance from the position data, determination means for judging whether or not the separation distance satisfies an installation criterion for the object, and the pair And a specifying unit that specifies the type name of the object and position data when it is determined that the separation distance between the object and the approaching object does not meet the installation standard for the object. It is characterized by

  According to the present invention, when the separation distance between the object and the approaching object does not satisfy the installation standard for the object, the type name and position data of the object can be specified.

It is a figure showing composition of a patrol inspection system concerning one embodiment of the present invention. It is a figure which shows the structure of the patrol server by the side of an information center concerning one Embodiment of this invention. It is a figure showing the composition of the personal computer for inspection on the vehicle side concerning one embodiment of the present invention. It is a figure which shows the structure of the designing personal computer by the side of a designing person concerning one Embodiment of this invention. It is a figure showing composition of a personal computer for work concerning one embodiment of the present invention. It is a functional block diagram showing functional composition of a patrol server and a personal computer for patrol concerning one embodiment of the present invention. FIG. 4 is a sequence diagram showing an exchange between a patrol server, a patrol personal computer, and a work personal computer according to an embodiment of the present invention. It is a figure which shows the road map screen when the road map data concerning one Embodiment of this invention are displayed on the display part. It is a figure which shows that the electric line facility information was superimposed and displayed on the road map which concerns on one Embodiment of this invention. It is a figure which shows the data structure of the driving | running route information which concerns on one Embodiment of this invention. (A)-(c) is a figure which shows the law / standard information concerning one Embodiment of this invention. (A) is a figure which shows the example of actual arrangement of the camera and LIDAR concerning one Embodiment of this invention, (b) is a figure which shows the still image image | photographed by the camera, (c) is by LIDAR It is a schematic diagram of measured survey data. (A) is a photograph figure of surveying data measured by LIDAR concerning one embodiment of the present invention, and (b) is a photograph figure of surveying data measured by LIDAR concerning one embodiment of the present invention. It is a chart showing a decision table concerning one embodiment of the present invention. (A) is a schematic diagram which shows the inspection integrated information concerning one Embodiment of this invention, (b) is a schematic diagram which shows the inspection integrated layer concerning one Embodiment of this invention. (A) is a figure which shows the inspection result information concerning one Embodiment of this invention, (b) is a figure which shows the inspection result layer concerning one Embodiment of this invention. It is a flowchart which shows the integrated information generation process for inspections by the inspection server which concerns on one Embodiment of this invention. It is a flow chart which shows processing of the personal computer for inspection on the vehicle side concerning one embodiment of the present invention. 7 is a flowchart showing a surveying process by a work personal computer on the side of a worker according to an embodiment of the present invention. It is a flow chart which shows surface base generation processing by a patrol server concerning one embodiment of the present invention. It is a flowchart which shows the required spot confirmation information generation process by the patrol server which concerns on one Embodiment of this invention. It is a flowchart which shows the recognition result table generation process by the inspection server which concerns on one Embodiment of this invention. It is a figure which shows the recognition result table concerning one Embodiment of this invention. It is a flowchart which shows the abnormal point table generation process by the patrol server which concerns on one Embodiment of this invention. (A) is a figure which shows an example of a mode in which an electric line is drawn in a house, (b) is a figure which shows an example of the captured image or the survey data including the state of an electric line and a tree, (c) is a figure It is a top view which shows the positional relationship in the imaging | photography situation or surveying situation including the state of an electric line and a tree, (d) is a figure which shows the directional relationship in imaging | photography situation or surveying situation. It is a figure which shows the inspection target table which concerns on one Embodiment of this invention. It is a figure which shows the abnormal point table which concerns on one Embodiment of this invention. It is a flow chart which shows image processing by a patrol server concerning one embodiment of the present invention. It is a flow chart which shows abnormal point table edit processing by a patrol server concerning one embodiment of the present invention. It is a figure which shows the inspection result information and abnormal point information which concern on one Embodiment of this invention. 6 is a flowchart showing a display process of individual result information by a design work personal computer on the design worker side according to an embodiment of the present invention.

Hereinafter, the present invention will be described in detail with reference to the embodiments shown in the drawings.
The present invention has the following configuration in order to specify the type name and position data of the object when the separation distance between the object and the approaching object does not meet the installation standard for the object.
That is, the inspection server of the present invention includes an information storage unit that stores the type name and position data of an object arranged in the inspection target area, image data collected while moving the shooting position from the inspection target area, Based on the shooting direction data of the image data and the shooting position data, the stored information in the information storage means is referenced to recognize the type name and position data of the object and the position data of the approaching object approaching the object. , A recognition result data generating means for generating recognition result data including the type name and position data of the object, and a separation distance calculating means for calculating a separation distance between the position data of the object and the position data of the approaching object. And a determining means for determining whether or not the separation distance satisfies the installation standard for the object, and the separation distance between the object and the approaching object satisfies the installation standard for the object. When it is determined that that no, characterized in that it comprises a specifying means for specifying the type name of the object, and the position data.
With the above configuration, when the separation distance between the target object and the approaching object does not satisfy the installation standard for the target object, the type name and position data of the target object can be specified.
The features of the present invention described above will be described in detail with reference to the following drawings. However, the constituent elements, types, combinations, shapes, relative arrangements, and the like described in this embodiment are merely explanatory examples, not the gist of limiting the scope of the present invention thereto, unless specifically stated. ..
The above-mentioned features of the present invention will be described in detail below with reference to the drawings.

FIG. 1 is a diagram showing a configuration of a patrol inspection system according to an embodiment of the present invention.
The patrol inspection system 1 shown in FIG. 1 includes a patrol server 10 provided on the information center side, a patrol PC 30 provided on the vehicle side, a design work personal computer 40 provided on the design worker side, It is equipped with a working personal computer 50.
The patrol server 10 includes a law / standard information DB 12, an electric line facility information DB 14, a map information DB 16, a travel route information DB 18, a patrol integrated information DB 20, and a site confirmation information DB 22 required.

The law / standard information DB 12 prevents radio interference, inductive interference, and electromagnetic induction with respect to overhead electric lines installed on roads or close to buildings (Ministerial Ordinance Article 42, Interpretation Articles 51, 52). Control of support (type, strength, wind load, strength of foundation, span, reinforcement), control of electric wire (type, strength, height on the ground surface), close intersection with other objects (security work, separation distance) Memorize regulatory matters such as facilities for urban areas (Ministerial Ordinance Article 40, Interpretation Article 88), prevention of supply disruption (Ministerial Ordinance Article 48, Interpretation Article 88).
The electric line facility information DB 14 stores design contents (specifications of facility equipment) at the time of installation of electric lines installed at each place (address, latitude / longitude) on the ground.
The electric line facility information DB 14 serves as recognition result data generated by a recognition result data generation unit 10b, which will be described later, and supports and houses such as electric poles installed at respective places (address, latitude / longitude) on the ground. Distance between facilities such as buildings and buildings, distance between equipment installed on supports such as telephone poles and facilities such as houses and buildings, distance between electric lines and facilities such as houses and buildings It is possible to memorize the distance and the ground clearance of the electric line.

The map information DB 16 stores data in which the position coordinates of the road (latitude / longitude of representative point, plane rectangular coordinate) are prepared in block unit (town / chome / ban).
The traveling route information DB 18 stores a one-stroke writing traveling route together with position coordinates (latitude / longitude) by minimizing unnecessary traveling in the area in charge.
The patrol integrated information DB 20 stores, as the patrol integrated information, laws and / or standards information, facility information such as electric lines in the power supply area, map information in the power supply area, and a patrol target area of the photographing vehicle.
The on-site confirmation information DB 22 stores image data, which is the result of surveying abnormal points, as on-site confirmation information.

The inspection personal computer 30 provided on the vehicle side includes a camera 32, a LIDAR 34, a sensor 36, and an inspection result information DB 38.
The camera 32 includes a plurality of cameras that capture images of a subject, and outputs image data and a device number for each camera.
A LIDAR (Laser Imaging Detection and Ranging) 34 measures scattered light by an object with respect to laser irradiation emitted in a pulse shape, measures a distance to each position of a subject, and outputs survey data and a device number. An image drawn based on the distance from the LIDAR 34 to each position of the target is called a depth image, and each pixel forming the depth image has a depth.
The sensor 36 includes a GPS receiver, a geomagnetic sensor, and an angular velocity sensor.
The inspection result information DB 38 stores information in which the surveying position, the surveying direction of each LIDAR 34, and the time stamp are added to the surveying data (depth image) of the object acquired from each LIDAR 34. In addition, the inspection result information DB 38 stores information in which the shooting position, the shooting direction of each camera 32, and a time stamp are added to the image data acquired from each camera 32.

The design work personal computer 40 provided on the design worker side includes a site confirmation information DB 42.
The on-site confirmation information DB 42 stores the image data, which is the measurement result of the abnormal point, acquired from the patrol server 10 as the on-site confirmation information.

The work personal computer 50 carried by the worker has a site confirmation information DB 52 required.
The on-site confirmation information DB 52 stores the image data, which is the result of surveying the abnormal points, acquired from the patrol server 10 as the on-site confirmation information.

<Information center side patrol server>
FIG. 2 is a diagram showing the configuration of the patrol server on the information center side according to the embodiment of the present invention.
The patrol server 10 includes an operation unit 54, a communication control unit 55, a display control unit 56, a display unit 57, a database DB 58, a main control unit 59, a three-dimensional image processing unit 60, and a patrol result information DB 61.
The operation unit 54 includes a keyboard and a mouse.
The communication control unit 55 communicates data with the patrol personal computer 30 (patrol terminal) via the network N1, and also communicates data with the design work personal computer 40 and the work personal computer 50 via the network N2. To communicate.

The display control unit 56 draws the image input from the main control unit 59 on the VRAM and displays it on the display unit 39.
The display unit 57 displays the image drawn by the display control unit 56 on the VRAM.
The database DB58 includes a law / standard information DB12, an electric line facility information DB14, a map information DB16, a traveling route information DB18, a patrol integrated information DB20, and a site confirmation information DB22 required.
The database DB 58 stores, as a reference image master, a plurality of types of image data serving as references for supports such as electric poles used for image matching, pole equipment, electric wires, structures, trees, and the like.
It should be noted that the database DB 58 stores characteristic point data relating to a plurality of types of respective image data serving as a reference image master such as a support such as a utility pole used for image matching, a pole material, an electric wire, a structure, and a tree as a reference image master. You may keep it.
Note that as the feature point data, for example, an edge image or an object shape within the edge may be extracted from image data, and a combination of the edge image and the object shape may be used. At this time, as the object shape, HoG (Histograms of Oriented Gradients) feature quantity known as a feature quantity for capturing the object shape may be used.

  The main controller 59 includes a CPU (central processing unit) 59a, a ROM (read only memory) 59b, a RAM (random access memory) 59c, and a timer 59d inside. The CPU 59a reads the operating system OS from the ROM 59b, expands it on the RAM 59c and activates the OS, reads the program (processing module) from the ROM 59b, and executes various processes under OS management.

  The 3D image processing unit 60 acquires the inspection result information from the inspection result information DB 61, attaches a planar surface to the wire frame in the 3D CAD processing, and generates surface-based 3D data. The three-dimensional image processing unit 60 generates a survey result master by adding to the generated three-dimensional data, latitude and longitude information serving as base points at regular intervals. The three-dimensional image processing unit 60 performs three-dimensional data processing on a support such as a utility pole, a pillar material, an electric wire, a structure, etc. in the image to make it clear. The three-dimensional image processing unit 60 generates an emphasized image from the image of the approaching point obtained by the three-dimensional data processing when changing the display color of the approaching point stored in the abnormal point table.

The inspection result information DB 61 stores a decision table, traveling route information, map information, electric line facility information, surveying information, and captured image information.
The database DB group 58 includes the law / standard information DB 12, the electric line facility information DB 14, the map information DB 16, the traveling route information DB 18, the patrol integrated information DB 20, and the site confirmation information DB 22 shown in FIG. 1.

<Vehicle-side patrol PC>
FIG. 3 is a diagram showing a configuration of a vehicle-side patrol personal computer according to an embodiment of the present invention.
The inspection personal computer 30 mounted on the vehicle side includes a camera 32, a LIDAR 34, a camera / LIDAR control unit 63, a inspection result information DB 38, a main control unit 64, a GPS receiver 65, a geomagnetic sensor 66, an angular velocity sensor 67, and a communication control unit. A display control unit 68, a display control unit 69, a display unit 70, and an operation unit 71 are provided.
Since the camera 32 has been described with reference to FIG. 1, its description will be omitted.
Since the LIDAR 34 has been described with reference to FIG. 1, its description will be omitted.
It should be noted that the camera 32 and the LIDAR 34 are configured to be capable of performing hemispherical five-direction imaging and five-direction surveying, as shown in FIG.

The camera / LIDAR control unit 63 controls the synchronization signal of each camera 32 and acquires the image data and the device number (camera ID) simultaneously output from each camera 32 in each camera frame memory. At the same time, the camera / LIDAR control unit 63 controls the scanning signal of each LIDAR 34 and acquires the survey data and the device number (ID of the LIDAR) sequentially output from each LIDAR 34 in each LIDAR frame memory. The camera / LIDAR control unit 63 adds a time stamp to each image data read from each camera frame memory and stores it in the inspection result information DB 38.
The camera / LIDAR control unit 63 adds a time stamp to each survey data read from each LIDAR frame memory and stores it in the inspection result information DB 38.

The inspection result information DB 38 stores information in which the surveying position, the surveying direction of each LIDAR 34, and the time stamp are added to the surveying data (depth image) of the object acquired from each LIDAR 34. In addition, the inspection result information DB 38 stores information in which the shooting position, the shooting direction of each camera 32, and a time stamp are added to the image data acquired from each camera 32.
The main control unit 64 includes a CPU (central processing unit) 64a, a ROM (read only memory) 64b, a RAM (random access memory) 64c, and a timer 64d inside. The CPU 64a reads the operating system OS from the ROM 64b, expands it on the RAM 64c, activates the OS, reads the program (processing module) from the ROM 64b, and executes various processes under OS management.
The main control unit 64 adds a time stamp to each of the current position data (latitude / longitude) acquired from the GPS receiver 65, the current azimuth acquired from the geomagnetic sensor 66, and the angular velocity acquired from the angular velocity sensor 67, and then performs the inspection result. It is stored in the information DB 38.
The GPS receiver 65 receives radio waves from a plurality of GPS satellites used in the Global Positioning System (GPS) and calculates the distance to each of them to obtain the current position data (latitude / longitude) of the vehicle. To measure.

The geomagnetic sensor 66 detects the direction of the geomagnetism and calculates the azimuth as values of three orthogonal axes (X axis, Y axis, Z axis).
The angular velocity sensor 67 measures the angular velocity in the three directions of the xyz axes and outputs the measurement data.
The communication control unit 68 controls communication with the patrol server 10, which is an external device, via the network N1.
The display control unit 69 draws the image input from the main control unit 64 on the VRAM and displays it on the display unit 39.
The display unit 70 displays the image drawn by the display control unit 69 on the VRAM.
The operation unit 71 includes a keyboard and a mouse.

<Designer's PC for design work>
FIG. 4 is a diagram showing a configuration of a design work personal computer on the design worker side according to the embodiment of the present invention.
The design work personal computer 40 on the design worker side includes a main control unit 75, an operation unit 76, a communication control unit 77, a display control unit 78, a display unit 79, and a site confirmation information DB 42.
The main control unit 75 includes a CPU (central processing unit) 75a, a ROM (read only memory) 75b, a RAM (random access memory) 75c, and a timer 75d inside. The CPU 75a reads the operating system OS from the ROM 75b, expands it on the RAM 75c, activates the OS, reads the program (processing module) from the ROM 75b, and executes various processes under OS management.

The operation unit 76 includes a keyboard and a mouse.
The communication control unit 77 controls communication with the patrol server 10, which is an external device, via the network N2.
The display control unit 78 draws the image input from the main control unit 75 on the VRAM and displays it on the display unit 79.
The display unit 79 displays the image drawn by the display control unit 78 on the VRAM.
The on-site confirmation information DB 42 stores the image data, which is the measurement result of the abnormal point, acquired from the patrol server 10 as the on-site confirmation information.

<Computer on the worker side>
FIG. 5 is a diagram showing a configuration of a work personal computer according to an embodiment of the present invention.
The work personal computer 50 includes a camera 81, a LIDAR 82, a camera / LIDAR control unit 83, a patrol result information DB 84, a main control unit 85, a GPS receiver 86, a geomagnetic sensor 87, an angular velocity sensor 88, a communication control unit 89, an operation unit 90, The display control part 91, the display part 92, and the required spot confirmation information DB52 are provided.
The camera 81 includes a plurality of cameras that capture images of subjects, and outputs image data and a device number for each camera.
The LIDAR 82 measures the scattered light by the object with respect to the laser irradiation emitted in a pulse shape, measures the distance to each location of the subject, and outputs the survey data and the device number.

The camera / LIDAR control unit 83 controls the synchronization signal of each camera included in the camera 81 and acquires the image data simultaneously output from each camera in the frame memory for each camera. At the same time, the camera / LIDAR control unit 83 controls the scanning signal of each LIDAR included in the LIDAR 82, and acquires the survey data sequentially output from each LIDAR in each LIDAR frame memory. The camera / LIDAR control unit 83 adds a time stamp to each image data read from each camera frame memory and stores it in the inspection result information DB 84.
The camera / LIDAR control unit 83 adds a time stamp to each survey data read from each LIDAR frame memory and stores it in the inspection result information DB 84.

The inspection result information DB 84 stores information in which surveying data (depth image) of a target object acquired from the LIDAR 82, a surveying position, a surveying direction of the LIDAR 82, and a time stamp are added. Further, the inspection result information DB 84 stores information in which the shooting position, the shooting direction of the camera 81, and a time stamp are added to the image data acquired from the camera 81.
The main controller 85 includes a CPU (central processing unit) 85a, a ROM (read only memory) 85b, a RAM (random access memory) 854c, and a timer 85d inside. The CPU 85a reads the operating system OS from the ROM 85b, expands it on the RAM 85c, activates the OS, reads the program (processing module) from the ROM 85b, and executes various processes under OS management.
The main control unit 85 adds time stamps to the current position data (latitude / longitude) acquired from the GPS receiver 86, the current azimuth acquired from the geomagnetic sensor 87, and the angular velocity acquired from the angular velocity sensor 88, respectively, and then performs the inspection result. It is stored in the information DB 84.

The GPS receiver 86 measures current position data (latitude / longitude) by receiving radio waves from a plurality of GPS satellites used in the Global Positioning System (GPS) and calculating distances from each. .
The geomagnetic sensor 87 detects the direction of the geomagnetism and calculates the azimuth as values of three orthogonal axes (X axis, Y axis, Z axis).
The angular velocity sensor 88 measures the angular velocity in the three directions of the xyz axes and outputs the measurement data.
The communication control unit 89 communicates data with the patrol server 10 via the network N2.
The operation unit 90 includes a keyboard and a mouse.
The display control unit 91 draws the image input from the main control unit 85 on the VRAM and displays it on the display unit 92.
The display unit 92 displays the image drawn on the VRAM by the display control unit 91.
The on-site confirmation information DB 52 stores the image data, which is the result of surveying the abnormal points, acquired from the patrol server 10 as the on-site confirmation information.
The work personal computer 50 shown in FIG. 5 is configured to be able to perform shooting and surveying in a specific direction in order to survey an unmeasured area where the patrol personal computer 30 provided on the vehicle side could not survey. There is.

<Functional block diagram>
FIG. 6 is a functional block diagram showing the functional configurations of the inspection server and the inspection personal computer according to the embodiment of the present invention.
The electric line facility information storage unit 10a stores the type name and position data of the object arranged in the patrol target area.
The electric line facility information storage unit 10a stores electric line facility information including the electric pole number and line type related to the object in association with the position data of the object.

The recognition result data generation unit 10b stores the storage information of the electric line facility information storage unit 10a based on the image data collected while moving the shooting position from the inspection target area, the shooting direction data of the image data, and the shooting position data. By referring to the type name and position data of the object and the position data of the approaching object approaching the object, recognition result data including the type name and position data of the object is generated.
The recognition result data generation unit 10b uses the correlation degree calculation unit 10g to calculate the correlation degree between the image data collected from the inspection target area and the image data acquired from the image storage unit 10f, and the correlation degree is predetermined. When the threshold value is exceeded, the type name of the object included in the image data is specified, the position data of the object is added, and the recognition result data is generated.

The separation distance calculator 10c calculates the separation distance between the position data of the object and the position data of the approaching object.
The installation standard storage unit 10k stores the installation standard relating to the object.
The determination unit 10d determines whether or not the separation distance satisfies the installation standard for the object.
The determination unit 10d refers to the distance between the object and the approaching object by referring to the type of the target object and the separation distance corresponding to the type of the target object. It is determined whether or not there is.
When the separation distance between the object and the approaching object does not satisfy the installation standard, the specifying unit 10e uses the position data of the object as a key and uses the position data of the electric line facility information storage unit 10a as the electric line corresponding to the position data. Extract facility information.
The identifying unit 10e identifies the type name and the position data of the object when it is determined that the separation distance between the object and the approaching object does not meet the installation standard for the object.

The image storage unit 10f stores the type name of the target object and the image data of the target object in association with each other.
The correlation degree calculation unit 10g calculates the correlation degree between the image data collected from the inspection target area and the image data acquired from the image storage unit 10f.
The inspection integrated information generation unit 10h generates inspection integrated information related to the inspection target area.
The integrated information generation unit 10h for patrol uses electric line information indicating position data related to supports such as electric poles and electric lines, legal standard information indicating installation standards related to supports such as electric poles and electric lines, and electric power supply areas. Based on the map information, integrated inspection information for the inspection target area is generated.
Note that the patrol integrated information generation unit 10h uses, as the recognition result data generated by the recognition result data generation unit 10b described below, electric line information indicating position data relating to supports such as electric poles, pole equipment, and electric wires, and construction. Based on the building information that represents the position data related to the object, the building, the support such as the utility pole, the legal standard information that indicates the installation standards related to the pole equipment and the electric wire, and the map information in the power supply area, The related patrol integrated information can be generated.
The transmission unit 10i transmits the inspection-use integrated information to the inspection-use personal computer 30.
The receiving unit 10j receives the image data and the survey data to which the survey position is added from the patrol personal computer 30.

The patrol personal computer 30 is arranged on a moving body and collects image data of an object and an approaching object approaching the object.
The receiving unit 30a receives the inspection integrated information from the inspection server 10.
The travel route display unit 30b displays the travel route so as to move within the inspection target area based on the inspection integrated information acquired from the inspection server 10.
The image capturing unit 30c captures the surrounding landscape including the target object to obtain image data.
The surveying unit 30d surveys the surrounding landscape including the object to obtain survey data representing a depth image.
The inspection result information generation unit 30e adds the survey position to the image data to generate inspection result information.
The transmitting unit 30f adds the survey position to the image data and the survey data, and transmits the survey data to the patrol server.

<Sequence diagram>
FIG. 7 is a sequence diagram showing exchanges between the inspection server, the inspection personal computer, and the work personal computer according to the embodiment of the present invention.
In step S1, the patrol server 10 creates a decision table (FIG. 14) based on the law / standard information acquired from the law / standard information DB 12 In step S5, the patrol server 10 uses the electric line facility information DB 14 Acquire information on electric line facilities in the power supply area.
In step S10, the patrol server 10 acquires map information in the power supply area from the map information DB 16.
In step S15, the patrol server 10 acquires, from the display control unit 56, an area designated according to a mouse operation as an area to be patroled by the photographing vehicle with respect to the area covered by the electric power company displayed on the display unit 57. To do.
In step S20, the patrol server 10 generates patrol integrated information of the area in charge based on the above-mentioned information such as laws and regulations information, electric line facility information, map information, and a patrol target area.
In step S25, the inspection server 10 transmits the inspection integrated information of the area in charge to the inspection personal computer 30 mounted on the vehicle via the network N1.

In step S30, the inspection personal computer 30 receives the inspection integrated information from the inspection server 10 via the network N1 and stores it in the inspection result information DB 38.
In step S35, the inspection-use personal computer 30 measures and photographs the area in charge based on the inspection-use integrated information, and temporarily stores the measurement data and image data in the inspection-result information DB 38.
In step S40, the inspection personal computer 30 adds surveying data and image data to the inspection integrated information in the inspection result information DB 38 to generate inspection result information.

In step S45, the inspection personal computer 30 reads the inspection result information from the inspection result information DB 38 and transmits it to the inspection server 10 via the network N1.
In step S50, the inspection server 10 receives inspection result information from the inspection personal computer 30 via the network N1.
In step S55, the patrol personal computer 30 determines whether or not there is an unmeasured area that cannot be measured or photographed by the vehicle, for example. If there is an unmeasured area, the process proceeds to step S60, while if there is no unmeasured area, the process ends.
In step S60, the patrol personal computer 30 transmits the patrol integrated information of the area that cannot be surveyed and photographed by the vehicle to the work personal computer 50 on the worker side.

Here, the worker is a person who complements the inspection result information by carrying out surveying and photographing on the unmeasured area where the surveying and photographing by the vehicle could not be carried while carrying the working personal computer 50 on his back. ..
In step S65, the work personal computer 50 receives the unmeasured integrated information for patrol from the personal computer for patrol 30 via the networks N1 and N2.
In step S70, the work personal computer 50 surveys / photographs the area in charge based on the unmeasured integrated survey information, and temporarily stores the survey data / image data in the survey result information DB 84.
In step S75, the work personal computer 50 adds surveying data and image data to the integrated inspection information in the inspection result information DB 84 to generate inspection result information.
In step S80, the work personal computer 50 transmits the inspection result information read from the inspection result information DB 84 to the inspection server 10 via the network N2.

In step S85, the inspection server 10 receives the inspection result information from the work personal computer 50 via the network N2.
In step S90, the inspection server 10 performs examination processing based on the inspection result information and generates site confirmation information.

<Road map data>
FIG. 8 is a diagram showing a road map screen when the road map data according to the embodiment of the present invention is displayed on the display unit.
As shown in FIG. 8, a road 111 and a plurality of telephone poles 113 are displayed on a road map screen 110, and a designated area 115 designated according to a mouse operation is displayed.

<Diagram showing the overlaying of information on electric line facilities on the road map>
FIG. 9 is a diagram showing that electric line facility information is superimposed and displayed on the road map according to the embodiment of the present invention.
When an instruction to enlarge the designated area 115 is given to the designated area 115 shown in FIG. 8 by a mouse operation, the enlarged display area 120 is displayed as shown in FIG.
In the enlarged display area 120, electric line facility information 123 including text data is superimposed and displayed on the road map.

<Driving route information>
FIG. 10 is a diagram showing a data structure of travel route information according to the embodiment of the present invention.
As shown in FIG. 10, the traveling route information 130 transmitted from the patrol server 10 to the patrol personal computer 30 stores a route number and latitude / longitude data in association with each other.

<Law / standard information>
11 (a) to 11 (c) are diagrams showing laws and / or standards information according to the embodiment of the present invention.
FIG. 11A shows the law / standard information 140 relating to the building, FIG. 11B shows the law / standard information 143 relating to the overhead service line, and FIG. 11C shows the approach. It shows the separation distances A, B, and C (FIG. 14) from the building portion in the case of the state.
Note that, in addition to FIGS. 11A to 11C, there are many reference groups such as an inclination angle and a mounting angle, so FIGS. 11A to 11C will be described as an example of laws and reference information.

<Camera, LIDAR section>
FIG. 12A is a diagram showing an actual arrangement example of the cameras and the LIDAR according to the embodiment of the present invention.
In FIG. 12A, the cameras 32-1 to 5 and the LIDARs 34-1 to 5 are integrally housed in one case 151. Note that the cameras 32-1 to 5 and the LIDARs 34-1 to 3-5 may be arranged separately.
The case 151 is mounted on the roof portion of the vehicle so as to be parallel to the wheel base surface of the vehicle.
Further, the still image shooting performed by the cameras 32-1 to 5 includes stereo image shooting and 3D shooting by at least two cameras.
FIG. 12B is a diagram showing a still image 160 taken by the cameras 32-1 to 5.
Still image 160. A utility pole 161, a building 163, and an electric wire 164 are shown.
FIG. 12C is a schematic diagram 165 of the survey data measured by the LIDARs 34-1 to -5. In the schematic diagram 165 of the survey data, a utility pole 166, a building 167, and an electric wire 168 are shown.

<Schematic diagram of survey data>
FIG. 13A is a photograph diagram 170 of survey data measured by the LIDARs 34-1 to 34-5 according to the embodiment of the present invention.
Note that FIG. 13A is based on "https://autoprove.net/supplier_news/pioneer/8731/".
FIG. 13B is a photograph diagram 175 of the survey data measured by the LIDARs 34-1 to 34-5 according to the embodiment of the present invention.
Note that FIG. 13B is based on “https://www.inverse.com/article/41470-elon-musk-tesla-self-driving-LIDAR”.
13 (a) and 13 (b) show utility poles, buildings, electric wires, trees and the like.

<Decision table>
FIG. 14 is a diagram showing a decision table according to the embodiment of the present invention.
The decision table 180 is a table in which combinations of a plurality of judgment conditions and corresponding judgment results based on the laws and criteria information shown in FIG. 11 are summarized, and conditions and actions are arranged in the row direction and rules are combined in the column direction. Is represented.
As shown in FIG. 14, the decision table 180 describes, for example, in the lateral direction, the type of electric wire, the separation distance at the time of low voltage, the criterion, the normal point, and the abnormal point in the approaching state.
In addition, the decision table 180 represents, for example, in the vertical direction, the distances A, B, and C in the case of an approaching state, the types of electric wires such as low-voltage insulation, multicore type, high-voltage insulation, and cables, and the separation at low voltage. Each numerical value is shown for the distance, each numerical value is shown for the criterion, No (N) and Yes (Y) are shown for the normal point, and Yes (Y) and No (N) are shown for the abnormal point.
For example, in the case of the approaching state, the distance A, the type of electric wire is low-voltage insulation, the low-voltage separation distance is 2.0 m, and the judgment standard is 0 to 2.0 m, whereas the measured actual separation distance is 1 m. In some cases, the normal point is N and the abnormal point is Y. On the other hand, when the measured actual separation distance is 3 m, the normal point is Y and the abnormal point is N.
Note that FIG. 14 is an example of a decision table, and in addition to the contents shown in FIG. 14, tilt angles, attachment angles, etc. may be adopted as many reference groups.

<Inspection integrated information, inspection integrated layer>
FIG. 15A is a schematic diagram showing inspection integrated information according to an embodiment of the present invention, and FIG. 15B is a schematic diagram showing an inspection integrated layer according to one embodiment of the present invention.
As shown in FIG. 15A, the patrol integrated information 190 includes a decision table, traveling route information, map information, and electric line facility information.
As illustrated in FIG. 15B, the patrol integrated layer 195 includes a map layer and an electric line facility layer.

<Patrol result information, patrol result layer>
FIG. 16A is a diagram showing the inspection result information according to the embodiment of the present invention, and FIG. 16B is a diagram showing the inspection result layer according to the embodiment of the present invention.
As shown in FIG. 16A, the inspection result information 200 includes a decision table, traveling route information, map information, electric line facility information, and captured image information.
As shown in FIG. 16B, the inspection result layer 205 includes a map layer, a power line facility layer, an image layer, and a survey layer (LIDAR image).

<Inspection integrated information generation process by inspection server>
FIG. 17 is a flowchart showing the inspection integrated information generation processing by the inspection server 10 according to the embodiment of the present invention.
The patrol server 10 executes the program represented by the flowchart S100 of the patrol integrated information generation processing at startup.
In step S101, the patrol server 10 downloads a map of the service area of the electric power company from a server provided in the Geographical Survey Institute or the like.
In step S105, the patrol server 10 downloads data on a support such as a utility pole, a pole material, an electric wire, and other structures from a server such as a facility line facility DB managed by an electric power company.
In step S110, the patrol server 10 superimposes the map layer and the electric line facility layer, and displays them on the display unit 57 via the display control unit 56. As a result, the map layer and the electric line facility layer are displayed on the display unit 57 in an overlapping manner. The patrol server 10 can specify the work area and the traveling route on the display screen according to the mouse operation.
In step S115, the patrol server 10 specifies an area (range) that can be patroled on a work day, sets a travel route that enables the most efficient survey, and edits the patrol integrated information as a work DB.

In step S120, the inspection server 10 transfers the inspection integrated information, which is a work DB, to the inspection personal computer 30 via the network N1.
After that, the inspection personal computer 30 surveys / photographs the area in charge based on the received integrated inspection information, and temporarily stores the survey data / image data in the inspection result information DB 38. Further, the inspection personal computer 30 adds surveying data and image data to the inspection inspection integrated information in the inspection result information DB 38 to generate inspection result information. The inspection personal computer 30 reads the inspection result information from the inspection result information DB 38 and transmits it to the inspection server 10 via the network N1.

In step S125, the inspection server 10 receives the inspection result information from the inspection personal computer 30 via the network N1, and temporarily stores it in the database DB.
In step S130, the inspection server 10 calls a subroutine program of the surface-based generation processing (S400 in FIG. 20).
In step S135, the patrol server 10 calls a subroutine program of the site confirmation information generation process (S500 in FIG. 21).
In step S140, the patrol server 10 calls a subroutine program of image processing (FIG. 28, S800).
In step S145, the patrol server 10 transfers the site confirmation information to the design work personal computer 40 via the network N2.

<Processing of the vehicle-side patrol PC>
FIG. 18 is a flowchart showing the processing of the vehicle-side patrol personal computer according to the embodiment of the present invention.
The patrol personal computer 30 provided on the vehicle side executes the program represented by the flowchart S200 at the time of startup.
In step S210, the patrol personal computer 30 receives the patrol integrated information from the patrol server 10 and takes in data such as a latitude / longitude map of the survey target area.
In step S210, the patrol personal computer 30 displays the preset traveling route (FIG. 8) on the display unit 70 via the display control unit 69.
In step S215, the patrol personal computer 30 stores the surveying data acquired by the LIDAR 34 while traveling along the traveling route, and supports the poles and other supports, pole equipment, electric wires, structures, and the like captured by the camera 32. An image including an object is stored, position data is acquired from the GPS receiver 65, geomagnetic data is acquired from the geomagnetic sensor, and angular velocity data is acquired from the angular velocity sensor, and a time stamp is added and accumulated in the inspection result information DB as inspection result information. To do.

In step S220, the patrol personal computer 30 determines whether there is an unmeasured area. That is, it is determined whether or not there is an area that cannot be surveyed on the actual traveling route with respect to the preset traveling route. Here, if there is an area that could not be surveyed on the actual travel route, the process proceeds to step S225, while if there is no area that could not be surveyed on the actual travel route, the process proceeds to step S230.
In step S225, the patrol personal computer 30 transmits the unmeasured general information for patrol of the area that cannot be surveyed on the set traveling route to the work personal computer 50 on the worker side.
In step S230, the inspection personal computer 30 accumulates the survey results in the inspection result layer (the survey layer, the image layer, the electric line facility layer, etc.) of the inspection result DB to generate the inspection result layer.
In step S235, the inspection personal computer 30 transfers the inspection result information and the inspection result layer to the inspection server 10 via the network N1.
As a result, the inspection result information and inspection result layer are stored in the inspection result information DB 61 under the control of the inspection server 10.

<Surveying process by the work PC on the worker side>
FIG. 19 is a flowchart showing the surveying process by the work personal computer on the worker side according to the embodiment of the present invention.
The work personal computer 50 carried by the worker executes the program represented by the flowchart S300 at the time of startup.
In step S305, the work personal computer 50 receives the patrol integrated information from the patrol personal computer 30 and takes in data such as a latitude / longitude map of the surveyed area.
In step S310, the work personal computer 50 displays the map information of the unmeasured area on the display unit 92 via the display control unit 91.
In step S315, the work computer 50 displays a message on the display unit 92 via the display control unit 91 prompting the user to move according to the map information of the unmeasured area.

  In step S320, the work personal computer 50 determines whether there is an unmeasured area. That is, the work personal computer 50 determines whether or not there is an unmeasured area that could not be measured on the actual traveling route with respect to the preset traveling route. If there is an area that could not be surveyed on the actual traveling route, the process proceeds to step S325, while if there is no area that cannot be surveyed on the actual traveling route, the process proceeds to step S335.

In step S325, the work personal computer 50 confirms the area where the survey could not be performed on the screen and displays a message on the display unit 92 via the display control unit 91 to prompt the user to perform the necessary complementary work.
In step S330, when the work personal computer 50 moves to an arbitrary position in the area where the survey could not be performed, the survey data acquired by the LIDAR 82, the image acquired by the camera 81, the position data from the GPS receiver 86, the geomagnetic sensor 87. Geomagnetic data from the angular velocity sensor 88 and angular velocity data from the angular velocity sensor 88 are added, time stamps are added, the results are accumulated in the inspection result information DB 84 as inspection result information, and the complementing process ends.

In step S335, the work personal computer 50 accumulates the survey results in the survey result layer (survey layer, image layer, electric line facility layer, etc.) of the survey result information DB 84 to generate a survey result layer.
In step S340, the work personal computer 50 transfers the inspection result information and the inspection result layer to the inspection server 10 via the network N2.

<Surface-based generation process by patrol server>
FIG. 20 is a flowchart showing the surface-based generation processing by the inspection server according to the embodiment of the present invention.
When the main routine calls step S400, which is a subroutine, the patrol server 10 executes the program shown in the flowchart of the surface-based generation processing.
In step S401, the inspection server 10 acquires inspection result information from the inspection result information DB 61, attaches a planar surface to the wire frame in the three-dimensional CAD processing, and generates surface-based three-dimensional data.
In step S405, the patrol server 10 generates a survey result master by adding information on latitude and longitude serving as base points at regular intervals to the generated three-dimensional data.
Note that the surveyed data and the photographed data included in the survey result master have overlapping portions (data acquired at the intersection), such as when traveling east-west at an intersection and then traveling north-south. Surface-based generation processing is performed by synchronizing this overlapping portion with the survey result master. At that time, in the survey result master, the data are connected (joined) based on the information of the latitude and longitude which are the base points.

<Site inspection required information generation process by patrol server>
FIG. 21 is a flowchart showing a site confirmation information generation process by the patrol server according to the embodiment of the present invention.
When the sub-routine step S500 is called, the patrol server 10 executes the program shown in the flowchart of the on-site confirmation information generation process.
In step S501, the patrol server 10 performs three-dimensional data processing on supports such as electric poles, pole equipment, electric wires, and structures in the image stored in the survey result master after the surface-based generation processing. , Sharpen.
In step S505, the patrol server 10 calls a subroutine program of the recognition result table generation process (FIG. 22, S600).
In step S510, the patrol server 10 calls the subroutine program of the abnormal point table generation processing (FIG. 24, S700).

In step S515, the patrol server 10 adds the name of the specified target object to the abnormal point table.
In step S520, the patrol server 10 calls a subroutine program of the abnormal point table editing process (FIG. 29, S900).
In step S525, the patrol server 10 creates required site confirmation information (abnormal point measurement result / image data) from the abnormal point table.
In step S530, the patrol server 10 displays the required site confirmation information on the display unit 57 via the display control unit 56.

<Recognition result table generation process by patrol server>
FIG. 22 is a flowchart showing the recognition result table generation processing by the inspection server according to the embodiment of the present invention.
In step S601, the patrol server 10 names the object and its range (from the base point of the electric wire to the end point, the utility pole, the pole equipment, the building, and the standing bamboo tree) based on the image data that is a still image captured by the camera. AI range (such as the range on the image) is recognized (the electric pole, the pole equipment, the electric wire, the structure, the tree, etc. are recognized by the image matching), and the measurement result master is matched.
Here, in step S601, not only image data which is a still image taken by a camera but also electric line facility information may be used. That is, in the recognition result table generation process, not only the AI determination but also the target object can be specified to some extent by using the electric line facility information to specify the target object.

Here, the processing by the recognition result data generation unit 10b will be described with reference to FIG.
That is, the recognition result data generation unit 10b, based on the image data collected while moving the shooting position from the inspection target area, the shooting direction data θ _s1 of the image data, and the shooting position data (x ₁ , y ₁ ), By referring to the storage information of the electric line facility information storage unit (information storage means) 10a, the type name and position data of the target object and the position data of the approaching object approaching the target object are recognized, and the type of target object The recognition result data including the name and position data is generated.
More specifically, the recognition result data generation unit 10b _calculates the shooting direction data (x ₁ , y ₁ ) from the shooting position data (x ₁ , y ₁ ) based on the shooting direction data θ _s1 of the image data and the shooting position data (x ₁ , y ₁ ). A position data group located within a range of, for example, ± 10 degrees of θ _s1 is calculated, and electric line facility information having stored information including position data closest to the position data group is converted into electric line facility information storage unit (information storage means). ) 10a, and the recognition result data including the type name and position data of the object is generated.

  Here, the recognition result data generation unit 10b uses the image storage unit 10f that stores the type name of the target object and the image data of the target object in association with each other, the image data collected from the inspection target area, and the image storage unit 10f. And a correlation degree calculation unit 10g that calculates the correlation degree with the acquired image data, and the recognition result data generation unit 10b, when the correlation degree calculated by the correlation degree calculation unit 10g exceeds a predetermined threshold value, By referring to the image storage unit 10f, the type name of the target object included in the image data is specified, the position data corresponding to the target object is added, and the recognition result data is generated.

The correlation degree calculation unit 10g scans the image data collected from the inspection target area and sequentially cuts out partial images, and correlates the correlation coefficient (correlation) between the partial images and the image data (template image) acquired from the image storage unit 10f. The degree) may be calculated using a known calculation formula. The recognition result data generation unit 10b determines that a partial image whose correlation coefficient (correlation degree) calculated by the correlation degree calculation unit 10g is higher than a predetermined threshold value is a matching position (X , Y, Z).
Here, the center position of the image area is assumed to be coincident with the imaging direction data theta _s1, matching position of the photographing direction data theta _s1 and the object (X, Y, Z) and the difference is the amount of displacement ([Delta] X , ΔY, ΔZ).
Therefore, the direction of the shooting direction data θ _s1 from the shooting position data (x ₁ , y ₁ ) is the center position, and the position of the displacement amount (ΔX, ΔY, ΔZ) from the center position is the predicted position of the object.
Then, based on the predicted position of the target object, the electric line facility information having the stored information including the closest position data is searched from the electric line facility information storage unit (information storage means) 10a, and the type name and position of the target object are searched. Generate recognition result data including data.

In step S605, the patrol server 10 refers to identification information such as latitude / longitude or electric pole number of the electric line facility information based on the survey data included in the survey result master as a cooperative process for the AI determination. The matching object is extracted to identify what the object is.
Here, the processing by the recognition result data generation unit 10b will be described with reference to FIG.
That is, the recognition result data generation unit 10b, based on the depth data collected while moving the imaging position from the inspection target area, the survey direction data θ _s1 of the depth data, and the survey position data (x ₁ , y ₁ ), By referring to the storage information of the electric line facility information storage unit (information storage means) 10a, the type name and position data of the object and the position data of the approaching object approaching the object are recognized, and the type of the object Generating recognition result data including name and position data.
Specifically, the recognition result data generation unit 10b uses the survey position data (x ₁ , y ₁ ) to measure the survey direction data based on the survey direction data θ _s1 of the depth data and the survey position data (x ₁ , y ₁ ). A position data group located within a range of, for example, ± 10 degrees of θ _s1 is calculated, and electric line facility information having stored information including position data closest to the position data group is converted into electric line facility information storage unit (information storage means). ) 10a, and the recognition result data including the type name and position data of the object is generated.

Here, the recognition result data generation unit 10b uses the image storage unit 10f that stores the type name of the target object and the survey data of the target object in association with each other, the survey data collected from the inspection target area, and the image storage unit 10f. And a correlation degree calculation unit 10g that calculates a correlation degree with the acquired survey data, and the recognition result data generation unit 10b refers to the image storage unit 10f when the correlation degree exceeds a predetermined threshold value. , The type name of the object included in the survey data is specified, the position data corresponding to the object is added, and the recognition result data is generated.
In step S620, the patrol server 10 adds the latitude / longitude of an arbitrary point of the object in order to display the latitude / longitude in the recognition result table.

In step S610, the patrol server 10 generates an identification master that can be divided (displayed separately) into object units according to the result of the butt processing based on the survey result master.
In step S615, the patrol server 10 simultaneously adds identification numbers to all the divided objects and adds the AI-determined object name to each of them to generate a recognition result table.

<Recognition result table>
FIG. 23 is a diagram showing a recognition result table according to the embodiment of the present invention.
As shown in FIG. 22, the recognition result table 210 is a table for recording the identification result of the object, and the identification number, the latitude / lightness, and the object name are described in the horizontal direction. Telephone poles, electric wires, structures, communication lines, trees, etc. are written in the vertical direction.

<Abnormal point table generation process by patrol server>
FIG. 24 is a flowchart showing an abnormal point table generation process by the patrol server according to the embodiment of the present invention.
When the sub-routine step S700 is called, the patrol server 10 executes the program shown in the flowchart of the abnormal point table generation process.
In step S701, the patrol server 10 performs a processing order [1 ] To [n] are set, and the algebra k = 1.
In step S705, the inspection server 10 determines to extract the abnormal point of the k-th processing target.
In step S710, the inspection server 10 selects the determined processing target object from the recognition result table and creates the inspection target table.

In step S715, the patrol server 10 calculates, for each record number of the patrol target table, the ground height from the latitude / lightness of the target object to the lowest point (in the case of ground clearance) on the survey result master, and performs the patrol. Store in target table. Alternatively, the patrol server 10 calculates, for each record number in the patrol target table, the separation distance from the latitude / lightness of the target object to the point where the electric work on the survey result master and the other object are closest to each other. , Are stored in the inspection target table.
That is, the separation distance calculation unit 10c calculates the separation distance between the position data regarding the object included in the recognition result data and the position data regarding the approaching object approaching the object.
In step S720, the patrol server 10 compares, for each record number of the patrol target table, the ground height or the separation distance with the judgment standard of the ground height or the separation distance in the decision table of the laws and standards regarding the processing target. To determine whether it is normal or abnormal (butting).
That is, the determination unit 10d determines whether or not the separation distance between the target object and the approaching object satisfies the installation standard for the target object.
Here, the determination unit 10d refers to the type of the object and the separation distance representing the installation standard corresponding to the type of the object, and the installation standard relating to the separation distance between the object and the approaching object. It is determined whether or not is satisfied.

In step S725, the patrol server 10 extracts the record number of the patrol target table in which there is a deviation (abnormality) from the law / standard, and creates an abnormal point table.
In step S730, the patrol server 10 adds 1 to the algebra k to calculate k = k + 1.
In step S735, the inspection server 10 determines whether the algebra k has reached k = n + 1. The patrol server 10 returns to step S705 if the algebra k has not reached n + 1, while ending the process if the algebra k has reached n + 1.
That is, the identifying unit 10e identifies the type name related to the object when it is determined that the separation distance between the object and the approaching object does not satisfy the installation standard for the object.
Here, the electric line facility information storage unit 10a that stores the electric line facility information including the electric pole number and line type related to the object by associating the position data related to the object with the electric line facility information storage unit 10a, and the specifying unit 10e approaches the object. When the separation distance from the object does not satisfy the installation standard, the electric line facility information corresponding to the position data is extracted from the electric line facility information storage unit 10a using the position data of the object as a key.

<Electric line>
FIG. 25A is a diagram showing an example of how the electric line is drawn into the house.
As shown in FIG. 25 (a), the electric line 225 laid between the electric pole 221 and the house 223 has a different ground clearance depending on its position.
The electric line 225 has slack, and the ground clearance and the separation distance change from one end to the other. For example, points A, B, and D may meet the ground clearance standard, but point C may not meet the standard.

<Electric line and trees>
FIG. 25B is a diagram showing an example of a photographed image including a state of electric lines and trees, or survey data.
In the captured image 227 or the survey data 227 shown in FIG. 25B, a tree 222 exists below the electric line 225.

<Position relationship in shooting situation or survey situation>
FIG. 25C is a plan view showing a positional relationship in a shooting situation or a survey situation including a state of electric lines and trees.
In the plan view shown in FIG. 25C, a vehicle 299 that travels on a traveling route including the road 228 in the traveling direction θ _h , a vehicle 299 mounted on the roof portion of the vehicle 299, cameras 32-1 to 5 and a LIDAR 34-1. The case 151 that accommodates 5 to 5 together is shown.
Further, a tree 222 exists below the electric line 225 in the direction θ _s1 from the case 151. The position coordinates of the case 151 are (x ₁ , y ₁ ). It also indicates the current azimuth obtained from the geomagnetic sensor 66.
Here, the direction θ _s1 is the center direction in the vehicle wheel base surface (parallel surface) of the photographing angle range of the camera 32-1 housed in the case 151, or the vehicle wheel base surface of the surveying angle range of LIDAR 34-1. It represents the central direction on the (parallel plane).

<Direction>
FIG. 25D is a diagram showing a directional relationship in a shooting situation or a survey situation.
In the present invention, the direction represents the direction in the horizontal plane at a certain point in relation to the azimuth obtained from the reference geomagnetic sensor 66.
In FIG. 25D, the y-axis direction is the azimuth acquired from the geomagnetic sensor 66, and the direction orthogonal to the y-axis direction is the x-axis direction. The traveling direction θ _h represents an angle obtained by adding the azimuth obtained from the geomagnetic sensor 66 to the angular velocity data obtained from the angular velocity sensor 67.
The direction θ _s1 represents an angle obtained by adding the azimuth acquired from the geomagnetic sensor 66 to the center direction of the camera 32-1 or the center direction of the LIDAR 34-1.
Note that, in FIG. 25, the center direction of the camera 32-1 or the center direction of the LIDAR 34-1 is set as the direction θ _s1 in order to simplify the description, but the center direction of the cameras 32-2 to 32-4, or The respective central directions of the LIDARs 34-2 to 34-4 may be directions θ _s2 to θ _s4 .

<Table for inspection>
FIG. 26 is a diagram showing the inspection target table according to the embodiment of the present invention.
As shown in FIG. 26, the patrol target table 230 describes record numbers, latitude / longitude, object names, ground height h, separation distance d1, separation distance d2, separation distance d3, and separation distance d4 in the horizontal direction. . The inspection target table shown in FIG. 26 describes, for example, low-voltage distribution lines as object names.

<Abnormal point table>
FIG. 27 is a diagram showing an abnormal point table according to the embodiment of the present invention.
In the inspection target table shown in FIG. 26, since there are abnormal points in 1 and 4 of the record numbers 1 to 4, the abnormal point table shown in FIG. 27 is created by extracting them.
As shown in FIG. 27, in the abnormal point table 240, record numbers, latitude / longitude, object names, ground clearance h, separation distance d1, separation distance d2, separation distance d3, separation distance d4 are described in the horizontal direction. . Note that the shaded portions in the abnormal point table shown in FIG. 27 show an example of abnormal numerical values.

<Image processing by patrol server>
FIG. 28 is a flowchart showing image processing by the patrol server according to the embodiment of the present invention.
The patrol server 10 executes the program shown in the flowchart of image processing when step S800, which is a subroutine, is called.
In step S801, the patrol server 10 generates an emphasized image from the image of the approaching point obtained by the three-dimensional data processing when changing the display color of the approaching point stored in the abnormal point table.

In step S805, the patrol server 10 generates a magnified / reducible image that can be magnified / reduced with respect to the approaching location and its surroundings even when designated by an operation.
In step S810, the patrol server 10 generates an image in which the image being displayed can be freely rotated (360 degrees) even if the image rotation is designated by the mouse operation.
In step S815, the patrol server 10 displays the text of the image data so that the distance (ground height, separation distance, etc.) between the objects existing at any two points can be displayed even when the pointer is designated by the mouse operation. Embed in the text layer.

<Abnormal point table editing process by patrol server>
FIG. 29 is a flowchart showing an abnormal point table editing process by the patrol server according to the embodiment of the present invention.
When the sub-routine step S900 is called, the patrol server 10 executes the program shown in the flowchart of the abnormal point table editing process.
In step S901, the patrol server 10 loads the abnormal point table on the memory.
In step S905, the patrol server 10 displays an abnormal point table.

In step S910, the patrol server 10 determines whether or not the user has selected one of the address, telephone pole number, workpiece type, and abnormal point according to the mouse operation. The patrol server 10 returns to step S910 when any one of the address, telephone pole number, workpiece type, and abnormal point is not selected, while the address, telephone pole number, workpiece type, and abnormal point If any one is selected, the process proceeds to step S915.
In step S915, the patrol server 10 rearranges the abnormal point table expanded on the memory using any one of the selected address, telephone pole number, workpiece type, and abnormal point as a key.
In step S925, the patrol server 10 displays the rearranged abnormal point table.

<Patrol result information, abnormal point information>
FIG. 30 is a diagram showing inspection result information and abnormal point information according to the embodiment of the present invention.
As shown in FIG. 30, the inspection result information and the abnormal point information 250 include a serial number, latitude / longitude, address, telephone pole number, workpiece type, abnormal point, and result in the horizontal direction. As shown in FIG. 30, for example, the address is “4-33, Komachi, Naka-ku”, the telephone pole number is “Komachi (min) 1”, the work type is “concrete pillar”, the abnormal point is “excessive inclination”, the result “10 °” is described as.
When editing the inspection result information and the abnormal point information 250, the address, the telephone pole number, the work type, and the abnormal point are selected (extracted) as keys and rearranged based on the abnormal point table 240 shown in FIG. 27. You can

<Individual result information display processing on the design worker's PC for design work>
FIG. 31 is a flowchart showing the display processing of the individual result information by the design work personal computer on the design worker side according to the embodiment of the present invention.
The design work personal computer 40 executes the program represented by the flowchart S1000 for displaying the individual result information at the time of startup.
In step S1001, the design work personal computer 40 receives the inspection result information from the inspection server 10.
In step S1005, the design work personal computer 40 displays the inspection result information on the display unit 79 via the display control unit 78.

In step S1010, the design work personal computer 40 determines whether or not an individual target is selected from the inspection target information (observation target table) or the abnormal point information. Here, the design work personal computer 40 returns to step S1010 when the individual target is not selected, and proceeds to step S1015 when the individual target is selected.
When selecting the individual target, it is possible to select from the inspection target information (observation target table) or the abnormal point information (abnormal point information).
In step S1015, the design work personal computer 40 transmits the serial number of the individual target to the inspection server 10.
In step S1020, the design work personal computer 40 receives the three-dimensional data and the still image of the object from the patrol server 10.

In step S1025, the design work personal computer 40 displays the three-dimensional data of the object (electric pole, electric wire, structure, etc.) that is sharpened and the abnormal points are emphasized, and also displays a normal still image from the same viewpoint. It is displayed on the display unit 79 via the control unit 78.
In step S1030, the design work personal computer 40 creates text representing the target position, type, and abnormal point, and displays the text on the display unit 79 via the display control unit 78 as individual result information.
In step S1035, the design work personal computer 40 collects the specification information of the equipment required for the repair of the abnormal point from the facility DB such as the electric line and displays it on the display unit 79 via the display control unit 78 in an interconnected manner.
In step S1040, the design work personal computer 40 refers to the individual result information and displays a message prompting the consideration of the correspondence policy on the display unit 79 via the display control unit 78.

<Effects of this embodiment>
According to the present embodiment, during traveling, an image of a subject including a building, an electric wire, and a pillar is photographed, a photographing position is acquired, and inspection result information in which the photographing position is added to the image of the subject is acquired. By image-processing the information, it is possible to calculate the distance between the electric wire and the pillar with respect to the building and determine whether the distance between the electric wire and the pillar with respect to the building meets the installation standard.

<Other Embodiments (Part 1)>
In the first embodiment, the patrol server 10 includes an electric line facility information storage unit 10a that stores electric line facility information including an electric pole number and a line type related to the object in association with position data of the object. When the distance between the object and the approaching object does not meet the installation standard, the unit 10e uses the position data of the object as a key to store the electric line facility corresponding to the position data from the electric line facility information storage unit 10a. Although the feature is that information is extracted, the present invention is not limited to such technical matters.

That is, as another embodiment, an object information storage unit (not shown) is provided instead of the electric line facility information storage unit 10a, and the object information storage unit is an advertising signboard, a road sign, a guardrail, or a roadside tree. , A slope, a tunnel, a building, etc. made by cutting or embankment is an object, and the object position information is stored in association with the object information including the object number and the type of the object.
When the separation distance between the target object and the approaching object does not satisfy the installation standard, the specifying unit 10e uses the position data of the target object as a key to obtain target object information corresponding to the position data from the target object information storage unit. Extract.
Thereby, when the separation distance between the object and the approaching object does not satisfy the installation standard, the object information corresponding to the position data is extracted from the object information storage unit using the position data of the object as a key. be able to.
As a result, it is possible to grasp the status of objects such as advertising signs, road signs, guardrails, street trees, slopes made by cut and embankment, tunnels, buildings, and the like. It is possible to create a building exterior condition and space map.

<Other Embodiments (Part 2)>
In the first embodiment, the inspection server 10 includes an inspection integrated information generation unit 10h that generates inspection integrated information related to the inspection target area, and a transmission unit 10i that transmits the inspection integrated information to the inspection PC 30. The integrated information generation unit 10h for patrol includes laws and regulations that represent electric line information that represents position data related to electric wires and columns, building information that represents position data related to buildings, and installation standards related to buildings, electric wires and columns. The feature is that the integrated inspection information regarding the inspection target area is generated based on the reference information and the map information in the power supply area, but the present invention is not limited to such technical matters.

That is, as another embodiment, the patrol integrated information generation unit 10h outputs position data relating to objects such as advertising signs, road signs, guardrails, roadside trees, slopes made by cut and embankment, tunnels, and buildings. A patrol related to the patrol target area based on the target object information, the building information that represents the position data related to the building, the legal standard information that indicates the installation standard for the building and the object, and the map information in the specified area To generate integrated information for use.
As a result, advertisement signboards, road signs, guardrails, roadside trees, slopes made by cut and embankment, object information showing position data on objects such as tunnels, buildings, etc., architecture showing position data on buildings. Generates patrol integrated information related to the patrol target area based on the object information, the building, and the legal standard information indicating the installation standard related to the object, and the map information in the specified area, and patrols the patrol integrated information. It can be transmitted to the personal computer 30.

<Summary of Actions and Effects of Aspect Example of Present Embodiment>
<First mode>
The patrol server 10 according to this aspect moves an imaging position from the patrol target area, and an electric line facility information storage unit (information storage means) 10a that stores the type name and position data of the object arranged in the patrol target area. While referring to the storage information of the electric line facility information storage unit (information storage means) 10a based on the collected image data, the shooting direction data of the image data, and the shooting position data, the type name and position of the target object Data, a recognition result data generation unit 10b that recognizes position data of an approaching object that is approaching the target object, and generates recognition result data including the type name and position data of the target object; A separation distance calculation unit 10c that calculates a separation distance from the position data of the approaching object, and a determination unit 10d that determines whether or not the separation distance satisfies an installation standard for the object. And a specifying unit 10e that specifies the type name of the target object and position data when it is determined that the separation distance between the target object and the approaching object does not meet the installation standard for the target object. Is characterized by.
According to this aspect, based on the image data collected from the inspection target area, the shooting direction data of the image data, and the shooting position data, the type name and position data of the target object and the approaching object approaching the target object. By recognizing the position data, the separation distance between the position data of the object and the position data of the approaching object is calculated, and the separation distance between the object and the approaching object meets the installation standard for the object. If it is determined that there is no object, the type name of the object and the position data are specified.
Therefore, when the separation distance between the object and the approaching object does not satisfy the installation standard for the object, the type name and position data of the object can be specified.

<Second aspect>
The recognition result data generation unit 10b according to the present aspect includes an image storage unit 10f that stores the type name of the target object and the image data of the target object in association with each other, image data collected from the inspection target area, and the image storage unit 10f. And a correlation degree calculation unit 10g that calculates the degree of correlation with the acquired image data, and the recognition result data generation unit 10b includes an object included in the image data when the degree of correlation exceeds a predetermined threshold. The feature is that the type name is specified, the position data of the object is added, and the recognition result data is generated.
According to this aspect, when the degree of correlation between the image data collected from the inspection target area and the image data acquired from the image storage unit 10f exceeds a predetermined threshold value, the type name of the target object included in the image data. Can be specified and the position data of the object can be added to generate recognition result data.

<Third aspect>
The determination unit 10d according to the present aspect refers to the type of the object and the separation distance that represents the installation standard corresponding to the type of the object, and the separation distance between the object and the approaching object relates to the installation standard. It is characterized in that whether or not is satisfied is determined.
According to this aspect, the separation distance between the object and the approaching object satisfies the installation standard relating to the object with reference to the type of the object and the separation distance representing the installation standard corresponding to the type of the object. Can be determined.

<Fourth aspect>
The patrol server 10 according to this aspect includes an electric line facility information storage unit 10a that stores electric line facility information including an electric pole number and a line type related to the target object in association with position data of the target object. When the separation distance between the object and the approaching object does not meet the installation standard, the electric line facility information corresponding to the position data is extracted from the electric line facility information storage unit 10a using the position data of the object as a key. It is characterized by doing.
According to this aspect, when the separation distance between the object and the approaching object does not satisfy the installation standard, the electric wire corresponding to the position data from the electric line facility information storage unit 10a is set using the position data of the object as a key. Road facility information can be extracted.

<Fifth aspect>
The inspection server 10 according to this aspect includes an inspection integrated information generation unit 10h that generates inspection integrated information related to the inspection target area, and a transmission unit 10i that transmits the inspection integrated information to the inspection PC 30. The integrated information generation unit 10h for patrol uses electric line information indicating position data related to electric wires and stanchions, building information indicating position data related to buildings, and legal standard information indicating installation standards related to buildings, electric wires and stanchions, It is characterized in that the integrated inspection information for the inspection target area is generated based on the map information in the power supply area.
According to this aspect, the electric line information indicating the position data related to the electric wire and the pillar, the building information indicating the position data related to the building, the legal standard information indicating the installation standard related to the building, the electric wire and the pillar, and the power supply area Based on the map information in the inside, it is possible to generate inspection integrated information related to the inspection target area and transmit the inspection integrated information to the inspection personal computer 30.

<Sixth aspect>
A patrol inspection system 1 according to the present aspect includes a patrol server 10 according to any one of the first to fourth aspects, an object, and an approaching object that is placed in a moving body and is approaching the object. And a personal computer 30 for patrol that collects image data.
According to this aspect, the inspection inspection system 1 can collect image data of an object and an approaching object which is placed on a moving body and is approaching the object by the inspection personal computer 30.

<Seventh mode>
The inspection personal computer 30 of this aspect includes a travel route display unit 30b that displays a travel route so as to move within the inspection target area based on the inspection integrated information acquired from the inspection server 10, and a surrounding area including an object. The image pickup unit 30c that obtains image data by photographing the landscape of No. 2 and the inspection result information generation unit 30e that adds surveying positions to the image data to generate inspection result information.
According to this aspect, the inspection personal computer 30 displays the traveling route so as to move within the inspection target area based on the inspection integrated information acquired from the inspection server 10 to display the surrounding scenery including the target object. It is possible to obtain image data by shooting, add surveying positions to the image data, and generate inspection result information.

<Eighth aspect>
The inspection inspection system 1 according to this aspect includes a personal computer 30 for inspection, which is arranged in a moving body and collects image data of an object and an approaching object approaching the object, and a target area for inspection received from the personal computer for inspection. A patrol inspection system 1 comprising: a patrol server 10 for inspecting whether or not an object meets an installation standard based on the image data according to 1. The patrol personal computer 30 receives from the patrol server. Based on the travel route related to the inspection target area, a travel route display unit 30b that displays the travel route so as to move in the inspection target area, and an image capturing unit that captures image data by capturing the surrounding landscape including the target object. 30 c, and a transmitting unit 30 f that adds a surveying position to the image data and transmits the image data to the inspection server. And a transmission line 10i for transmitting to the user, an electric line facility information storage unit 10a that stores the type name and position data of the object placed in the inspection target area, and an image collected while moving the shooting position from the inspection target area. Based on the data, the shooting direction data of the image data, and the shooting position data, by referring to the storage information of the electric line facility information storage unit 10a, the type name and position data of the target object, the approaching proximity to the target object A recognition result data generation unit 10b that recognizes the position data of an object and generates recognition result data including the type name and position data of the object, and the distance between the position data of the object and the position data of the approaching object. A separation distance calculation unit 10c that calculates a distance, a determination unit 10d that determines whether or not the separation distance between the object and the approaching object meets an installation standard for the object, and When it is determined that the separation distance between the object and the approaching object does not satisfy the installation standard related to the object, the specifying unit 10e that specifies the type name of the object and the position data is provided. Characterize.
According to this aspect, based on the image data collected from the inspection target area, the shooting direction data of the image data, and the shooting position data, the type name and position data of the target object and the approaching object approaching the target object. By recognizing the position data, the separation distance between the position data of the object and the position data of the approaching object is calculated, and the separation distance between the object and the approaching object meets the installation standard for the object. If it is determined that there is no object, the type name of the object and the position data are specified.
Therefore, when the separation distance between the object and the approaching object does not satisfy the installation standard for the object, the type name and position data of the object can be specified.

N1 ... Network, N2 ... Network, 1 ... Patrol inspection system, 10 ... Patrol server, 10a ... Electric line facility information storage unit, 10b ... Recognition result data generation unit, 10c ... Separation distance calculation unit, 10d ... Judgment unit, 10e ... Specification part, 10f ... Image storage part, 10g ... Correlation degree calculation part, 10h ... Integrated inspection information generation part, 10i ... Transmission part, 10j ... Reception part, 10k ... Installation standard storage part, 12 ... Law / standard information DB , 14 ... Electric line facility information DB, 16 ... Map information DB, 18 ... Travel route information DB, 20 ... Integrated information DB for inspection, 22 ... Site confirmation information DB required, 30 ... PC for inspection (terminal for inspection), 30a ... reception unit, 30b ... travel route display unit, 30c ... shooting unit, 30d ... surveying unit, 30e ... inspection result information generation unit, 30f ... transmission unit, 32 ... camera, 34 ... LIDAR, 36 ... 38, patrol result information DB, 39 ... display unit, 40 ... design work PC, 42 ... site confirmation information DB, 50 ... work PC, 52 ... site confirmation information DB, 54 ... operation unit, 55 ... Communication control unit, 56 ... Display control unit, 57 ... Display unit, 58 ... Database DB, 58 ... Database DB group, 59 ... Main control unit, 60 ... Dimensional image processing unit, 61 ... Patrol result information DB, 63 ... Camera ... LIDAR control part, 64 ... Main control part, 65 ... GPS receiver, 66 ... Geomagnetic sensor, 67 ... Angular velocity sensor, 68 ... Communication control part, 69 ... Display control part, 70 ... Display part, 71 ... Operation part, 75 ... Main control unit, 76 ... Operating unit, 77 ... Communication control unit, 78 ... Display control unit, 79 ... Display unit, 81 ... Camera, 82 ... LIDAR, 83 ... Camera / LIDAR control unit, 84 ... Patrol result information DB, 85 Main control unit, 86 ... GPS receiver, 87 ... Geomagnetic sensor, 88 ... Angular velocity sensor, 89 ... Communication control unit, 90 ... Operation unit, 91 ... Display control unit, 92 ... Display unit, 110 ... Road map screen, 111 ... Roads, 113 ... Utility poles, 115 ... Designated area, 115 ... Designated area, 120 ... Enlarged display area, 123 ... Electric line facility information, 130 ... Running route information, 140 ... Law / standard information, 143 ... Law / standard information, 151 ... Case, 160 ... Still image, 161 ... Utility pole, 163 ... Building, 164 ... Electric wire, 165 ... Schematic diagram, 166 ... Utility pole, 167 ... Building, 168 ... Electric wire, 180 ... Decision table, 190 ... Patrol integration Information, 195 ... Inspection integrated layer, 200 ... Inspection result information, 205 ... Inspection result layer, 210 ... Recognition result table, 221 ... Utility pole, 223 ... House, 22 5 ... Electric line, 230 ... Inspection target table, 240 ... Abnormal point table, 250 ... Abnormal point information

Claims (8)

An information storage unit for storing the type name and position data of the object arranged in the inspection target area;
Based on the image data collected while moving the shooting position from the inspection target area, the shooting direction data of the image data, and the shooting position data, the storage information of the information storage means is referred to, and the type name of the target And recognition result data generating means for recognizing the position data and the position data of the approaching object approaching the object, and generating recognition result data including the type name of the object and the position data.
A distance calculation means for calculating a distance between the position data of the object and the position data of the approaching object;
Determination means for determining whether or not the separation distance satisfies an installation standard for the object,
When it is determined that the separation distance between the object and the approaching object does not meet the installation standard for the object, a specifying unit that specifies the type name of the object and position data, A patrol server comprising: The recognition result data generating means,
An image storage unit that stores the type name of the object and the image data of the object in association with each other,
Image data collected from the inspection target area, and a correlation degree calculating means for calculating a correlation degree between the image data acquired from the image storage means,
The recognition result data generating means, when the degree of correlation exceeds a predetermined threshold value, identifies the type name of the target object included in the image data, adds position data of the target object, and generates recognition result data. The patrol server according to claim 1, wherein:   The determination means refers to the type of the object and a separation distance that represents an installation reference corresponding to the type of the object, and the separation distance between the object and the approaching object is the object. The patrol server according to claim 2, wherein it is determined whether or not the related installation criteria are satisfied. An electric line facility information storage unit that stores electric line facility information including the electric pole number and line type related to the object in association with the position data of the object,
When the separation distance between the object and the approaching object does not satisfy an installation standard, the specifying means uses the position data of the object as a key to store the position data from the electric line facility information storage means. The patrol server according to claim 1, wherein the electric line facility information corresponding to is extracted. Inspection integrated information generation means for generating inspection integrated information relating to the inspection target area,
A transmitting means for transmitting the inspection integrated information to the inspection terminal,
The patrol integrated information generating means is electric line information indicating position data regarding electric wires and columns, building information indicating position data regarding buildings, legal standard information indicating installation standards regarding buildings, electric lines and columns, The inspection server according to claim 1, wherein integrated inspection information relating to the inspection target area is generated based on map information in the power supply area. A patrol server according to any one of claims 1 to 4,
A patrol inspection system, comprising: a patrol terminal that is arranged on the moving body and that collects image data of an object and an approaching object that is approaching the object. The patrol terminal is
Travel route display means for displaying a travel route so as to move in the inspection target area based on the inspection integrated information acquired from the inspection server;
An image capturing unit that captures image data by capturing an image of a surrounding landscape including the object.
The inspection inspection system according to claim 5, further comprising inspection result information generation means for adding inspection positions to the image data to generate inspection result information. A patrol terminal that is arranged on a moving body and collects image data of an object and an approaching object that is located around the object;
Based on image data related to the inspection target area received from the inspection terminal, a patrol server for inspecting whether the object meets an installation standard, and a patrol inspection system,
The patrol terminal is
Travel route display means for displaying a travel route so as to move within the inspection target area based on the travel route related to the inspection target area received from the inspection server;
An image capturing unit that captures image data by capturing an image of a surrounding landscape including the object.
A transmitting unit that adds a surveying position to the image data and transmits the image data to the patrol server;
The patrol server is
Transmitting means for transmitting the travel route related to the inspection target area to the inspection terminal;
An information storage unit for storing the type name and position data of the object arranged in the inspection target area;
Based on the image data collected while moving the shooting position from the inspection target area, the shooting direction data of the image data, and the shooting position data, the storage information of the information storage means is referred to, and the type name of the target And recognition result data generating means for recognizing the position data and the position data of the approaching object approaching the object, and generating recognition result data including the type name of the object and the position data.
A distance calculation means for calculating a distance between the position data of the object and the position data of the approaching object;
Determination means for determining whether or not the separation distance between the object and the approaching object satisfies an installation standard for the object,
When it is determined that the separation distance between the object and the approaching object does not meet the installation standard for the object, a specifying unit that specifies the type name of the object and position data, A patrol inspection system characterized by being equipped with.

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