JP2023009643A - Waypoint setting method, waypoint correction method, management server, information processing system, and program - Google Patents

Abstract

To provide a waypoint setting method and the like for simply and appropriately setting a waypoint for imaging an insulator and a member constituting a support material.SOLUTION: A waypoint setting method executes a step of calculating intermediate coordinates of an insulator chain executes a step of setting, as virtual line extension direction information, a direction in which a virtual line forming a predetermined angle with respect to a power line from the intermediate coordinates of the insulator chain extends in a direction that does not overlap a power line region, a step of obtaining a main post coordinates for a main post that extending vertically in the support material, a step of setting a bisecting point coordinate between the main post coordinates for two main posts at any height, a step of setting an insulator imaging waypoint on a virtual line extending from the intermediate coordinates of the insulator chain to a virtual line extending direction, and a step for setting a member imaging waypoint on a virtual line obtained by further extending the virtual line from the bisecting point coordinate to two main post coordinates located at both ends of opposite sides.SELECTED DRAWING: Figure 6

Description

The present invention relates to a waypoint setting method, a waypoint correction method, a management server, an information processing system, and a program.

BACKGROUND ART In recent years, flying vehicles (hereinafter collectively referred to as “flying vehicles”) such as drones and unmanned aerial vehicles (UAVs) have begun to be used in industry. Under these circumstances, Patent Literature 1 discloses a system for inspecting power lines by photographing them with an aircraft.

JP 2020-196355 A

However, in the technique disclosed in Patent Literature 1, it is necessary to preset and store all waypoints by manual input or the like in order to create the flight path of the aircraft. Therefore, when the flight route becomes long, it takes time and effort to set waypoints for the entire flight route.

In particular, since the supports that support power lines have a complicated structure and many blind spots, there has been a demand for a method of simply and appropriately setting waypoints for photographing the members and insulators that make up the supports.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a waypoint setting method or the like for simply and appropriately setting waypoints for photographing insulators and members constituting a support. do.

The main invention of the present invention for solving the above-mentioned problems is a waypoint setting method for setting a waypoint for photographing insulators and members constituting a support for supporting a power line by a computer, a step of calculating intermediate coordinates of the insulator string by an insulator string intermediate coordinate acquisition unit based on the information on the bisection length of the insulator string and the information on the extension direction of the power line; A virtual line forming a predetermined angle with respect to the power line is extended in both the positive and negative directions, and is extended in a direction that does not overlap the power line area indicating the area on the support side of the power line in both directions. a step of setting the direction as virtual line extension direction information; and main pillar coordinates relating to the main pillar connected to the cross arm and the insulator to which the power line is attached and extending in the vertical direction in the support by the main pillar coordinate acquisition unit. a step of setting bisecting point coordinates between main pillar coordinates for two main pillars at an arbitrary height by a bisecting point coordinate setting unit; and a waypoint setting unit setting the insulator a step of obtaining information on the intermediate coordinates and the virtual line extension direction, and setting an insulator photographing waypoint on a virtual line extending from the intermediate coordinates of the insulator link in the virtual line extension direction; obtaining material coordinates, and setting a member shooting waypoint on a virtual line further extending the virtual line from the bisecting point coordinates to the two main column material coordinates located at both ends of the opposite side; A waypoint setting method or the like characterized by:

According to the present invention, in particular, it is possible to provide a waypoint setting method or the like for simply and appropriately setting waypoints for photographing insulators and members constituting a support.

1 is a diagram showing the configuration of an information processing system according to an embodiment of the present invention; FIG. 2 is a block diagram showing the hardware configuration of a management server in FIG. 1; FIG. 2 is a block diagram showing the hardware configuration of the user terminal in FIG. 1; FIG. FIG. 2 is a block diagram showing the hardware configuration of the flying object of FIG. 1; FIG. 2 is a block diagram showing functions of a management server in FIG. 1; FIG. 1 is an example of a conceptual diagram showing the configuration of a waypoint setting method according to an embodiment of the present invention; FIG. 1 is an example of a conceptual diagram showing the configuration of a waypoint setting method according to an embodiment of the present invention; FIG. 4 is a flow chart of a member waypoint setting method according to an embodiment of the present invention; It is a figure which illustrates the bisection point coordinate concerning embodiment of this invention. It is a figure which illustrates the member photography waypoint concerning embodiment of this invention. 4 is a flow chart of an insulator waypoint setting method according to an embodiment of the present invention; It is a figure which illustrates the insulator string intermediate coordinate concerning embodiment of this invention. It is a figure which illustrates the imaginary line extension direction concerning an embodiment of the invention. It is a figure which illustrates the insulator photography waypoint concerning embodiment of this invention. 4 is a flow chart of a waypoint correction method according to an embodiment of the present invention; 1 is an example of a conceptual diagram showing the configuration of a waypoint correction method according to an embodiment of the present invention; FIG. It is a figure which illustrates waypoint correction concerning embodiment of this invention.

The contents of the embodiments of the present invention are listed and explained. The present invention has, for example, the following configurations.
[Item 1]
A waypoint setting method for setting, by a computer, waypoints for photographing insulators and members constituting a support for supporting a power line,
to said computer,
a step of calculating intermediate coordinates of the insulator string based on the information on the bisection length of the insulator string and the information on the extension direction of the power line, by an insulator string intermediate coordinate obtaining unit;
A virtual line extending direction setting unit extends a virtual line forming a predetermined angle with respect to the power line from the intermediate coordinates of the insulator string in both the positive side and the negative side, and in the two directions, the support is closer to the power line than the power line. a step of setting, as virtual line extension direction information, a direction in which the virtual line extends in a direction that does not overlap the power line area indicating the area of
a main pillar coordinate acquisition unit acquiring main pillar coordinates related to a main pillar connected to a cross arm and an insulator to which the power line is attached and extending in the vertical direction in the support;
a step of setting bisecting point coordinates between main post coordinates for two main posts at an arbitrary height by a bisecting point coordinate setting unit;
acquiring the insulator string intermediate coordinates and the virtual line extending direction information by a waypoint setting unit, and setting an insulator photographing waypoint on a virtual line extending from the insulator string intermediate coordinates in the virtual line extending direction; Acquire the bisected point coordinates and the main pillar coordinates, and set the member shooting waypoint on the virtual line further extending the virtual line from the bisected point coordinates to the two main pillar coordinates located at both ends of the opposite side. and
to run
A waypoint setting method characterized by:

[Item 2]
The insulator string bisection length information is calculated based on the insulator string length information acquired from the insulator related information storage unit.
The waypoint setting method according to item 1, characterized by:
[Item 3]
The extension direction information of the power line is calculated based on the coordinates of the support regarding the power line mounting position of the cross arm of two adjacent supports.
3. A waypoint setting method according to any one of items 1 and 2, characterized by:
[Item 4]
A waypoint correction method for correcting a waypoint set by the waypoint setting method according to any one of items 1 to 3 by the computer,
The method further includes, if the waypoint is within a predetermined distance range from the support, moving the corresponding waypoint to a boundary of the predetermined distance range from the support or outside the boundary by the waypoint correction unit. ,
A waypoint correction method characterized by:
[Item 5]
A management server for managing waypoints for photographing insulators and members constituting supports that support power lines,
an insulator string intermediate coordinate acquisition unit that calculates insulator string intermediate coordinates based on the insulator string bisection length information and the extension direction information of the power line;
A virtual line that forms a predetermined angle with respect to the power line from the intermediate coordinates of the insulator string is extended in both the positive and negative directions, and is superimposed on the power line area indicating the area closer to the support than the power line in both directions. a virtual line drawing direction setting unit that sets a direction of drawing in a non-directional direction as virtual line drawing direction information;
a main pillar coordinate acquisition unit connected to the cross arm and the insulator to which the power line is attached and acquiring the main pillar coordinates related to the main pillar extending in the vertical direction in the support;
a bisecting point coordinate setting unit for setting bisecting point coordinates between main pillar coordinates for two main pillars at an arbitrary height;
The insulator string intermediate coordinates and the virtual line extension direction information are acquired, an insulator shooting waypoint is set on a virtual line extending from the insulator string intermediate coordinates in the virtual line extension direction, and the bisecting point coordinates and the main column are set. a waypoint setting unit that acquires member coordinates and sets a member photographing waypoint on a virtual line further extending the virtual line from the bisecting point coordinates to the two main column member coordinates located at both ends of the opposite side;
comprising
A management server characterized by:
[Item 6]
An information processing system for setting waypoints for photographing insulators and members constituting supports that support power lines,
an insulator string intermediate coordinate acquisition unit that calculates insulator string intermediate coordinates based on the insulator string bisection length information and the extension direction information of the power line;
A virtual line that forms a predetermined angle with respect to the power line from the intermediate coordinates of the insulator string is extended in both the positive and negative directions, and is superimposed on the power line area indicating the area closer to the support than the power line in both directions. a virtual line drawing direction setting unit that sets a direction of drawing in a non-directional direction as virtual line drawing direction information;
a main pillar coordinate acquisition unit connected to the cross arm and the insulator to which the power line is attached and acquiring the main pillar coordinates related to the main pillar extending in the vertical direction in the support;
a bisecting point coordinate setting unit for setting bisecting point coordinates between main pillar coordinates for two main pillars at an arbitrary height;
The insulator string intermediate coordinates and the virtual line extension direction information are acquired, an insulator shooting waypoint is set on a virtual line extending from the insulator string intermediate coordinates in the virtual line extension direction, and the bisecting point coordinates and the main column are set. a waypoint setting unit that acquires member coordinates and sets a member photographing waypoint on a virtual line further extending the virtual line from the bisecting point coordinates to the two main column member coordinates located at both ends of the opposite side;
comprising
An information processing system characterized by:
[Item 7]
A program for causing a computer to execute a waypoint setting method for setting waypoints for photographing insulators and members constituting supports that support a power line,
to said computer,
a step of calculating intermediate coordinates of the insulator string based on the information on the bisection length of the insulator string and the information on the extension direction of the power line, by an insulator string intermediate coordinate obtaining unit;
A virtual line extending direction setting unit extends a virtual line forming a predetermined angle with respect to the power line from the intermediate coordinates of the insulator string in both the positive side and the negative side, and in the two directions, the support is closer to the power line than the power line. a step of setting, as virtual line extension direction information, a direction in which the virtual line extends in a direction that does not overlap the power line area indicating the area of
a step of obtaining, by a main post coordinate acquisition unit, main post coordinates relating to a main post connected to a cross arm and an insulator to which the power line is attached and extending in the vertical direction in the support;
a step of setting bisecting point coordinates between main post coordinates for two main posts at an arbitrary height by a bisecting point coordinate setting unit;
acquiring the insulator string intermediate coordinates and the virtual line extending direction information by a waypoint setting unit, and setting an insulator photographing waypoint on a virtual line extending from the insulator string intermediate coordinates in the virtual line extending direction; Acquire the bisector point coordinates and the main pillar coordinates, and set the member shooting waypoint on the virtual line further extending the virtual line from the bisected point coordinates to the two main pillar coordinates located at both ends of the opposite side. and
to run
A program characterized by

<Details of Embodiment>
Hereinafter, embodiments of waypoint setting methods and the like according to embodiments of the present invention will be described. In the accompanying drawings, the same or similar elements are denoted by the same or similar reference numerals and names, and duplicate descriptions of the same or similar elements may be omitted in the description of each embodiment. Also, the features shown in each embodiment can be applied to other embodiments as long as they are not mutually contradictory.

<Configuration>
As shown in FIG. 1, the information processing system according to the present embodiment has a management server 1, one or more user terminals 2, and one or more aircraft 4. FIG. The management server 1, the user terminal 2, and the aircraft 4 are communicably connected to each other via a network. Note that the illustrated configuration is an example, and the configuration is not limited to this.

<Management server 1>
FIG. 2 is a diagram showing the hardware configuration of the management server 1. As shown in FIG. Note that the illustrated configuration is an example, and other configurations may be employed.

As illustrated, a management server 1 is connected to a plurality of user terminals 2 and an aircraft 4 and constitutes part of this system. The management server 1 may be, for example, a general-purpose computer such as a workstation or personal computer, or may be logically realized by cloud computing.

The management server 1 includes at least a processor 10 , a memory 11 , a storage 12 , a transmission/reception section 13 , an input/output section 14 and the like, which are electrically connected to each other through a bus 15 .

The processor 10 is an arithmetic device that controls the overall operation of the management server 1, controls transmission and reception of data between elements, executes applications, and performs information processing necessary for authentication processing. For example, the processor 10 is a CPU (Central Processing Unit) and/or a GPU (Graphics Processing Unit), and executes a program for this system stored in the storage 12 and developed in the memory 11 to perform each information process. .

The memory 11 includes a main memory composed of a volatile memory device such as a DRAM (Dynamic Random Access Memory), and an auxiliary memory composed of a non-volatile memory device such as a flash memory or a HDD (Hard Disc Drive). . The memory 11 is used as a work area for the processor 10, and stores a BIOS (Basic Input/Output System) executed when the management server 1 is started, various setting information, and the like.

The storage 12 stores various programs such as application programs. A database storing data used for each process may be constructed in the storage 12 .

The transmission/reception unit 13 connects the management server 1 to the network. The transmitting/receiving unit 13 may include a short-range communication interface of Bluetooth (registered trademark) and BLE (Bluetooth Low Energy).

The input/output unit 14 is an information input device such as a keyboard and a mouse, and an output device such as a display.

A bus 15 is commonly connected to the above elements and transmits, for example, address signals, data signals and various control signals.

<User terminal 2>
The user terminal 2 shown in FIG. 3 also includes a processor 20 , a memory 21 , a storage 22 , a transmission/reception section 23 , an input/output section 24 and the like, which are electrically connected to each other through a bus 25 . Since the function of each element can be configured in the same manner as the management server 1 described above, detailed description of each element will be omitted.

<Aircraft 4>
FIG. 4 is a block diagram showing the hardware configuration of the flying object 4. As shown in FIG. Flight controller 41 may have one or more processors, such as programmable processors (eg, central processing units (CPUs)).

The flight controller 41 also has a memory 411 and can access the memory. Memory 411 stores logic, code, and/or program instructions executable by the flight controller to perform one or more steps. The flight controller 41 may also include sensors 412 such as an inertial sensor (acceleration sensor, gyro sensor), GPS sensor, proximity sensor (for example, rider).

Memory 411 may include, for example, separable media or external storage devices such as SD cards and random access memory (RAM). Data acquired from cameras/sensors 42 may be communicated directly to memory 411 and stored. For example, still image/moving image data captured by a camera or the like may be recorded in an internal memory or an external memory. It may be recorded in one of the user terminals 2 . A camera 42 is installed on the flying object 4 via a gimbal 43 .

Flight controller 41 includes a control module, not shown, configured to control the state of the vehicle. For example, the control module may be configured to adjust the spatial orientation, velocity, and/or acceleration of a vehicle having six degrees of freedom (translational motions _x , _y , and _z , and rotational motions θx, θy, and θz). , ESC 44 (Electric Speed Controller) to control the propulsion mechanism (motor 45, etc.) of the aircraft. A propeller 46 is rotated by a motor 45 powered by a battery 48 to generate a lift force of the aircraft. The control module can control one or more of the states of the mount, sensors.

Flight controller 41 is configured to transmit and/or receive data from one or more external devices (e.g., transceiver (propo) 49, terminal, display, or other remote controller). It is possible to communicate with the unit 47 . Transceiver 49 may use any suitable means of communication, such as wired or wireless communication.

For example, the transceiver 47 utilizes one or more of a local area network (LAN), a wide area network (WAN), infrared, wireless, WiFi, point-to-point (P2P) networks, telecommunications networks, cloud communications, and the like. can do.

The transmitting/receiving unit 47 transmits and/or receives one or more of data obtained by the sensors 42, processing results generated by the flight controller 41, predetermined control data, user commands from a terminal or a remote controller, and the like. be able to.

Sensors 42 according to this embodiment may include inertial sensors (acceleration sensors, gyro sensors), GPS sensors, proximity sensors (eg lidar), or vision/image sensors (eg cameras).

<Management server functions>
FIG. 5 is a block diagram illustrating functions implemented in the management server 1. As shown in FIG. In the present embodiment, the management server 1 includes a main column coordinate acquisition unit 110, a bisecting point coordinate setting unit 120, an area setting unit 130, an insulator string intermediate coordinate acquisition unit 140, a virtual line extension direction setting unit 150, A storage unit 160 , a waypoint setting unit 170 , a flight execution unit 180 and a waypoint correction unit 190 are provided. The storage unit 160 also includes various databases including a support related information storage unit 162 , an insulator related information storage unit 164 , an area information storage unit 166 and a flight information storage unit 168 .

A main post coordinate acquisition unit 110 is connected to a cross arm and insulator to which a power line is attached, and acquires main post coordinates (at least a position in horizontal two-dimensional coordinates) of a main post extending in the vertical direction on a support. Acquired from the related information storage unit 162 . The coordinates of the main pillar may be stored in advance, for example, by the user selecting the position of the main pillar from the map information displayed on the user terminal 2, or by flying the aircraft 4 in advance. It may be calculated and stored directly or indirectly based on information acquired by various sensors (for example, GPS position information, atmospheric pressure sensor information, photographing information, etc.), or may be stored in advance by other methods. good too.

The bisecting point coordinate setting unit 120 calculates and sets the bisecting point coordinates between the main pillar coordinates for two main pillars at an arbitrary height (see FIG. 9, etc.). 162.

The area setting unit 130 sets, for example, a power line flight restriction area in which an aircraft is restricted from entering (see FIGS. 6, 7, 9, etc.), and determines the power line flight restriction area that defines the power line flight restriction area. The information is stored in area information storage unit 166 . The power line flight restriction area may be, for example, an area within a predetermined distance from the power line. In the area information storage unit 166, for example, the coordinates of the boundary defining the power line flight restriction area are directly stored as the power line flight restriction area information. Alternatively, the predetermined distance from the power line may be stored as the power line flight restriction area information, and the boundary coordinates may be calculated from the predetermined distance and the power line coordinate information in the area setting unit 130 . The region setting unit 130 sets a power line region indicating a region closer to the support than the power line from the coordinate information of the power line, and stores the power line region in the region information storage unit 166 .

The insulator string intermediate coordinate acquisition unit 140 acquires the length information of the insulator string from the insulator related information storage unit 164 to calculate the insulator string bisection length information, and the adjacent coordinate acquired from the support related information storage unit 162 . Information on the extension direction of the power line is calculated from the coordinates of the support (for example, at least the horizontal two-dimensional coordinates of the attachment point of the suspension insulator that supports the power line descending from the tip of the cross arm) regarding the power line attachment position of the cross arm of the two supports. Then, a position moved from the supporting object coordinates by the length of bisector of the insulator string in the extension direction of the power line is calculated as the insulator string intermediate coordinate, and the insulator string intermediate coordinate information is stored in the insulator related information storage unit 164 .

The virtual line extending direction setting unit 150 extends a virtual line forming a predetermined angle (for example, 45 degrees) with respect to the power line from the intermediate coordinate of the insulator string to a position of a predetermined length in both the positive and negative directions, The direction of extending to the position not included in the power line area among the two positions is stored in the insulator-related information storage unit 164 as virtual line extending direction information and set.

The waypoint setting unit 170 sets member shooting waypoints for acquiring acquisition information (for example, image information, video information, etc.) related to members constituting the support, and insulators installed near the tip of the cross arm of the support. Waypoints including at least an insulator photographing waypoint for obtaining acquisition information (for example, image information, video information, etc.) related to the power line are set on the boundary of the power line flight restriction area and stored in the flight information storage unit 168 . More specifically, the member shooting waypoint acquires the above-mentioned bisecting point coordinates and main pillar coordinates, and draws a virtual line from the bisecting point coordinates to the two main pillar coordinates located at both ends of the opposite side. is further extended and set at the intersection with the boundary of the power line flight restriction area. The insulator photographing waypoint acquires the above-described insulator string intermediate coordinates and virtual line extension direction information, extends from the insulator string intermediate coordinates in the virtual line extension direction, and is set at the intersection with the boundary of the power line flight restriction area.

The flight information storage unit 168 stores flight information used in flights for the purpose of, for example, inspecting supports, power lines, and the like. The flight information includes, for example, flight route information (including waypoint information), flight speed, flight altitude, overlap rate of captured images, information obtained during flight (eg, image information, video information, etc.), and the like.

The flight execution unit 180 executes a flight for inspection or the like based on various flight information stored in the flight information storage unit 168 .

A waypoint correcting unit 190 corrects the position of at least one of the member photographing waypoint and the insulator photographing waypoint based on the support object flight restriction area. For the support flight restriction area, for example, a circular support flight restriction area having a radius of a predetermined distance from the center coordinates of the support may be set. Although it may be set by a setting operation for setting the support flight restriction area, it is not limited to this, and if it is possible to set the area where the support including at least the main pillar part exists or its peripheral area, the area can be set. You may employ the known method which carries out. The radius of the predetermined distance may be any distance as long as it is sufficiently distant from the support. The radius may be calculated (for example, if the shape of the support is square in plan, calculated from the dimensions of one side of the main pillars at the four corners), and the length obtained by adding the safe separation distance to the radius. Then, if at least one of the member shooting waypoint and the insulator shooting waypoint exists within the support region, the waypoint correction unit 190 corrects the position of the waypoint corresponding to the boundary of the support flight restriction region. (For example, move the nearest support on the flight restriction area boundary, or extend the virtual straight line from the center coordinates of the member or insulator to be photographed, or the support to the corresponding waypoint and the support move it to the intersection with the flight restriction area boundary, etc.).

<Example of how to set waypoints for photographing parts>
A member photographing waypoint setting method according to the present embodiment will be described with reference to FIGS. 8 to 10, including the operation of the information processing system according to the present embodiment. FIG. 8 exemplifies a flowchart of a member photographing waypoint setting method according to the present embodiment. FIGS. 9 and 10 are examples of conceptual diagrams showing the configuration of the member photographing waypoint setting method according to the embodiment of the present invention. Hereinafter, the support X will be mainly described as an example.

First, as exemplified in FIG. 9 , the management server 1 uses the main pillar coordinate acquisition unit 110 to connect to cross arms and insulators to which power lines are attached, and main pillars related to main pillars extending in the vertical direction on the support. Material coordinates (at least positions in horizontal two-dimensional coordinates) are obtained from the support-related information storage unit 162 (SQ101).

Next, as exemplified in FIG. 9, the management server 1 uses the bisecting point coordinate setting unit 120 to calculate the bisecting point coordinates between the main post coordinates of the two main posts at an arbitrary height. , and stored in the support-related information storage unit 162 (SQ102).

Next, as exemplified in FIG. 10, the management server 1 acquires the above-mentioned bisecting point coordinates and main pillar coordinates by waypoint setting unit 170, and from the bisecting point coordinates to both ends of the opposite side The imaginary line to the coordinates of the two main pillars is further extended, and the member photographing waypoint is set at the intersection with the boundary of the power line flight restriction area (SQ103).

<An example of how to set an insulator shooting waypoint>
A method for setting an insulator photographing waypoint according to the present embodiment will be described with reference to FIGS. 11 to 14, including the operation of the information processing system according to the present embodiment. FIG. 11 illustrates a flowchart of the insulator photographing waypoint setting method according to the present embodiment. 12 to 14 are examples of conceptual diagrams showing the configuration of the insulator photographing waypoint setting method according to the embodiment of the present invention. Hereinafter, the support X will be mainly described as an example.

First, as exemplified in FIG. 12, the management server 1 uses the insulator string intermediate coordinate acquisition unit 140 to obtain the insulator string length information from the insulator related information storage unit 164, and obtains the insulator string bisection length information. is calculated, and the support coordinates related to the power line mounting position of the cross arm of two adjacent supports acquired from the support related information storage unit 162 (for example, the attachment point of the suspension insulator that supports the power line descending from the tip of the cross arm At least horizontal two-dimensional coordinates, etc.) to calculate the extension direction information of the power line, and the position moved from the supporting object coordinates to the extension direction of the power line by the insulator string bisection length is calculated as the insulator string intermediate coordinate, and the insulator string is calculated. The connection intermediate coordinate information is stored in the insulator related information storage unit 164 (SQ201).

Next, as exemplified in FIG. 13, the management server 1 uses the virtual line extension direction setting unit 150 to create a virtual line that forms a predetermined angle (for example, 45 degrees) with respect to the power line from the intermediate coordinates of the insulator string. The insulator-related information storage unit 164 stores, as virtual wire extending direction information, extending to a position of a predetermined length in both the positive and negative directions, and extending to a position not included in the power line area among the two positions. (SQ202).

Next, as exemplified in FIG. 14 , the management server 1 uses the waypoint setting unit 170 to acquire the above-mentioned insulator string intermediate coordinates and virtual line extending direction information, and It is extended and set at the intersection with the boundary of the power line flight restriction area (SQ203).

<Example of waypoint correction method>
A waypoint correction method according to the present embodiment will be described with reference to FIGS. 15 to 17, including the operation of the information processing system according to the present embodiment. FIG. 15 illustrates a flowchart of a waypoint setting method according to this embodiment. Hereinafter, the support X will be mainly described as an example.

First, as exemplified in FIG. 15, the management server 1 uses the waypoint setting unit 170 to acquire acquisition information (for example, image information, video information, etc.) related to the members constituting the support as described above. and an insulator photography waypoint for obtaining acquisition information (for example, image information, video information, etc.) related to the insulator installed near the tip of the cross arm of the power line. It is set on the boundary of the flight restriction area and stored in the flight information storage unit 168 (SQ301).

Here, in at least one of the member shooting waypoint and the insulator shooting waypoint, when acquiring information from the lower side of the support, the support has four main pillars (so-called When the root is open), there is a possibility that the flying object 4 may come too close.

Therefore, in such a case, as illustrated in FIGS. 16 and 17, the management server 1 corrects at least one of the member photographing waypoint and the insulator photographing waypoint by the waypoint correction unit 190. (SQ302). More specifically, first, for example, a circular support region having a radius of a predetermined distance from the center coordinates of the support may be set, or the user may specify the map information displayed on the user terminal 2 as a support region. It may be set by a setting operation for setting the object area, but it is not limited to this. method may be adopted. The radius of the predetermined distance may be any distance as long as it is sufficiently distant from the support. The radius may be calculated (for example, if the shape of the support is square in plan, calculated from the dimensions of one side of the main pillars at the four corners), and the length obtained by adding the safe separation distance to the radius. Then, when at least one of the member photographing waypoint and the insulator photographing waypoint exists within the support region, the waypoint correction unit 190, as illustrated in FIG. Modify the corresponding waypoint position (e.g., move it onto the nearest support area boundary, or extend an imaginary straight line from the center coordinates of the member or insulator being filmed or the support to the corresponding waypoint) move it to the intersection of the imaginary straight line and the support area boundary, etc.).

Thus, the present invention provides a waypoint setting method and the like for simply and appropriately setting waypoints for photographing insulators and members that constitute a support, using the above-described waypoint setting method.

The above-described embodiments are merely examples for facilitating understanding of the present invention, and are not intended to limit and interpret the present invention. It goes without saying that the present invention can be modified and improved without departing from its spirit, and that equivalents thereof are included in the present invention.

1 management server 2 user terminal 4 aircraft

Claims (7)

A waypoint setting method for setting, by a computer, waypoints for photographing insulators and members constituting a support for supporting a power line,
to said computer,
a step of calculating intermediate coordinates of the insulator string based on the information on the bisection length of the insulator string and the information on the extension direction of the power line, by an insulator string intermediate coordinate obtaining unit;
A virtual line extending direction setting unit extends a virtual line forming a predetermined angle with respect to the power line from the intermediate coordinates of the insulator string in both the positive side and the negative side, and in the two directions, the support is closer to the power line than the power line. a step of setting, as virtual line extension direction information, a direction in which the virtual line extends in a direction that does not overlap the power line area indicating the area of
a main pillar coordinate acquisition unit acquiring main pillar coordinates related to a main pillar connected to a cross arm and an insulator to which the power line is attached and extending in the vertical direction in the support;
a step of setting bisecting point coordinates between main post coordinates for two main posts at an arbitrary height by a bisecting point coordinate setting unit;
acquiring the insulator string intermediate coordinates and the virtual line extending direction information by a waypoint setting unit, and setting an insulator photographing waypoint on a virtual line extending from the insulator string intermediate coordinates in the virtual line extending direction; Acquire the bisected point coordinates and the main pillar coordinates, and set the member shooting waypoint on the virtual line further extending the virtual line from the bisected point coordinates to the two main pillar coordinates located at both ends of the opposite side. and
to run
A waypoint setting method characterized by: The insulator string bisection length information is calculated based on the insulator string length information acquired from the insulator related information storage unit.
The waypoint setting method according to claim 1, characterized in that: The extension direction information of the power line is calculated based on the coordinates of the support regarding the power line mounting position of the cross arm of two adjacent supports.
3. The waypoint setting method according to claim 1 or 2, characterized in that: A waypoint correction method for correcting a waypoint set by the waypoint setting method according to any one of claims 1 to 3 by the computer,
The method further includes, if the waypoint is within a predetermined distance range from the support, moving the corresponding waypoint to a boundary of the predetermined distance range from the support or outside the boundary by the waypoint correction unit. ,
A waypoint correction method characterized by: A management server for managing waypoints for photographing insulators and members constituting supports that support power lines,
an insulator string intermediate coordinate acquisition unit that calculates insulator string intermediate coordinates based on the insulator string bisection length information and the extension direction information of the power line;
A virtual line that forms a predetermined angle with respect to the power line from the intermediate coordinates of the insulator string is extended in both the positive and negative directions, and is superimposed on the power line area indicating the area closer to the support than the power line in both directions. a virtual line extension direction setting unit that sets a direction in which the virtual line extends in a non-directional direction as virtual line extension direction information;
a main pillar coordinate acquisition unit connected to the cross arm and the insulator to which the power line is attached and acquiring the main pillar coordinates related to the main pillar extending in the vertical direction in the support;
a bisecting point coordinate setting unit for setting bisecting point coordinates between main pillar coordinates for two main pillars at an arbitrary height;
The insulator string intermediate coordinates and the virtual line extension direction information are acquired, an insulator shooting waypoint is set on a virtual line extending from the insulator string intermediate coordinates in the virtual line extension direction, and the bisecting point coordinates and the main column are set. a waypoint setting unit that acquires member coordinates and sets a member shooting waypoint on a virtual line further extending the virtual line from the bisecting point coordinates to the two main column member coordinates located at both ends of the opposite side; prepare
A management server characterized by: An information processing system for setting waypoints for photographing insulators and members constituting supports that support power lines,
an insulator string intermediate coordinate acquisition unit that calculates insulator string intermediate coordinates based on the insulator string bisection length information and the extension direction information of the power line;
A virtual line that forms a predetermined angle with respect to the power line from the intermediate coordinates of the insulator string is extended in both the positive and negative directions, and is superimposed on the power line area indicating the area closer to the support than the power line in both directions. a virtual line extension direction setting unit that sets a direction in which the virtual line extends in a non-directional direction as virtual line extension direction information;
a main pillar coordinate acquisition unit connected to the cross arm and the insulator to which the power line is attached and acquiring the main pillar coordinates related to the main pillar extending in the vertical direction in the support;
a bisecting point coordinate setting unit for setting bisecting point coordinates between main pillar coordinates for two main pillars at an arbitrary height;
The insulator string intermediate coordinates and the virtual line extension direction information are acquired, an insulator shooting waypoint is set on a virtual line extending from the insulator string intermediate coordinates in the virtual line extension direction, and the bisecting point coordinates and the main column are set. a waypoint setting unit that acquires member coordinates and sets a member shooting waypoint on a virtual line further extending the virtual line from the bisecting point coordinates to the two main column member coordinates located at both ends of the opposite side; prepare
An information processing system characterized by: A program for causing a computer to execute a waypoint setting method for setting waypoints for photographing insulators and members constituting supports that support a power line,
to said computer,
a step of calculating intermediate coordinates of the insulator string based on the information on the bisection length of the insulator string and the information on the extension direction of the power line, by an insulator string intermediate coordinate obtaining unit;
A virtual line extending direction setting unit extends a virtual line forming a predetermined angle with respect to the power line from the intermediate coordinates of the insulator string in both the positive side and the negative side, and in the two directions, the support is closer to the power line than the power line. a step of setting, as virtual line extension direction information, a direction in which the virtual line extends in a direction that does not overlap the power line area indicating the area of
a main pillar coordinate acquisition unit acquiring main pillar coordinates related to a main pillar connected to a cross arm and an insulator to which the power line is attached and extending in the vertical direction in the support;
a step of setting bisecting point coordinates between main post coordinates for two main posts at an arbitrary height by a bisecting point coordinate setting unit;
acquiring the insulator string intermediate coordinates and the virtual line extending direction information by a waypoint setting unit, and setting an insulator photographing waypoint on a virtual line extending from the insulator string intermediate coordinates in the virtual line extending direction; Acquire the bisected point coordinates and the main pillar coordinates, and set the member shooting waypoint on the virtual line further extending the virtual line from the bisected point coordinates to the two main pillar coordinates located at both ends of the opposite side. and
to run
A program characterized by

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