JP2868493B2 - Terrain observation system - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a terrain observation system, and more particularly to a terrain observation system for observing the shape of an object such as a tree near a transmission line from an aircraft or the like.

[0002]

2. Description of the Related Art In recent years, a power failure may occur when an object approaches or comes into contact with a transmission line for transmitting power from a power generation facility to a substation facility. Since the power failure has a great effect on social life, it is necessary to prevent such a power failure.

[0003] In particular, trees grow, so it is necessary to securely manage the distance between the trees and transmission lines, such as logging. However, there are many places where transmission lines are erected and there are many steep mountainous areas without roads, and it is difficult at present to measure quickly over a wide area.

[0004] As an example of a technique for measuring the separation distance from an obstacle such as a tree approaching such a power transmission line, Japanese Patent Application Laid-Open No.
An "approaching tree separation detecting device" described in Japanese Patent No. 43109 is known. In this gazette, a technique is described in which a helicopter is used to measure the image of the distance from an obstacle such as a tree approaching a transmission line using an image, and a survey point, a distance, a distance from a steel tower, a sectional view, and the like can be output and processed in a short time. Have been.

FIG. 4 is a substantial view of the terrain targeted by the conventional terrain observation system. FIG. 5 is a terrain processing diagram of FIG.

For example, spans having a positional relationship between a transmission line and a tree as shown in FIG. 4 (transmission line between towers and below the transmission line)
Is measured by a terrain observation device mounted on an aircraft, and the measured data is analyzed by a data analysis device on the ground, a terrain processing map of the analysis result is as shown in FIG. The shortest approaching tree separation distance from the transmission line obtained from this figure should originally be A between the tree and the transmission line. However, if a small animal that happens to enter the measurement range is measured, the small animal will And the tree cannot be distinguished, the shortest approaching tree separation distance is determined to be B between the small animal and the transmission line.

[0007] This is not limited to the entry of such small animals,
The same applies to erroneous ranging due to random noise of laser ranging equipment.Since there is an object that should not exist in the data, there is often data that can not be judged whether it is a tree or not. become.

[0008]

In the above-mentioned conventional terrain observation system, data of small animals or random noise cannot be distinguished from data of trees. Therefore, it is assumed that trees exist at the location even though trees do not exist. Has the disadvantage that an incorrect determination is made.

It is an object of the present invention to provide a terrain observation system for preventing erroneous determination due to the presence of small animals or random noise and performing accurate determination.

[0010]

According to the present invention, there is provided a terrain observation system which outputs observation data obtained by reflecting the attitude and position data of an aircraft to distance measurement data obtained by a laser distance measuring means. An observation device; reading the observation data, arranging the read observation data in a mesh in a three-dimensional space, and, when there is another observation data near the arranged observation data, the arbitrary observation data And a data analyzer for displaying the arbitrary observation data as invalid when there is no other observation data near the arranged arbitrary observation data.

A laser ranging unit for outputting distance data and laser scanning angle data of an object within a laser scanning range; a navigation positioning measurement unit for outputting aircraft position data; and detecting the attitude of the aircraft and outputting attitude data A control unit that calculates and processes the distance data, the laser scanning angle data, the position data, and the posture data, and outputs observation data; and a data recording unit that records and reproduces the observation data. A topographic observation device having; reading the observation data, arranging these data in a mesh form in a three-dimensional space, and, when other observation data exists near any arranged observation data, the arbitrary observation data Valid, and if there is no other observation data near the placed arbitrary observation data, the arbitrary observation data is displayed as invalid. It is characterized by comprising; a data analyzer.

A data reading unit for reading the observation data; a keyboard for inputting a processing instruction; a calculation unit for performing graphic processing on the read observation data and outputting graphic data; And a display unit for displaying.

[0013] It is characterized in that the observation data is transmitted and received by electromagnetic waves.

The observation data is recorded on a recording medium, and the recording medium is transported from the aircraft to the ground.

[0015]

Next, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is a block diagram showing one embodiment of the terrain observation system of the present invention. The present embodiment shown in FIG. 1 is mounted on an aircraft (not shown) and analyzes a terrain observing device 10 for observing the terrain, trees, and the shape of transmission lines, and analyzes data obtained by the terrain observing device 10 on the ground. And a data analysis device 20 for processing.

The terrain observation device 10 includes a laser ranging unit 1 that detects distance information on an object existing within a scanning range of a laser beam and scanning angle information of a laser beam and outputs distance / angle detection data 11, and a satellite. Detect the spatial position of the aircraft 3
GPS (Glob) that outputs position data 12 in the dimensional space
al Positioning System) Part 2
And a shaking detector 3 for detecting the attitude of the aircraft and outputting attitude angle data 13, and observation data 14 including distance / angle detection data 11, position data 12 and attitude angle data 13.
And a control unit 4 for managing and controlling all functional units.

The data analysis device 20 includes the terrain observation device 10
A data reading unit 7 for reading observation data 14 acquired and recorded in the data recording unit 5, a keyboard 6 for inputting a processing command, a display 8 for displaying a processing result, and a computer 9 for analyzing and processing the observation data 14. Have.

FIG. 2 is a flowchart for explaining the operation of the present embodiment.

Next, the operation of the present embodiment will be described in more detail with reference to FIGS.

The terrain observation device 10 is mounted on an aircraft, such as a helicopter, and acquires data observed around the transmission line by the laser ranging unit 1 while flying over the transmission line.
The obtained observation data 14 is recorded in the data recording section 5 and brought back to the recording medium, or the data is processed by the data analysis device 20 according to a method of transmitting it to the ground in real time without recording or after recording and reproducing. Calculation of the approaching tree separation distance by analyzing the acquired data on the ground,
Output of vertical and horizontal cross-sectional views in the overhead direction of transmission lines, data necessary for transmission management such as temperature simulation of transmission line overhead conditions, and output of forms in a short time over a wide area without personnel going deep into Yamano Can be obtained.

That is, the position data 12 output by the GPS unit 2 and the attitude angle data 13 output by the shaking detection unit 3
, The time change of the position and attitude of the aircraft is calculated (step 1: S1). The relative position of the target terrain is calculated from the distance / angle detection data 11 output by the laser distance measuring section 1 at a certain time and the above-mentioned temporal changes in the position and attitude of the aircraft (step 2: S2). Next, the observation data 14 reflecting the relative position is recorded in the data recording unit 5 and brought back to the ground, and then the observation data 14 is read by the data reading unit 7 of the data analysis device 20. The read data is sent to the computer 9 by a process start command from the keyboard 6.
(Step 3: S3).

Here, one point is extracted from the arranged data, and it is confirmed whether or not other data exists in the spatial mesh at an arbitrary distance from the data (step 4: S4). If there is other data within an arbitrary distance, the data is made valid, and if there is no other data, the data is made invalid (step 5: S5). Only when data that is not a single data but a group is present nearby, the data is determined to be valid. The same processing is performed for all data, and only valid data is arranged again in the three-dimensional space (step 6: S6). The shortest tree separation distance and the like are calculated from the rearranged spatial data, and the result is displayed (Step 7: S7).

FIG. 3 is a diagram for explaining the operation state of FIG. FIG. 3A shows a physical map of the terrain, FIG. 3B shows a terrain processing map, and FIG. 3C shows an effective terrain processing map.

When the terrain shown in FIG. 3A is measured, first, all the observation data are distributed and arranged in a virtual three-dimensional space as shown in FIG. Check for other data in the large area. If there is other data in the area, validate this data,
If no other data exists, this data is invalidated.

Here, paying attention to three points A, B, and C in FIG. 3B, the points A and C are within a region of an arbitrary size.
Although there is data of point O in addition to points, only point B has no other data within an arbitrary range. Accordingly, if only valid data is rearranged using the point B as invalid data, FIG.
(C), where B is shown as data for small animals.
The point will be deleted. This operation is performed for all data.

By processing the acquired data as described above, small animal and random noise data can be distinguished from actual trees, so that the reliability of the calculated values such as the shortest tree separation distance can be improved. .

As described above, the observation data 14 acquired by the terrain observation device 10 is recorded in the data recording unit 5, and after the aircraft lands on the ground, the recording medium is taken out of the data recording unit 5 and the data of the data analysis device 20 is read. This is an operation procedure in which the observation data 14 is attached to the reading unit.

The operation procedure is not limited to the above procedure. The observation data 14 acquired by the terrain observation device 10 is transmitted by radio waves to the ground by the transmission means of the control unit 4 and transmitted to the data analysis device 20. It is also possible to read after receiving by the receiving means of the data reading section 7 of FIG.

[0030]

As described above, the terrain observation system of the present invention judges unnecessary data by confirming the presence or absence of other data in an arbitrary area from a certain point in a virtual three-dimensional space. Therefore, ignoring the data has the effect of improving the reliability of the data.

[Brief description of the drawings]

FIG. 1 is a block diagram showing one embodiment of a terrain observation system according to the present invention.

FIG. 2 is a flowchart illustrating the operation of the present embodiment.

FIG. 3 is a diagram illustrating an operation state of FIG. 2;

FIG. 4 is a physical diagram of a terrain targeted by a conventional terrain observation system.

FIG. 5 is a terrain processing diagram of FIG. 4;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Laser ranging part 2 GPS part 3 Motion detection part 4 Control part 5 Data recording part 6 Keyboard 7 Data reading part 8 Display 9 Computer 10 Terrain observation device 11 Distance / angle detection data 12 Position data 13 Attitude angle data 14 Observation data 20 Data analyzer

────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A-7-43109 (JP, A) JP-A-5-118850 (JP, A) (58) Fields investigated (Int. Cl. ⁶ , DB name) G01C 7/00-7/06 G01C 11/00-11/34 G01C 15/00-15/14 G01B 21/00-21/32

Claims (5)

(57) [Claims] A terrain observation device mounted on the aircraft for outputting observation data obtained by reflecting the attitude and position data of the aircraft on the distance measurement data obtained by the laser distance measurement means; reading the observation data; The observation data is arranged in a mesh in a three-dimensional space, and if there is another observation data near the arranged observation data, the arbitrary observation data is valid and the arranged arbitrary observation data is valid. And a data analyzer for invalidating the arbitrary observation data when there is no other observation data in the vicinity of the data. 2. A laser ranging unit for outputting distance data and laser scanning angle data of an object within a laser scanning range;
A navigational positioning measurement unit that outputs aircraft position data; an attitude detection unit that detects the attitude of the aircraft and outputs attitude data; and calculates the distance data, the laser scanning angle data, the position data, and the attitude data. A control unit for outputting observation data; a data recording unit for recording and reproducing the observation data; a terrain observation device; reading the observation data, arranging these data in a three-dimensional space in a mesh form, and arranging the data. If any other observation data exists in the vicinity of the given observation data, the arbitrary observation data is valid.If there is no other observation data in the vicinity of the arranged arbitrary observation data, the arbitrary observation data does not exist. A data analysis device for displaying observation data as invalid; A data reading unit for reading the observation data; a keyboard for inputting a processing command; a calculation unit for performing graphic processing on the read observation data and outputting graphic data; The terrain observation system according to claim 2, further comprising: a display unit for displaying data. 4. The terrain observation system according to claim 1, wherein said observation data is transmitted and received by electromagnetic waves. 5. The observation data is recorded on a recording medium,
4. The terrain observation system according to claim 1, wherein the recording medium is transported from the aircraft to the ground.