JP4475632B2 - Transmission line inspection system using unmanned air vehicle - Google Patents

Transmission line inspection system using unmanned air vehicle Download PDF

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JP4475632B2
JP4475632B2 JP2004080656A JP2004080656A JP4475632B2 JP 4475632 B2 JP4475632 B2 JP 4475632B2 JP 2004080656 A JP2004080656 A JP 2004080656A JP 2004080656 A JP2004080656 A JP 2004080656A JP 4475632 B2 JP4475632 B2 JP 4475632B2
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inspection
transmission line
means
air vehicle
unmanned air
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JP2005265699A (en
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博之 住谷
泰能 佐藤
洋二 志茂
敬太郎 松坂
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ヒロボー株式会社
中国電力株式会社
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  The present invention relates to a transmission line inspection system using an unmanned aerial vehicle, and in particular, an unmanned aerial vehicle is used to inspect an approaching tree to an overhead transmission line, inspect a site, inspect a line ground condition, and check a steel tower. The present invention relates to a transmission line inspection system using an unmanned air vehicle for the purpose.

Conventionally, inspection of overhead power transmission lines (hereinafter referred to as “power transmission lines”) is performed by a patrolman riding a manned helicopter, flying along the power transmission lines, and checking the power transmission lines with binoculars for the presence or absence of abnormal locations. It was. However, inspection with binoculars is a burden on patrolmen (especially those who are not good at vehicles), and there is a risk of overlooking abnormal parts.
Therefore, a transmission line image was taken from a manned helicopter (high-vision shots, etc.), and a patrolman looked at the shot image to check for broken wires in the transmission line and the presence of arc marks, to measure the distance between trees approaching and cracking the insulator. There are also inspections.

However, inspecting a transmission line using a manned helicopter has a problem that it cannot be easily and quickly dealt with when the inspection is suddenly required, in addition to the high cost.
In addition, the inspection work of the power transmission line by taking an image also has a problem that the inspection of the final abnormal part is performed while the patrolman looks at the image, so that a quick and accurate inspection cannot be performed.

In addition, there exist some which are disclosed by the following two patent documents as a technique regarding the method of performing maintenance and monitoring, such as a power transmission line and the intake of a dam lake, using an unmanned helicopter.
JP 2003-127994 A JP 2003-127997 A

The above-mentioned Patent Document 1 (Japanese Patent Laid-Open No. 2003-127994) allows a radio controlled helicopter to be ignored without being affected by topography by providing a radio signal helicopter and a ground station with a GPS signal receiving device and a satellite communication device. In addition, the coordinates of obstacles such as steel towers and power transmission lines are entered in advance with the flight route, and if the radio control helicopter gets too close to the obstacles, they will automatically avoid collisions by preventing them from colliding with obstacles. Disclose.
The above-mentioned patent document 2 (Japanese Patent Laid-Open No. 2003-127997) makes it possible to control a radio controlled helicopter without being influenced by topography by providing a radio signal helicopter and a ground station with a GPS signal receiving device and a satellite communication device. At the same time, the coordinates of obstacles such as steel towers and power transmission lines are entered in advance, and if the radio controlled helicopter gets too close to the obstacles, an alarm will be generated or a collision accident to the obstacles will be avoided by autopilot. Disclose to prevent.

  An object of the present invention is to provide a transmission line inspection system using an unmanned aerial vehicle capable of automatically performing inspection of trees approaching a transmission line, inspection of a site, inspection of a line ground condition, inspection of a steel tower, and the like. There is.

  The transmission line inspection apparatus using the unmanned air vehicle of the present invention uses the unmanned air vehicle to bury or sink foundation concrete in the site of the overhead power transmission line (91), crack in the foundation concrete, and discharge of earth and sand in the site. Is a transmission line inspection system using an unmanned air vehicle that checks changes in the status of whether or not inflow has occurred, and flight control for flying to the inspection point of the transmission line (91) while autonomously flying Information collection system (30) comprising a system (20) and an information collection camera (14) and a distance sensor (15) comprising two cameras for collecting various information including an image of the inspection location and distance measurement data An unmanned aerial vehicle (10), and flight control and information collection for controlling the flight of the unmanned aerial vehicle (10) and collecting and processing the various information from the unmanned aerial vehicle (10). A three-dimensional image is created from the image of the inspection location and the distance measurement data collected by the control center (50) including the system (60) and the information collection system (30) of the unmanned air vehicle (10), An inspection means (100) for processing the created three-dimensional image and checking whether there is an abnormality in the power transmission line (91) at the inspection location based on the processed three-dimensional image; and the inspection means ( And a storage device (81) in which various data used for the inspection in (100) are stored, and the inspection means (100) transmits the transmission line (91 of the inspection location photographed by the two cameras. ) And a 3D image creating means (101) for creating a 3D image of the site based on the distance measurement data from the distance sensor (15) and the 3D image creating means (101). Above A three-dimensional image processing means (102) for creating a site map and a longitudinal section based on the ground three-dimensional image, and the site map, the longitudinal section and the storage device created by the three-dimensional image processing means (102) 81) comparing the past site map data and the longitudinal map data stored in 81) to detect a change in the situation in the site, and the site map, the vertical diagram, the site map data, and the longitudinal map data. A determination unit (103) that creates a site map and a longitudinal view that are respectively combined, a detection result of a change in the situation on the site by the determination unit (103), and a site map and a vertical view that are combined by the determination unit And a determination result notifying means (104) for displaying on the display device (56).

  In addition, the transmission line inspection apparatus using the unmanned air vehicle of the present invention uses the unmanned air vehicle (10) to construct a logging site, cableway construction, construction under the transmission line, planning of the building, and heavy equipment under the transmission line. A transmission line inspection system using an unmanned air vehicle that checks the situation under an overhead power transmission line such as use and approach of multiple workpieces, and is a flight for flying to the inspection point of the transmission line (91) while autonomously flying An information collecting system (30) comprising a control system (20) and an information collecting camera (14) comprising two cameras for collecting various information including an image of the inspection location and distance measurement data and a distance sensor (15). ) And a flight control / information collection system (60) that controls the flight of the unmanned air vehicle (10) and collects and processes the various information from the unmanned air vehicle (10). ) 3D image is created from the image of the inspection location and the distance measurement data collected by the information collection system (30) of the vehicle (50) and the unmanned air vehicle (10), and the created 3D image Processing means (100) for checking whether or not there is an abnormality in the transmission line (91) at the inspection location based on the processed three-dimensional image, and used for inspection in the inspection means (100) A storage device (81) in which various types of data are stored, and the inspection means (100) captures an image under the power transmission line (91) of the inspection location and the distance taken by the two cameras. Based on the distance measurement data from the sensor (15), a 3D image creating means (101) for creating a 3D image of a line background, and the 3D image of the line background created by the 3D image creating means (101) The memory device A three-dimensional image processing means (102) for obtaining difference data of the two line base three-dimensional images by comparing the past line base three-dimensional image data stored in (81); and the three-dimensional image processing means Based on the difference data obtained in (102), determination means (103) for determining presence / absence of a change in the situation under the power transmission line (91), and a determination result by the determination means (103) on the display device (56) And a determination result notifying means (104) to be displayed.

  When the foundation means entered in the site map and longitudinal view displayed on the display device (56) is designated by the determination means (103), the gap between the top edge of the designated foundation concrete and the ground is designated. While calculating the distance, it is examined whether or not a crack has occurred in the foundation concrete, and the determination result notifying means (104) displays the result of the calculated distance and the presence or absence of the crack in the display device ( 56).

The host computer (53) included in the flight control / information collection system (60) of the control center (50) may include the inspection means (100) and the storage device (81).
The computer (21) included in the flight control system (20) of the unmanned air vehicle (10) may include the inspection unit (100) and the storage device (81).

The transmission line inspection system using the unmanned air vehicle of the present invention has the following effects.
(1) By inspecting the power transmission line using an unmanned air vehicle, the cost can be reduced, and even if the inspection is suddenly required, it can be dealt with simply and quickly.
(2) By processing three-dimensional images taken using two cameras and distance sensors mounted on an unmanned air vehicle, checking the site, checking the groundwork condition, and checking the steel tower, etc. Accurate inspection can be performed.

  The purpose of automatically inspecting trees approaching the power transmission line, checking the site, checking the ground condition of the line, and checking the tower is to fly the unmanned air vehicle to the inspection location and use two cameras from the unmanned air vehicle. A 3D image is created from the images and distance measurement data collected using the distance sensor, and this 3D image is processed. Based on the result of this processing, the approaching tree is inspected, the site is inspected, and the line ground state is inspected. It was realized by doing.

Embodiments of a transmission line inspection system using an unmanned air vehicle of the present invention will be described below with reference to the drawings.
FIG. 1 is a schematic overall configuration diagram showing a power transmission line inspection system using an unmanned air vehicle according to an embodiment of the present invention. FIG. 2 is a diagram illustrating a configuration of the radio control helicopter 10.
As shown in FIG. 1, the transmission line inspection system 1 according to the present embodiment controls and controls the radio control helicopter 10 (hereinafter referred to as “radio control helicopter 10”) as an unmanned air vehicle, the flight of the radio control helicopter 10, and the like. The control center 50 includes a host computer 53 that manages and inspects the transmission line using video information from the radio control helicopter 10.
Here, as shown in FIG. 2, the radio control helicopter 10 includes a communication antenna 11 that transmits and receives various types of information by wireless communication with the control center 50, and a GPS (Global Positioning System) artificial sensor for detecting the position of the radio control helicopter 10. A GPS antenna 12 that receives a signal from the satellite 100 (see FIG. 1), three types of surrounding surveillance cameras 13 that photograph the three directions forward and left and right to monitor the surrounding situation, and a desired inspection target The information collecting camera 14 for photographing the image, the distance sensor 15 for measuring the distance from the desired inspection object, and the storage case 16a for storing the information collecting camera 14 and the distance sensor 15 in two horizontal and vertical directions. A direction operation device 16 that rotates and operates the direction in which the information collecting camera 14 and the distance sensor 15 are directed, and a lower portion of the storage case 16a. An observation sensor 17 that measures the environment, a parachute device (safety device) 18 that relaxes the descent speed of the radio control helicopter 10 by starting and expanding the parachute in an emergency, and the communication antenna 11, A control box 19 in which a GPS antenna 12, a monitoring camera 13, an information collecting camera 14, a distance sensor 15, a direction operating device 16, an observation sensor 17 and a computer 21 (see FIG. 3) for controlling the parachute device 18 are housed. With.

FIG. 3 is a diagram showing a configuration of the flight control system 20 of the radio controlled helicopter 10.
As shown in FIG. 3, the radio control helicopter 10 also has, as a flight control system 20, a computer 21, a GPS unit 26 connected to the computer 21, a distance sensor 15, a control sensor 27, an infrared sensor 28, and a switch mechanism 24. (Hereinafter referred to as “SW / Mixer unit 24”), a modem 23 and a servo control unit 25 connected to the SW / Mixer unit 24, a data transmitter / receiver 22 connected to the modem 23, and a surrounding surveillance camera 13 And an image transmitter 29 connected to the surrounding monitoring camera 13 so that it can automatically fly to a desired position while autonomously flying.
The SW / Mixer unit 24 switches between automatic flight, semi-automatic flight or manual flight and flight control of the radio controlled helicopter 10 according to control information transmitted from the control center 50 via the data transceiver 22 and the modem 23. And switching the control level in hierarchical safety control. In addition, the servo control unit 25 controls each part 10 of the radio controlled helicopter 10 based on a control signal from the control center 50 or a control signal from the computer 21 via the data transceiver 22 and the modem 23 according to the switching of the SW / Mixer unit 24. Controls the drive of the servo motor that makes the 'function.

FIG. 4 is a diagram illustrating a configuration of the information collection system 30 of the radio control helicopter 10.
As shown in FIG. 4, the radio control helicopter 10 also includes an information collecting camera 14, a VTR (Video Tape Recorder) 31 for recording images taken by the information collecting camera 14, and an information collecting system 30. An observation sensor 17 for measuring the environment around the radio control helicopter 10 such as a concentration sensor such as a poison gas, and an image captured from the information collecting camera 14 in parallel with recording / recording to the VTR 31 are encoded and compressed. A high compression / parallel processing unit 32, an image transmitter 29 for transmitting the captured image compressed by the high compression / parallel processing unit 32 and measurement data from the observation sensor 17 to the control center 50, and a data transceiver In order to control the drive of the servo motor that operates the direction operating device 16 based on the control signal received from the control center 50 via 22 Servo controller 36.
Note that the information collecting camera 14 is not limited to a normal photographing camera, and may be a visible camera equipped with a special lens such as a high magnification, wide angle or fisheye lens when photographing a desired image. An infrared camera or an ultraviolet camera may be used to perform analysis or to observe corona discharge. Further, when transmitting the measurement data from the observation sensor 17, the image transmitter 29 can superimpose on the captured image from the high compression / parallel processing unit 32 or can transmit both of them simultaneously. It has become.

FIG. 5 is a diagram showing the configuration of the flight control / information collection system 60 of the control center 50.
As shown in FIG. 5, the control center 50 includes a host computer 53, an operation panel 65 connected to the host computer 53, an information monitor 54 connected to the host computer 53, as a flight control / information collection system 60. A navigation system 63 (which constitutes a destination setting means, an obstacle setting means and a route determination means) connected to the host computer 53 and the information monitor 54, and the radio control helicopter 10 via the communication antenna 51 (see FIG. 1) Data transmitter / receiver 61 for transmitting / receiving various information between them, the modem 62 connected between the data transmitter / receiver 61 and the host computer 53, and the monitoring video information of the ambient monitoring camera 13 sent simultaneously from the radio controlled helicopter 10 And the video information of the information collecting camera 14 is received by the parabolic antenna 52 (see FIG. 1). Connected to the image receiver 64 that receives and decodes / decompresses, the safety monitoring monitor 55 that displays the monitoring video of the surrounding monitoring camera 13 input from the image receiver 64, and the image receiver 64 and the host computer 53. And a storage device 81 connected between the collected video monitor 56 and the host computer 53.
Here, the collected video monitor 56 delivers the information collected video of the information collecting camera 14 and the measurement data of the observation sensor 17 to the host computer 53, and analyzes the noticed location etc. as a result of analyzing the video from the host computer 53. When the video is returned, it is displayed superimposed on the information collection video.
The modem 62 performs A / D conversion or D / A conversion so that various types of information processed by the host computer 53 can be exchanged with the data transceiver 61.
The storage device 81 includes tower column data, electric wire data, and landowner information used in the approach tree inspection operation described later, site map data and longitudinal view data used in the site inspection operation described later, and line ground condition described later. The line base 3D image data used in the inspection operation is stored.

FIG. 6 is a diagram showing a configuration of the approaching tree inspection unit 100 provided in the host computer 53.
As shown in FIG. 6, the host computer 53 includes a three-dimensional image creation unit 101, a three-dimensional image processing unit 102, a determination unit 103, and a determination result notification unit 104 as an approach tree inspection unit 100. The approaching tree etc. checking means 100 may be configured by software or hardware.

(Approaching tree check operation)
FIG. 7 is a diagram for explaining an approach tree inspection operation of the power transmission line inspection system 1.
Next, the operation of the power transmission line inspection system 1 (accessing tree inspection operation) when checking whether or not a tree is approaching the power transmission line will be described with reference to FIG.
Based on a control program set in advance using the navigation system 63 or the like, a control signal instructing the fully automatic control of the radio control helicopter 10 is transmitted from the control center 50 to the radio control helicopter 10 to operate the flight control system 20 of the radio control helicopter 10. By doing so, the radio controlled helicopter 10 is automatically caused to fly along the power transmission line to the inspection point of the approaching tree. At this time, for example, an obstacle is detected by the infrared sensor 28, and the radio controlled helicopter 10 is automatically caused to fly while correcting the flight direction by the distance sensor 15 and the computer 21.
When performing the approaching tree inspection operation, two small cameras are used as the information collecting camera 14 and a laser rangefinder is used as the distance sensor 15. Photograph the trees in the vicinity using two small cameras at the inspection location. The host computer 53 uses the three-dimensional image creation means 101 to create a three-dimensional image (hereinafter referred to as “the distance measurement data from the two small cameras and the laser distance meter” sent from the radio controlled helicopter 10. After creating the “tree three-dimensional image”), the created tree three-dimensional image is displayed on the collected video monitor 56 (see FIG. 7A).

Thereafter, the host computer 53 uses the three-dimensional image processing means 102 to read the tower column data and the wire data stored in the storage device 81 in advance, and the read tower column data and the wire data are three-dimensionally represented in the tree. By inserting the image into the image (see FIG. 7B), a three-dimensional composite image for measuring the separation distance between the transmission line and the tree is created. Subsequently, the host computer 53 displays the created three-dimensional composite image on the collected video monitor 56 (see FIG. 7C).
Thereafter, the host computer 53 uses the determination means 103 to calculate the separation distance between the transmission line and the tree from the three-dimensional composite image, and to determine the separation distance electrical standard (for example, 2 for a 110 kV overhead transmission line). .6 m) (hereinafter referred to as “electric hazard range”) and standards based on the separate design guidelines established by the electric power company (for example, the center of the span of 5.5 m for an overhead transmission line of 110 kV) Hereinafter, it is examined whether or not there is a location that does not satisfy 3 / 4S 5.5 m or less (2 / 4S 5.0 m or less, 1 / 4S 4.5 m or less) (hereinafter referred to as “guideline danger range”) ( (Refer FIG.7 (d)). Subsequently, the host computer 53 uses the determination means 103 to read out the map data of this inspection location registered in advance in the approaching tree inspection database, and to the read map data, the electric danger range and the pointer danger range. The approach tree inspection result image is created by inserting. Subsequently, the host computer 53 uses the determination result notifying unit 104 to display the created approach tree inspection result image on the collected video monitor 56 (see FIG. 7E). In addition, land owner data may be included in the approach tree inspection result image by storing in advance in the storage device 81 land owner information (land owner contact information and land ownership range) that has been surveyed for logging adoption.

The patrolman can display the power transmission line and the trees along the longitudinal section on the collected video monitor 56 by cutting off an arbitrary vertical section of the approach tree inspection result image displayed on the collected video monitor 56. For example, when the patrolperson cuts the longitudinal section along the line AA shown in FIG. 7E, the host computer 53 uses the determination means 103 to perform this longitudinal section as shown in FIG. An image of a transmission line and a tree along the line (hereinafter, referred to as “longitudinal image”) is created, and the created longitudinal image is displayed on the collected video monitor 56 using the determination result notification unit 104. When the patrolman clicks on an arbitrary electric wire in the longitudinal image displayed on the collected video monitor 56, the host computer 53 uses the determination means 103 to determine between the clicked electric wire and the tree closest to the electric wire. After calculating the distance between them and inserting the calculated distance into the longitudinal image, the longitudinal image is displayed on the collected video monitor 56 using the determination result notification means 104.
As described above, the patrolman can check whether or not a tree is approaching the power transmission line based on the longitudinal image displayed on the collected video monitor 56.

(Site inspection operation)
FIG. 8 is a diagram for explaining the site inspection operation of the power transmission line inspection system 1.
Next, the operation of the transmission line inspection system 1 for checking whether or not the foundation concrete is buried or subsidized, cracks in the foundation concrete, and the outflow or inflow of earth and sand within the site (site) The inspection operation) will be described with reference to FIG.
When the site inspection operation is performed, two small cameras are used as the information collecting camera 14 and a laser rangefinder is used as the distance sensor 15 as in the case of performing the approach tree inspection operation described above. Photograph the site of the power transmission line using two small cameras and a laser distance meter at the inspection location. The host computer 53 uses the three-dimensional image creation means 101 to create a three-dimensional image (hereinafter referred to as “the distance measurement data from the two small cameras and the laser distance meter” sent from the radio controlled helicopter 10. After creating the “site 3D image”, the created site 3D image is displayed on the collected video monitor 56 (see FIG. 8A).

  Thereafter, the host computer 53 uses the 3D image processing means 102 to survey the site of the inspection site based on the site 3D image, thereby creating a site map and a longitudinal view (see FIG. 8B). . Subsequently, the host computer 53 uses the determination means 103 to read the site map data and longitudinal view data of this inspection location previously created in the storage device 81 (see FIG. 8C). ) By comparing the read site map data and longitudinal map data with the previously created site map and longitudinal map, the outflow and inflow of earth and sand on the site are detected, and the result is determined using the judgment result notifying means 104. Displayed on the collected video monitor 56. In addition, the host computer 53 uses the determination unit 103 to create a site map and a longitudinal diagram by combining the read site map data and longitudinal map data with the previously created site map and longitudinal diagram. A map and a longitudinal section are displayed on the collected video monitor 56 using the determination result notification means 104 (see FIGS. 8D and 8E).

When the patrol officer clicks the foundation concrete displayed on the collected video monitor 56, the host computer 53 calculates the distance between the top edge of the foundation concrete and the ground using the determination means 103, and determines the calculated distance. The result is displayed on the collected video monitor 56 by using the result notifying unit 104, and the judgment unit 103 is used to check whether a crack has occurred in the foundation concrete, and the result is collected by using the judgment result notifying unit 104. It is displayed on the monitor 56.
Based on the above, the patrolman has found that the foundation concrete has been buried or subsidized, the foundation concrete has cracked, and the sediment has flowed out or inflowed on the site based on the results displayed on the collected video monitor 56. You can check whether or not.

(Line ground condition check operation)
FIG. 9 is a diagram for explaining the line ground condition inspection operation of the power transmission line inspection system 1.
Next, a transmission line inspection system for checking the situation under the transmission line (such as logging points, cableway construction, construction under the transmission line, planning of the building, use of heavy machinery under the transmission line, approaching multiple works, etc.) 1 will be described with reference to FIG. 9.
When performing the line ground state inspection operation, two small cameras are used as the information collecting camera 14 and a laser rangefinder is used as the distance sensor 15 as in the case of performing the approach tree inspection operation described above. . At the inspection point, the bottom of the transmission line is photographed from above the transmission line using two small cameras. The host computer 53 uses the three-dimensional image creation means 101 to create a three-dimensional image (hereinafter referred to as “the distance measurement data from the two small cameras and the laser distance meter” sent from the radio controlled helicopter 10. After creating the “line foundation 3D image”, the created line foundation 3D image is displayed on the collected video monitor 56 (see FIG. 9A).

Thereafter, the host computer 53 uses the three-dimensional image processing means 102 to read out the line foundation three-dimensional image data of the inspection location previously created in the storage device 81 (FIG. 9B). Reference) and the read line base three-dimensional image data are compared with the previously created line base image to obtain difference data between the two. Accordingly, for example, in the example shown in FIG. 9, the building shown in FIG. 9B is obtained as the difference data. Therefore, the host computer 53 determines that the building is being created using the determination unit 103, The determination result is displayed on the collected video monitor 56 using the determination result notification means 104. As described above, the patrolman can check the situation under the power transmission line.

(Steel tower deterioration check operation)
FIG. 10 is a diagram for explaining the tower deterioration inspection operation of the power transmission line inspection system 1.
Next, the operation (steel tower deterioration inspection operation) of the power transmission line inspection system 1 when checking whether or not the steel tower for power transmission lines has deteriorated will be described with reference to FIG.
Generally, since the deterioration of the support of the steel tower itself is not recognized, the corrosion of the steel tower can be prevented if the steel tower is regularly coated as maintenance of the steel tower. However, the regular painting of steel towers requires enormous costs, so whether or not this cost can be reduced depends on the corrosion status of hot dip galvanizing at the beginning of construction and how to postpone the first painting. It depends on what you do.

  Therefore, in order to check the corrosion status of the hot dip galvanizing of the steel tower, two small cameras are used as the information collecting camera 14 and the laser as the distance sensor 15 as in the case of performing the approach tree inspection operation described above. Use a distance meter. Photograph the steel tower for the transmission line using two small cameras at the inspection location. The host computer 53 uses the three-dimensional image creation means 101 to create a three-dimensional image (hereinafter referred to as “the distance measurement data from the two small cameras and the laser distance meter” sent from the radio controlled helicopter 10. After creating the “three-dimensional image of the tower”, the created three-dimensional image of the tower is displayed on the collected video monitor 56 (see FIG. 10A).

Thereafter, the host computer 53 performs advanced image processing on the obtained three-dimensional image of the steel tower using the three-dimensional image processing means 102, and then uses the determination means 103 to investigate the corrosion status of the hot dip galvanizing of the steel tower. Based on this, the deterioration degree is divided into five stages, and the remaining plating life diagnosis is performed. The host computer 53 uses the determination result notifying means 104 to display the degradation degree divided into five stages and the result of the remaining plating life diagnosis on the collected video monitor 56 (see FIGS. 10C and 10D).
For example, a technique described in Japanese Patent Application Laid-Open No. 2002-328095 can be used as a deterioration diagnosis technique for hot dip galvanization by high image processing.
As described above, the patrolman can check whether or not the power transmission tower is deteriorated.

In the above description, the approaching tree etc. checking means 100 and the storage device 81 shown in FIG. 6 are provided in the host computer 53 of the control center 50. However, the approaching tree etc. checking means 100 and the storage device 81 are connected to the computer 21 of the radio control helicopter 10. The inspection result of approaching trees or the like may be transmitted to the control center 50 via the image transmitter 29 and the data transmitter / receiver 22 and displayed on the collected video monitor 56.
Further, the radio control helicopter 10 was automatically flighted along the power transmission line 91 from the control center 50, but the radio control helicopter 10 was semi-automatically flighted or manually operated along the power transmission line 91 using the flight control / information collecting system 60 of the control center 50. You may fly.
Further, although the radio control helicopter 10 (unmanned helicopter) is used as an unmanned air vehicle, an unpopular sphere, an unmanned airship, an unmanned airplane, or the like may be used.

  As described above, the transmission line inspection system using the unmanned aerial vehicle of the present invention uses the unmanned aerial vehicle for the inspection of trees approaching the transmission line, the inspection of the site, the inspection of the line foundation, the inspection of the steel tower, etc. It can be used when performing automatically.

1 is a diagram illustrating a schematic overall configuration of a power transmission line inspection system using an unmanned air vehicle according to an embodiment of the present invention. Example 1 1 is a diagram illustrating a configuration of a radio control helicopter 10. 2 is a diagram showing a configuration of a flight control system 20 of the radio controlled helicopter 10. FIG. It is a figure which shows the structure of the information collection system 30 of the radio controlled helicopter. 2 is a diagram showing a configuration of a flight control / information collection system 60 of the control center 50. FIG. FIG. 3 is a diagram showing a configuration of an approaching tree inspection unit 100 provided in a host computer 53. It is a figure for demonstrating the approach tree inspection operation | movement of the power transmission line inspection system. It is a figure for demonstrating site inspection operation | movement of the power transmission line inspection system. It is a figure for demonstrating the line | wire base condition inspection operation | movement of the power transmission line inspection system. It is a figure for demonstrating the tower deterioration inspection operation | movement of the power transmission line inspection system.

DESCRIPTION OF SYMBOLS 10 Radio control helicopter 20 Flight control system 21 Computer 30 Information collection system 50 Control center 53 Host computer 60 Flight control / information collection system 100 Approaching tree inspection means 101 Three-dimensional image creation means 102 Three-dimensional image processing means 103 Determination means 104 Determination result Notification means

Claims (5)

  1. Using unmanned aerial vehicles, change the situation of whether or not foundation concrete is buried or subsidized, cracks in the foundation concrete, and outflow or inflow of earth and sand within the site. A transmission line inspection system using an unmanned air vehicle to be inspected,
    Information consisting of a flight control system (20) for flying to the inspection location of the transmission line (91) while autonomously flying, and two cameras for collecting various information including images of the inspection location and distance measurement data An unmanned air vehicle (10) including an information collecting system (30) by a collecting camera (14) and a distance sensor (15);
    A control center (50) comprising a flight control / information collection system (60) for controlling the flight of the unmanned air vehicle (10) and collecting and processing the various information from the unmanned air vehicle (10);
    A three-dimensional image is created from the image of the inspection location and the distance measurement data collected by the information collecting system (30) of the unmanned air vehicle (10), the created three-dimensional image is processed, and the processed Inspection means (100) for inspecting whether there is an abnormality in the transmission line (91) of the inspection location based on the three-dimensional image;
    A storage device (81) in which various data used for inspection in the inspection means (100) are stored;
    The inspection means (100)
    3D image creation means for creating a 3D image of the site based on the image of the site of the transmission line (91) of the inspection location taken by the two cameras and the distance measurement data by the distance sensor (15) ( 101)
    3D image processing means (102) for creating a site map and a longitudinal view based on the site 3D image created by the 3D image creating means (101);
    The site map created by the three-dimensional image processing means (102) and the longitudinal sectional view are compared with the past site map data and longitudinal sectional view data stored in the storage device (81). Determining means (103) for detecting a change in the situation, and creating a site map and a longitudinal diagram obtained by synthesizing the site map and the longitudinal diagram and the site map data and the longitudinal diagram data, respectively;
    A determination result notifying means (104) for displaying on the display device (56) the detection result of the change in the situation at the site by the determining means (103) and the site map and the vertical section combined by the determining means. A transmission line inspection system using an unmanned air vehicle, characterized in that
  2. Using unmanned aerial vehicle (10), check the conditions under overhead power transmission lines such as logging points, cableway construction, construction under power transmission lines, building plans, heavy equipment use under power transmission lines, and the approaching of multiple workpieces. A transmission line inspection system using an unmanned air vehicle
    Information consisting of a flight control system (20) for flying to the inspection location of the transmission line (91) while autonomously flying, and two cameras for collecting various information including images of the inspection location and distance measurement data An unmanned air vehicle (10) including an information collecting system (30) by a collecting camera (14) and a distance sensor (15);
    A control center (50) comprising a flight control / information collection system (60) for controlling the flight of the unmanned air vehicle (10) and collecting and processing the various information from the unmanned air vehicle (10);
    A three-dimensional image is created from the image of the inspection location and the distance measurement data collected by the information collecting system (30) of the unmanned air vehicle (10), the created three-dimensional image is processed, and the processed Inspection means (100) for inspecting whether there is an abnormality in the transmission line (91) of the inspection location based on the three-dimensional image;
    A storage device (81) in which various data used for inspection in the inspection means (100) are stored;
    The inspection means (100)
    3D image creating means for creating a 3D image of a line substrate based on the image under the power transmission line (91) taken by the two cameras and the distance measurement data by the distance sensor (15). 101)
    The two line foundations 3 are compared by comparing the line foundation three-dimensional image created by the three-dimensional image creation means (101) with the past line foundation three-dimensional image data stored in the storage device (81). Three-dimensional image processing means (102) for obtaining difference data of a dimensional image;
    A determination unit (103) for determining presence / absence of a change in a situation under the power transmission line (91) based on the difference data obtained by the three-dimensional image processing unit (102);
    A transmission line inspection system using an unmanned air vehicle, comprising: a determination result notifying unit (104) for displaying a determination result by the determination unit (103) on a display device (56).
  3. When the foundation means entered in the site map and longitudinal view displayed on the display device (56) is designated by the determination means (103), the gap between the top edge of the designated foundation concrete and the ground is designated. While calculating the distance, check whether cracks have occurred in the foundation concrete,
    The determination result notifying means (104) displays the calculated distance and the result of the presence or absence of the occurrence of cracks on the display device (56).
    The power transmission line inspection system using the unmanned air vehicle according to claim 1.
  4.   The host computer (53) included in the flight control / information collection system (60) of the control center (50) includes the inspection means (100) and the storage device (81). A transmission line inspection system using the unmanned aerial vehicle according to claim 1, 2 or 3.
  5.   The computer (21) included in the flight control system (20) of the unmanned air vehicle (10) includes the inspection means (100) and the storage device (81). Or a transmission line inspection system using the unmanned aerial vehicle according to 3.
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