JP3179254B2 - Approaching tree separation detector - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a technology related to transmission line security service, and more particularly to an approaching tree separation detecting device for measuring a separation distance from an obstacle such as a tree approaching a transmission line.

[0002]

2. Description of the Related Art A power outage accident 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. The power failure has a great impact on social life, and such a power failure must be eliminated. In particular, trees grow, so it is necessary to control the separation distance from power transmission lines and perform reliable management such as logging.

[0003] At present, the separation of approaching trees is inspected twice a year by personnel walking in all managed areas. In addition, as for the places where detailed investigation is required, personnel re-enter the area and conduct detailed investigations using standard scales, distance measuring devices and the like.

[0004] However, the total length of the transmission line is not only a long distance exceeding several thousand km in one electric power company, but also the transmission line is erected in many steep mountainous areas without roads. Personnel carry heavy measuring equipment to such places and carry out surveys, so that a great deal of time and effort has been spent on remote surveys.

[0005] After the detailed survey is completed, a management table is prepared in which survey locations, separation distances, distances from the tower, sectional views, and the like are entered, and a logging plan in which a logging range, a scheduled logging time, and the like are entered. And manages approaching trees,
At present, these management forms are also created manually, because the survey data is handwritten data.

[0006] For this reason, the separation distance between the power transmission line and the approaching tree can be measured quickly and accurately over a wide area without the need for personnel to enter deep into the mountains, and the necessary forms such as management tables and logging plans can be obtained in a short time. A system that can be created has been strongly desired.

[0007]

As described above, the conventional approach to tree-separation surveys is based on whether people walk under a power transmission line or not.
Alternatively, the distance measurement device has been carried into a required measurement location. Also, the forms required for management were manually created based on the distance measurement data. For this reason, a great deal of time and effort was spent on security logging.

[0008]

According to the present invention, a laser range finder having a function of scanning a distance measuring optical axis, distance data output from the laser range finder, and a scanning optical system are provided. A recording unit for recording the scan angle data, a control unit for controlling the laser distance measuring unit and the recording unit, processing the distance data and scan angle data recorded by the recording unit, and a transmission line and the transmission line. A data processing / analysis unit that outputs data of a remote distance between obstacles approaching the electric wire, and the laser ranging device, a recording unit, and a control unit are mounted on an aircraft, and are orthogonal to each other, including the aircraft axis direction. The parallel motion data of the aircraft in three axial directions and the three
An approaching tree separation detecting apparatus characterized by having a gyro accelerometer unit for acquiring rotational motion data about an axis is obtained.

[0009]

[0010]

[0011]

Further, in the present invention, the distance data and the scan angle data output from the laser distance measuring unit are fetched, and an alarm signal is generated when the distance between the power transmission line and the approaching tree is abnormally closer than a certain set value. It has an abnormal approach location alarm generation unit that generates.

[0013]

FIG. 1 is a block diagram showing an embodiment of the present invention. The embodiment of the present invention is shown in FIG.
It is composed of First, the configuration of the onboard device will be described below. The laser range finder 1 is a laser range finder which does not use a specular reflector such as a corner cube having a function of scanning a distance measuring optical axis, and performs distance data measurement by distance measurement and scanning of a scanning optical system at the time of distance measurement. It has a function to output angle data. Timing control such as distance measurement and output of distance / angle data is performed by the control unit 3. The recording unit 2 records distance data and scan angle data output from the laser distance measuring unit 1 on a recording medium such as a hard disk. The control unit 3 controls the distance measurement timing of the laser distance measuring unit 1 and the control of taking in the data output from each component unit into the recording unit 2. The power supply 4 supplies power to each component unit. The gyro accelerometer unit 5 acquires the attitude data and the exercise data of the helicopter. As data, for three axes orthogonal to each other including the axis of the helicopter, rotational motion data about the axis and parallel motion data in the axial direction are acquired and output to the recording unit 2 as digital data.
The timer section 6 generates a measurement reference time. The time data is recorded after being synthesized with video information output from the visible TV camera unit 7, and output from the laser ranging device unit 1, gyro accelerometer unit 5, GPS unit 8, and emergency approach point alarm generation unit 9. It is recorded in the recording unit 2 as the data acquisition time. The visible TV camera unit 7 is a TV camera having a field of view larger than the range in which the laser ranging optical axis of the laser ranging unit 1 is scanned, and acquires a visible image of a measurement area. The GPS unit 8 outputs helicopter flight position data. The abnormal approach point alarm generating unit 9 processes the distance data and the scan angle data output by the laser distance measuring unit 1 during the flight, and abnormally approaches when the distance between the power transmission line and the approaching tree is smaller than a certain set value. If an alarm occurs, an alarm is generated. At the same time, an alarm generation signal is output to the recording unit 2.

Next, the configuration of the ground equipment will be described. The data reading device 10 reads data such as distance data, scan angle data, and video data recorded from a recording medium on which data is written by the onboard device, and outputs the data to the data processing analysis unit 11. The data processing analysis unit 11 processes the data of the on-board device read by the data reading device 10 and generates data and forms necessary for managing approaching trees such as a separation distance between a transmission line and an approaching tree, a cross-sectional view of a required cutting location, and the like. The display unit 7 that outputs to the display unit 7 and the printer unit 8 displays the processing result by the data processing analysis unit 11. The printer unit 8 prints out the processing result by the data processing analysis unit 11.

Next, an operation example of the embodiment of the present invention will be described. FIG. 2 shows a situation where the onboard equipment is mounted on a helicopter and the distance between approaching trees below the power transmission line is measured. Helicopters fly over power lines or over sideways. The laser ranging optical axis is scanned in a plane perpendicular to the helicopter axis. FIG. 3 shows a state viewed from the front of the helicopter. θ indicates the deflection angle of the laser ranging optical axis by the scanner. Assuming that the distance measurement repetition frequency is f, the frequency of the scanning optical system is fs, and the number of frames per second is N, N = fs / 2.
The number D of scan angle data is D = f / N. Therefore, the distance measurement point interval α in one frame is an angle interval of α = θ / D.

If the speed of the helicopter is v, 1
The distance d of the helicopter traveling between frames is d = v / N. FIG. 4 shows these relationships.

As described above, as shown in FIG. 5, if the laser beam spread angle _{BD is set} to α or more, laser light can be irradiated along the scanning trajectory of the laser distance measuring optical axis without falling off. Can be obtained. Further, at distance R ₀ , d
<So as to satisfy the 2 · R ₀ · B _D, the laser beam divergence angle B _D, helicopter velocity v, if setting the scanning speed of the laser distance measuring optical axis, the measured distance R ₀ or more, the scanning angle range Distance information can be acquired in a plane formed by the flight path of the helicopter and the plane with a plane resolution corresponding to the laser beam divergence angle _BD . As described above, based on the distance data acquired by the onboard device and the scan angle data of the scanning optical system at the time of distance measurement, topographic information such as transmission lines and approaching trees in the form of polar coordinates with the flight path of the helicopter as the Z axis. Can be obtained.

FIG. 6 schematically shows a cross section of a place where eight transmission lines are laid overhead. The distance data and the scan angle data obtained by the laser range finder 1 correspond to r and θ. 7 and 8 show actual measurements 1
In the data of the frame, the horizontal axis is plotted as the scan angle, and the vertical axis is plotted as the distance from the helicopter. FIG.
Are data of a location where eight transmission lines are laid overhead, including four on each side of the tower, and eight points indicated by arrows in the upper part of the figure correspond to the transmission lines. From FIG. 7, the nearest plotting position in the vicinity is extracted from the lowest transmission line position, and the distance to that point is calculated, whereby the separation distance of approaching trees or the like can be calculated. FIG. 8 shows data of a steel tower portion. Compared to FIG. 7, it can be seen that there are many plots in addition to the plot corresponding to the transmission line at a short distance. Therefore, for example, the position of the lowest electric wire of the previous frame is stored, and it is possible to determine the data of the steel tower portion based on whether or not there are eight or more plot points at a short distance (upper side in the figure) from the position. It is.

As described above, if the approaching tree separation distance of the transmission line can be calculated for each frame except for the tower portion, the value is compared with a reference value to perform ranking. For example, A is 1 m or less, B is 1 m to 3 m, and C is 3 m to 5 m. This rank data is added to each frame. When confirming the situation of the approach status rank A, a search is performed based on the rank data, and the frame numbers are listed. Next, a separation distance and a cross-sectional view in the frame can be searched from the frame No. Also, since the tower portion can be identified, it is possible to number the tower. If this function is provided in the data processing analysis unit 11, a certain frame No.
It can be understood that the data is the M-th data from the th tower, and the position can be grasped.

As described above, data is acquired by a helicopter, and a separation distance, a sectional view,
Since the position of the corresponding location is output in a short time, the security logging operation can be performed efficiently without the need for personnel to enter deep into the mountains.

Next, the operation when the gyro accelerometer unit 5 is added will be described. Helicopters do not fly at a constant speed over a certain distance from power lines. Usually, there is fluctuation and speed change due to disturbance. In addition, the flight altitude is changed according to the surrounding terrain conditions. Therefore, the data acquired by the on-board device is data taking into account the movement of the helicopter, and the measurement axis differs for each data. For example, as shown in FIG. 9, consider a case in which the helicopter body is tilted θr about the machine axis. The actual target position is the point A (θ + θ, r _D ), but the data obtained by the onboard device is the point A ′ (θ, r _D ).
_D ) is the data indicating the position. In such a situation where the helicopter movement affects the data, the effect can be ignored if the data acquisition time difference is small with respect to the helicopter movement change. Cannot be plotted on the same machine. In other words, even if the influence within one frame can be ignored, data for several frames cannot be discussed together. However, the position of the tree closest to a certain point on the transmission line may be located in the front and rear frames instead of in the same frame.If the frames cannot be joined, it is necessary to know the exact approaching tree position. It may not be possible.

On the other hand, if the gyro accelerometer unit 5 is added, parallel motion data and rotational motion data for each axis of the helicopter can be obtained. If the motion data of the helicopter is acquired in parallel with the distance measurement data and the scan angle data at a rate that takes into account the speed of the change in the motion of the helicopter, the position of the measurement point can be corrected.
That is, referring to FIG. 9, since the rotation angle θr of the machine body is known, an accurate target position can be known by adding this value to the scan angle data. With this correction, it is also possible to join frames to create a three-dimensional image. Therefore, it is possible to detect the closest position from a certain point of the transmission line, including the front and rear frames. In addition, a longitudinal sectional view along a transmission line erection required for creating a management form can be created. Furthermore, the transmission line has a slack state depending on its temperature. Using the theoretical formula of the slack state, create a state of the wire when the temperature changes on a three-dimensional image, and calculate a separation distance at that time. can do. This simulation is very effective in examining safety during peak demand for power in summer.

Next, a timer section 6 and a visible TV camera section 7
The operation when "" is added will be described. Visible TV camera unit 7
Has a viewing angle that allows the range-finding optical axis scanning range of the laser range finder 1 to be within the field of view. The camera optical axis may be, for example, the vertical direction of the body. Visible T
The video data of the V camera unit 7 is combined with the measurement reference time generated by the timer unit 6 and recorded on the video recorder in the recording unit 2. The time data generated by the timer section 6 is recorded in the recording section 2 at the same time as the output data of the laser ranging apparatus section 1 and the gyro accelerometer section 5 so as to coincide with the video data acquisition time. If the data processing analysis unit 11 detects an approaching point requiring investigation as a result of the data processing,
A function to output the measurement time of the frame is provided. If the measurement time is known, it is possible to search for the video at the approaching point requiring investigation by comparing the time with the time data recorded by being combined with the video data on the video recorder. From the video, it is possible to determine the tree species required as management information, and at the time of the on-site inspection of the logging location, it becomes effective information for the worker to reach the relevant location, and the efficiency of management and logging work is improved.

Next, the operation when the GPS unit 8 is added will be described. The flight position data output from the GPS unit 8 is recorded in the recording unit 2 at the same time as the distance data and the scan angle data output from the laser ranging unit 1 at a rate that takes into account the flight speed of the helicopter. For example, 50km / h
/ H is about 14 m / s per second, and the data is acquired at a rate of about 1 second, taking into account the current accuracy of the GPS independent positioning of about 100 m and the minimum distance between the power transmission towers of about 300 m.
As shown in FIG. 10, even if the positioning error of 100 m and the distance of the helicopter traveling in one second of 14 m are added, the position does not exceed the intermediate position between the towers. Therefore, as described above, the tower is extracted by the data processing / analysis unit 11 from the data acquired by the onboard device, and the flight position data at that time is compared with the position database of the power transmission tower, whereby the extracted tower is extracted. You know the number.

If there is no flight position data, it is not known which data is acquired by the onboard device. Therefore, when the helicopter flies in one direction along the transmission line, the tower number is automatically counted by counting the tower number immediately after the start of data acquisition and the number of towers extracted by the data processing analysis unit 11. However, if data is acquired at the same time as air patrol to observe the overall situation of the entire power transmission facility, the helicopter will not only fly along the transmission line, but also Because it may hover or return to the passing point, it is difficult to automatically count the number of the extracted pylon after observation.
On the other hand, if there is position data from the GPS unit 8, the tower number can be known as described above.
1 automatically indicates the position of the data. Thus, the fact that data can be acquired in parallel with air patrol is
The number of flights can be reduced, which is effective for labor saving.

Next, the operation in the case where the abnormal approach point alarm generating section 9 is added will be described. FIG. 11 schematically shows data for one frame of a transmission line overhead portion for simplicity.
The plot indicated by the arrow in the figure is the measurement point of the transmission line. First, eight plots corresponding to the transmission line are searched, and the two lowest plots are extracted from the eight plots. An example of the extraction method is described below. Divide the distance measurement data into certain distance units,
The presence or absence of a plot within that range is detected. That is, 0
It is checked whether there is a plot in the range of r1, next there is a plot in the range of r1 to r2, and so on.
Next, this operation is stopped when eight plots are found, and the last two scan angle data and distance data are extracted. These two points are X (θx, rx) and Y (θ
y, ry). Next, the presence or absence of a plot within a certain set range ± Δθ, ± Δr is confirmed centering on the plots X and Y. This is a check for the presence or absence of a plot within the oblique line centered on X and Y in FIG. The fact that there is a plot in this diagonal line means that there is something near the transmission line. If so, output an alarm signal. The above operation is performed in a short time, and when an alarm signal is generated, the helicopter is returned to the point where the alarm was issued, and hovering and low-speed flight are performed to observe the situation under the line in detail. 50k / h
In the case of m / h, since the speed is about 14 m / s per second, it is sufficient if an alarm is generated within one second after passing through the place.

As described above, the patrolman who has boarded the helicopter only needs to observe the status of the approaching tree only when an alarm occurs, and can usually concentrate on monitoring power transmission equipment other than the approaching tree. However, in this operation example, since the tower portion is not distinguished, an alarm may be generated every time the vehicle passes through the tower. Therefore, the patrol member ignores the warning signal when passing through the tower.

[0028]

As described above, the present apparatus mounts an onboard apparatus on a helicopter, acquires data while flying over a transmission line, and then calculates and manages the separation distance in a short time by a ground apparatus. Since necessary forms and cross-sectional views can be output, there is no need for personnel to go deep into the mountains for the separation survey, and a wide range of approaching trees can be handled efficiently. This will increase the efficiency of security logging operations.

Further, by adding a gyro accelerometer unit, it is possible to correct errors caused by the movement of an aircraft such as a helicopter, and to obtain a three-dimensional image of a situation under a transmission line. it can.

This makes it possible to improve the accuracy of the approaching tree separation distance and to output a longitudinal sectional view along the transmission line. Furthermore, since it is possible to simulate changes in the transmission line overhead due to temperature changes, the reliability and efficiency of security logging operations can be improved.

Further, by adding a timer section and a visible TV camera section, video data temporally corresponding to the data of the laser distance measuring section can be searched. Detailed topographical information under the transmission line at the location can be obtained, and entry work can be streamlined. This will increase the efficiency of security logging operations.

Further, by adding a GPS unit, helicopter position data corresponding to the data of the tower portion can be obtained, so that the tower number can be grasped by automatic processing by collating with the tower position database. As a result, data can be acquired simultaneously with the air patrol without increasing the workload of the crew. In addition, since there is no need to perform a flight to obtain data on approaching trees, the efficiency of security logging operations can be improved.

Also, by adding an abnormal approaching location alarm generating unit, the patrolman who has boarded the helicopter can monitor the status of the approaching trees in detail only when an alarm occurs, and constantly monitor the power transmission equipment other than the approaching trees. Can concentrate on This can improve the reliability of security logging operations.

[Brief description of the drawings]

FIG. 1 is a block diagram of an approaching tree separation detecting apparatus according to an embodiment of the present invention.

FIG. 2 is a conceptual diagram of the operation of the apparatus.

FIG. 3 is a front view of a helicopter in the operation explanatory view of the apparatus.

FIG. 4 is a diagram illustrating data acquisition.

FIG. 5 shows a relationship between scanning of a distance measuring optical axis and a beam divergence angle.

FIG. 6 is an image diagram of a data acquisition situation.

FIG. 7 is a diagram showing an example of actual measurement data (a transmission line overhead location).

FIG. 8 is a diagram showing an example of actual measurement data (pylon part).

FIG. 9 is an explanatory diagram of an influence on measurement of a body motion.

FIG. 10 is an explanatory diagram of a position data acquisition time interval by a GPS unit.

FIG. 11 is an explanatory diagram of an algorithm of an abnormal approaching location alarm generation unit.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Laser ranging device part 2 Recording part 3 Control part 4 Power supply part 5 Gyro accelerometer part 6 Timer part 7 Visible TV camera part 8 GPS part 9 Abnormal approach place alarm generation part 10 Data reading device 11 Data processing analysis part 12 Display part 13 Printer section

────────────────────────────────────────────────── ─── Continuing on the front page (72) Inventor Teiji Kase 5-7-1 Shiba, Minato-ku, Tokyo Inside NEC Corporation (72) Inventor Kazuto Tashiro 2-1-1 Watanabe-dori, Chuo-ku, Fukuoka City, Fukuoka Prefecture No. 82 Kyushu Electric Power Co., Inc. (72) Inventor Takeshi Aoki 2-1-2 Watanabe Dori, Chuo-ku, Fukuoka City, Fukuoka Prefecture Kyushu Electric Power Co., Inc. (56) References JP-A-6-313715 (JP, A) JP-A-5-170191 (JP, A) JP-A-4-315084 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) G01B 11/00-11/30 102 G01C 7/00 -7/06 G01C 15/00-15/14 G01S 13/02 G01S 17/02

Claims (2)

(57) [Claims] 1. A laser distance measuring unit having a function of scanning a distance measuring optical axis, and a recording unit for recording distance data output from the laser distance measuring unit and scan angle data of a scanning optical system. A control unit that controls the laser ranging device unit and the recording unit; processes distance data and scan angle data recorded by the recording unit; and processes a remote distance between a transmission line and an obstacle approaching the transmission line. A data processing analysis unit for outputting data, wherein the laser ranging device, the recording unit, and the control unit are mounted on an aircraft, and the parallel movement of the aircraft in three axial directions orthogonal to each other including the aircraft axis direction. An approaching tree separation detecting device, comprising: a gyro accelerometer unit for acquiring data and rotational motion data about the three axes. 2. An abnormality which takes in the distance data and the scan angle data output from the laser distance measuring unit and generates an alarm signal when a distance between a power transmission line and an obstacle is closer than a certain set value. The approach tree separation detecting device according to claim 1, further comprising an approach location alarm generating unit.