JP7243317B2 - Information processing device, information processing system, and control method for information processing device - Google Patents

Description

The present invention relates to an information processing device, an information processing system, and a control method for an information processing device that generate information used for patrolling power equipment.

Conventionally, drones (unmanned aerial vehicles) have been employed for patrolling power facilities (steel towers, etc.) (for example, Patent Document 1). Specifically, an imaging device mounted on a drone captures an image of power equipment, and an image (still image or moving image) captured by the imaging device is displayed on a display device. From the image of the display device described above, it is possible to confirm a problem in the electric power equipment (for example, the state of rusting of the steel tower).

In the conventional technology described above, there are cases in which a drone is provided with a sensor for avoiding a collision with an object to be avoided (electric power facility, etc.). For example, a configuration in which the drone is provided with a sensor that specifies the distance to the avoidance target may be employed. According to the above configuration, it is possible to fly the drone while ensuring a certain distance from the avoidance target.

Japanese Patent Application Laid-Open No. 2018-156491

There is a situation that the distance to be secured between the avoidance target and the drone differs according to the type of the avoidance target. Therefore, if the distance from the drone to the avoidance target is uniform regardless of the type of the avoidance target, there will be an inconvenience that the distance that should be secured between the avoidance target and the drone may not be secured depending on the avoidance target. obtain. SUMMARY OF THE INVENTION In consideration of the above circumstances, the present invention aims to suppress the above inconvenience.

In order to solve the above problems, an information processing apparatus according to the invention of claim 1 causes an unmanned aerial vehicle to avoid a plurality of types of avoidance targets including a patrol target, and an imaging device provided on the unmanned aerial vehicle. an information processing device for generating information for photographing a regulated area, wherein a regulated area determiner capable of determining an area in which a distance to an avoidance target is equal to or less than a specific value as a regulated area; and information generating means for generating information for causing the unmanned aircraft to fly outside, and the specific value is variable according to the type of the object to be avoided. With the above configuration, the distance (specific value) from the avoidance target to the unmanned aircraft can be varied according to the type of the avoidance target. Compared to the configuration, the disadvantages mentioned above are suppressed. In addition to photographing by the photographing device equipped with the unmanned aircraft, the technology of sensing (detecting, measuring, measuring) discharge noise, heat generation, etc. in the patrol target by various sensors equipped with the unmanned aircraft is included in the present invention. can be

According to the present invention, an appropriate distance can be secured between the unmanned aerial vehicle and the object to be avoided.

It is a figure for demonstrating the patrol method which concerns on embodiment of this invention. It is a figure for demonstrating the hardware constitutions of the information processing system which concerns on embodiment of this invention. 1 is a functional block diagram of an information processing system according to an embodiment of the present invention; FIG. FIG. 4 is a diagram for explaining a restricted area according to the embodiment of the present invention; FIG. FIG. 4 is a diagram for explaining a recommended area according to the embodiment of the present invention; FIG. 1 is a sequence diagram of an information processing system according to an embodiment of the present invention; FIG.

The present invention will be described in detail below with reference to embodiments shown in the drawings.

FIG. 1 is a diagram for explaining a patrol method for a patrol target (power equipment) according to the present embodiment. In the specific example of FIG. 1, a steel tower T and a plurality of power lines E laid parallel by the steel tower T are shown as patrol targets. However, a configuration may be adopted in which items other than the steel tower T and the power line E are included in the patrol targets.

In this embodiment, a drone D is used for patrol of patrol targets. The drone D described above is equipped with a camera (photographing device). The operator of the drone D (H in FIG. 1) appropriately operates the controller C to cause the above-described camera to photograph the patrol target. Further, the operator H appropriately operates the controller C to cause the drone D to fly on a route that does not collide with the avoidance target.

For example, a standing tree O shown in FIG. 1 is assumed as the object to be avoided. Also, the objects to be avoided include patrol objects (steel tower T, power line E) themselves. The image data representing the image of the patrol target captured by the camera of the drone D is stored in the drone D and used to detect defects in the patrol target.

In the specific example of FIG. 1, a camera capable of capturing an area below the drone D is exemplified, but a camera capable of capturing an area above the drone D, for example, may be used. Further, a camera capable of photographing the lower side and a camera capable of photographing the upper side of the drone D may be provided, respectively, or a camera capable of photographing in all directions may be employed. Furthermore, the drone D may be equipped with an infrared camera.

The controller C is provided with a display (display device). Images recorded by the drone D are displayed in real time on the above display. According to the above configuration, by checking the image on the display of the controller C, it is possible to grasp whether or not the patrol target is properly photographed.

By the way, depending on the place where the steel tower T is installed, the operator H may not be able to approach the vicinity of the steel tower T concerned. Further, depending on the positional relationship between the operator H and the drone D, the drone D may be hidden by an obstacle (for example, a standing tree F) and cannot be seen. In the above case, it is difficult to grasp the distance from the drone D to the steel tower T with the naked eye. Therefore, the operator H grasps (predicts) the distance from the drone D to the steel tower T from the image displayed on the display of the controller C.

However, depending on the field of view of the camera of the drone D, the avoidance target approaching the drone D is not displayed on the display of the controller C. Therefore, the operator H needs to operate the drone D while anticipating avoidance targets that are not displayed on the display of the controller C. However, it is difficult for an inexperienced operator to operate the drone D while anticipating an avoidance target that is not displayed on the display of the controller C.

In consideration of the above circumstances, the present embodiment employs a configuration capable of generating recommended area information capable of specifying an area (hereinafter referred to as "recommended area Rs") in which the patrol target can be photographed while avoiding the avoidance target. . Although details will be described later, the above recommended area information is stored in the drone D (see FIG. 3 described later). Also, when the drone D deviates from the recommended area Rs specified by the recommended area information, it automatically stops advancing (hovering on the spot). With the above configuration, even an inexperienced operator can easily move the drone D within the recommended area Rs.

FIG. 2 is a diagram for explaining the hardware configuration of the information processing system according to this embodiment. As shown in FIG. 2, the information processing system includes a recommended area generation device 1, a map server device 2, an image analysis device 3, the drone D and the controller C described above. Each of the above configurations can communicate with each other via the network N. FIG.

Each configuration of the information processing system includes a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory) and an I/F (interface). Each CPU of each configuration executes a program stored in the ROM, thereby realizing each function (recommended area determining unit 106, etc.) described later. Note that an MPU (Micro Processing Unit) may be adopted as the processor instead of the CPU.

The map server device 2 stores spatial information. Spatial information is information that can specify the coordinates of an avoidance target (including a patrol target) in a predetermined area (hereinafter referred to as a "patrol area"). As the above spatial information, for example, point cloud data is preferably employed.

Point cloud data is generated using, for example, a mobile mapping system. Specifically, a measurement vehicle M equipped with a laser scanner is caused to travel through a patrol area. The laser scanner emits a laser to an object (avoidance target) provided in the patrol area and receives the reflected light. Also, the laser scanner stores the time when the laser is emitted, the time when the reflected light is received, the irradiation angle, the light reception angle, and the current location. The current location of the laser scanner is identified by a GPS (Global Positioning System) and an IMU (Inertial Measurement Unit) provided on the measurement vehicle M, for example.

The above point cloud data includes coordinate information ( X, Y, Z). With the above point cloud data, one avoidance target can be displayed on the display as a set of a plurality of points (point cloud). In the information processing apparatus 100 (target identifying unit 102), which will be described later, a group of points forming each avoidance target is identified for each avoidance target.

In the mobile mapping system, the laser scanner is mounted on the measurement vehicle M, but the laser scanner may be mounted on a drone (unmanned aerial vehicle). Also, image data may be acquired at the same time as the point cloud data. A three-dimensional image of the patrol area can be generated from the above point cloud data and image data. As a technique for generating a three-dimensional image from point cloud data and image data, for example, the technique described in Japanese Unexamined Patent Application Publication No. 2016-142662 can be preferably adopted.

The recommended area generation device 1 generates the recommended area information described above. Specifically, the recommended area generation device 1 acquires the spatial information from the map server device 2 and identifies the coordinates of the avoidance target (including the patrol target) in the patrol area from the spatial information. In the present embodiment, the recommended area Rs is determined using the coordinates (installation position, shape) of the object to be avoided specified from the spatial information, and recommended area information specifying the recommended area Rs is generated.

The drone D receives and stores the recommended area information from the recommended area generation device 1 by wireless communication. Note that the drone D may be connected to the recommended area generation device 1 by wire, and the recommended area information may be input to the drone D. FIG. As described above, the drone D automatically stops moving when deviating from the recommended area Rs specified by the recommended area information. Further, when the drone D deviates from the recommended region Rs, it outputs a signal for displaying a warning message to that effect on the display of the controller C.

The image analysis device 3 is provided to analyze images recorded by the drone D. FIG. That is, the image analysis device 3 is provided to confirm the patrol result by the drone D. Specifically, image data representing an image recorded by the drone D is input to the image analysis device 3 after the patrol is completed.

The drone D captures both moving images and still images. Each image described above is displayed on the display of the image analysis device 3 . The confirmer confirms the presence or absence of defects in each patrol target from the displayed image. For example, from the image of the steel tower T, the rusting state of the steel tower T can be confirmed. In addition, the presence or absence of arc traces and wire breakage of the power line E, and the presence or absence of breakage of the insulator are confirmed.

The image analysis device 3 stores the date and time when a problem was confirmed in each patrol target and the presence/absence of a problem in the patrol target. Each patrol target is maintained by referring to the above information. It should be noted that the clearer the image captured by the drone D, the more accurately the defect can be found in the above analysis work. In the present embodiment, when the drone D is likely to deviate from the recommended area Rs (for example, when it is likely to collide with the avoidance target), the drone D stops moving, so the drone D can easily approach the patrol target. Therefore, since it is easy to photograph the patrol target at a relatively short distance, it is easy to photograph a clear image, and there is an advantage that it is easy to find defects with high accuracy in the analysis work.

FIG. 3 is a diagram for explaining a functional block diagram relating to the information processing system of this embodiment. As shown in FIG. 3, the information processing system functions as an information processing device 100 (recommended region generation device 1), a map server device 200 (2), an unmanned aerial vehicle 300 (drone D), and a ground control device 400 (controller C). .

The unmanned aerial vehicle 300 includes a storage section 301 , a signal transmission/reception section 302 , a sensor section 303 and an imaging control section 304 . The unmanned aerial vehicle 300 is provided with a plurality of propellers (not shown), and by appropriately controlling each propeller, the unmanned aerial vehicle 300 can ascend and descend in the vertical direction, advance and retreat in the parallel direction, move diagonally up and down, and It is possible to hover in the air by hovering.

Sensor unit 303 of unmanned aerial vehicle 300 includes at least a GPS, an altimeter (such as a barometer), and an acceleration sensor for identifying the current location (coordinates) and traveling direction of unmanned aerial vehicle 300 . The storage unit 301 also stores recommended area information. The unmanned aerial vehicle 300 monitors in real time whether or not it deviates from the recommended area Rs specified by the recommended area information. It is assumed that the coordinates of the predetermined point in the spatial information (point cloud data) match the coordinates of the current location specified by the drone D when positioned at the predetermined point.

Specifically, the unmanned aerial vehicle 300 refers to the current coordinates, moving direction, and moving speed to determine whether it is likely to deviate from the recommended region Rs. For example, the unmanned aerial vehicle 300 determines (predicts) whether it will deviate from the recommended region Rs if it moves from its current location for time X seconds (where X is a positive integer) at the current speed and acceleration. However, the unmanned aerial vehicle 300 may determine whether or not to deviate from the recommended region Rs by a method other than the method described above.

The signal transmission/reception unit 302 of the unmanned aerial vehicle 300 transmits/receives various signals to/from the signal transmission/reception unit 402 of the ground control device 400 . For example, the signal transmission/reception unit 302 transmits image data of an image captured by the unmanned aerial vehicle 300 to the ground control device 400 in real time. The image data described above is received by the signal transmission/reception unit 402 of the ground control device 400, and the image indicated by the image data is displayed on the display device 401. FIG.

The signal transmitter/receiver 302 of the unmanned aerial vehicle 300 receives the control signal transmitted from the signal transmitter/receiver 402 of the ground control device 400 . Movement and the like of the unmanned aerial vehicle 300 are controlled according to the above control signals. However, when the unmanned aerial vehicle 300 is likely to deviate from the recommended area Rs, it stops moving according to the control signal from the ground control device 400 and stops in the air by hovering. That is, the operation of moving the unmanned aerial vehicle 300 by the ground control device 400 is prohibited (disabled).

Note that if a predetermined trigger occurs after the operation to move the unmanned aerial vehicle 300 is prohibited, the operation to move the unmanned aerial vehicle 300 is permitted. For example, a configuration is conceivable in which movement of the unmanned aerial vehicle 300 is permitted (piloting becomes possible) when a predetermined length of time (for example, about 10 seconds) has elapsed after movement was prohibited. Further, a configuration may be adopted in which movement of the unmanned aerial vehicle is permitted when a predetermined release operation is performed on the ground control device 400 .

Also, the signal transmitting/receiving unit 302 of the unmanned aerial vehicle 300 transmits a warning display signal to the ground control device 400 when the unmanned aerial vehicle 300 is likely to deviate from the recommended area Rs. When the above warning display signal is received by the signal transmitting/receiving section 402 of the ground control device 400, a predetermined warning is displayed on the display device 401. FIG.

As shown in FIG. 3 , the map server device 200 includes a storage section 201 . The storage unit 201 stores the spatial information (point cloud data) described above. Specifically, the map server device 200 stores spatial information for each patrol area (address). Note that the map server device 200 may store various types of information including the date and time when the spatial information was created in association with the spatial information.

As shown in FIG. 3 , information processing apparatus 100 includes inspection area acquisition section 101 , target identification section 102 , first area determination section 103 , second area determination section 104 , restricted area determination section 105 and recommended area determination section 106 . consists of The patrol area acquisition unit 101 acquires from the map server device 200 the spatial information of the patrol area in which the facility to be inspected this time is installed.

The target identification unit 102 identifies an avoidance target in the patrol area and generates target information (see FIG. 4A described later). Specifically, the spatial information acquired by the inspection area acquiring unit 101 is point cloud data as described above. The target identifying unit 102 identifies an avoidance target in the patrol area from the point cloud data, and assigns the same group ID to the point clouds forming the same avoidance target. That is, the points forming the same avoidance target are classified into the same group.

As a method of specifying the avoidance target from the point cloud data, for example, a method of displaying the point cloud data on a display and manually specifying the avoidance target (by grouping each point) can be adopted. Also, a configuration in which avoidance targets can be automatically specified by image matching technology may be adopted.

The above target information will be described with reference to FIG. FIG. 4A is a conceptual diagram of target information. As shown in FIG. 4A, the target information includes a group ID, the type of the avoidance target to which the group ID is assigned, and the coordinate information of each point constituting the avoidance target to which the group ID is assigned. be. In addition, the target information includes information that can specify whether or not each avoidance target is a shooting target (that is, whether or not it is a patrol target).

Returning to FIG. The first region determining unit 103 and the second region determining unit 104 of the information processing device 100 determine the restricted region Rk (see FIGS. 4(b-1) and 5 described later) in which entry of the unmanned aerial vehicle 300 (drone D) is restricted. ) is provided to determine The first area determining section 103 and the second area determining section 104 described above implement the restricted area determining means of the present invention. The restricted area Rk of the present embodiment is an area in which the distance to the avoidance target is equal to or less than the separation distance L (specific value).

FIG. 4(b-1) is a diagram for explaining the regulation region Rk of this embodiment. FIG. 4(b-1) shows one point P in the point cloud data. The point P is part of the avoidance target. As shown in FIG. 4(b-1), an area (substantially spherical area) having a separation distance L or less from the point P is determined as the regulation area Rk.

FIG. 4(b-2) is a diagram for explaining a specific example of the regulation region Rk. In the specific example of FIG. 4(b-2), the restricted area Rk provided by the power line E is shown. In the specific example of FIG. 4(b-2), it is assumed that the power line E is substantially straight. In the above case, each point P constituting the power line E in the point cloud data is arranged substantially on a straight line. As shown in FIG. 4(b-2), a substantially cylindrical restriction region Rk is defined by a group of points arranged substantially on a straight line.

In this embodiment, the regulation area Rk is determined from the point cloud data, but the regulation area Rk may be determined by another method. For example, a three-dimensional image may be generated from the point cloud data, and the regulation region Rk may be determined from the three-dimensional image. In the above configuration, a region within the separation distance L from the surface of the object to be avoided in the three-dimensional image is determined as the restriction region Rk.

The restricted area Rk of the present embodiment is an area where the unmanned aerial vehicle 300 has a high possibility of colliding with an object to be avoided when flying. In addition, in the present embodiment, when an object to be avoided generates an electromagnetic field, a region in which the unmanned aerial vehicle 300 is adversely affected by the electromagnetic field is determined as the restricted region Rk.

Specifically, when the object to be avoided does not generate an electromagnetic field, the first region determination unit 103 specifies a region where the distance to the object to be avoided is equal to or less than the separation distance L as the restricted region Rk. When the first area determination unit 103 specifies the restricted area Rk, the separation distance L is determined using the first distance table (see FIG. 4C described later).

On the other hand, the second area determination unit 104 specifies the regulation period Rk when the avoidance target generates an electromagnetic field. When the second area determination unit 104 specifies the restricted area Rk, the separation distance L is determined using the second distance table (see FIG. 4D described later). The first distance table and the second distance table described above are stored in advance in, for example, a flash memory or the like of the information processing device 100 (recommended region generation device 1).

Hereinafter, for the sake of explanation, the restricted area Rk identified by the first area determination unit 103 may be referred to as a "first area Rka" (see FIG. 5(b-1) described later). Also, the restricted area Rk specified by the second area determination unit 104 may be described as a "second area Rkb" (see FIG. 5B-2 described later). The information processing apparatus 100 of the present embodiment can variably determine the separation distance L according to the type of avoidance target.

FIG. 4(c) is a conceptual diagram of the first distance table. The first distance table associates the types of objects to be avoided with the separation distance L. FIG. As described above, when the avoidance target does not generate an electromagnetic field, the first distance table is referenced. For example, when the object to be avoided is the steel tower T, the separation distance Ln is determined. In the above case, the area within the separation distance Ln from the steel tower T is determined as the first area Rka (part of the regulation area Rk). Also, the separation distance Ln is determined when the avoidance target is the standing tree F, and the separation distance Ln is determined when the avoidance target is the ground surface. That is, the separation distance Ln is determined regardless of whether the object to be avoided is a steel tower, standing tree, or ground surface.

It should be noted that a common separation distance L may be determined for all avoidance targets that do not generate an electromagnetic field. Further, a configuration may be adopted in which a different separation distance L can be determined for avoidance targets that do not generate an electromagnetic field. For example, there is a situation in which strong winds tend to blow near the top of the steel tower T compared to near the ground surface. That is, when the unmanned aerial vehicle 300 flies near the top of the steel tower T, the wind tends to blow it over a longer distance than when it flies near the ground surface. Considering the above circumstances, when the object to be avoided is the steel tower T, a configuration may be adopted in which a longer separation distance L is determined than when the object to be avoided is the ground surface.

FIG. 4D is a conceptual diagram of the second distance table. The second distance table associates the types of objects to be avoided with the separation distance L in the same manner as the first distance table described above. As described above, when the avoidance target generates an electromagnetic field, the second distance table is referenced. In the specific example of FIG. 4D, power lines EA, EB, and EC are illustrated as avoidance targets. Each power line E is supplied with different power. In other words, the power lines E generate different strengths of electromagnetic fields.

For example, the separation distance La is determined when the avoidance target is the power line EA. In the above case, the area within the separation distance La from the power line EA is determined as the second area Rkb (part of the regulation area Rk). Further, when the object to be avoided is the power line EB, the separation distance Lb is determined, and a region within the separation distance Lb from the power line EB is determined as the second region Rkb. Similarly, when the object to be avoided is the power line EC, the separation distance Lc is determined, and the area below the separation distance Lc from the power line EC is determined as the second area Rkb. As described above, the separation distance L is variably determined according to the strength of the electromagnetic field generated by the power line E.

The distance La between the power lines EA is set to a length such that the unmanned aerial vehicle 300 is not adversely affected by the electromagnetic field generated by the power lines EA. Specifically, as described above, unmanned aerial vehicle 300 includes sensor unit 303 . The sensor unit 303 described above may have a problem that an accurate numerical value cannot be detected in a region where a strong electromagnetic field is generated. In addition, the signal transmitting/receiving unit 302 of the unmanned aerial vehicle 300 may not operate normally in an area where a strong electromagnetic field is generated. The longer the distance from the power line E, the weaker the strength of the electromagnetic field generated by the power line E. The separation distance La is set to a length such that the electromagnetic field generated by the power line EA hardly causes the above-described inconvenience (including cases where it does not substantially occur).

Similarly, the separation distance Lb of the power lines EB is set to a length that does not adversely affect the unmanned aerial vehicle 300 due to the electromagnetic field generated by the power lines EB. is set to a length shorter than that of the unmanned aerial vehicle 300 .

By the way, a configuration is assumed in which strong electromagnetic fields are generated in the order of power line EA, power line EB, and power line EC. In the above configuration, the separation distance Lc is longer than the separation distance La and the separation distance Lb. In the above configuration, assume a configuration (hereinafter referred to as "contrast") in which the separation distance Lc is uniformly determined regardless of which of the power lines EA, EB, and EC the object to be avoided is. Even with the above comparison, the inconvenience that the unmanned aerial vehicle 300 is adversely affected by the electromagnetic fields generated by the power lines EA, EB, and EC is suppressed.

However, as the separation distance L between the unmanned aerial vehicle 300 and the power line E increases, the problem that the image of the power line E captured by the unmanned aerial vehicle 300 becomes unclear becomes more likely to occur. In consideration of the above circumstances, in this embodiment, the minimum separation distance L that is not adversely affected by the electromagnetic field generated by the power line E is variably determined according to the type of the power line E. According to the above configuration, the above inconvenience is suppressed.

The strength of the electromagnetic field that allows normal operation varies depending on the type of unmanned aerial vehicle. Therefore, a configuration in which the separation distance L between the power lines is variably set according to the type of unmanned aerial vehicle is preferable. For example, a configuration is conceivable in which a second distance table is provided for each type of unmanned aerial vehicle, and the second distance table to be referred to is changed according to the type of unmanned aerial vehicle. Also, the separation distance L that should be secured in order to avoid collision with the object to be avoided may change depending on, for example, the size of the unmanned aerial vehicle. In consideration of the above circumstances, a plurality of types of first distance tables may be provided for each unmanned aerial vehicle to be referred to when the avoidance target does not generate an electromagnetic field.

Also, when the strength of the electromagnetic field of the power line E is relatively weak, the separation distance L required to avoid collision with the power line E may be longer than the separation distance L at which the electromagnetic field does not adversely affect. As for the power line E described above, a configuration in which the regulation region Rk is determined from the separation distance L required to avoid collision with the power line E is preferable.

Returning to FIG. The restricted area determination unit 105 of the information processing device 100 determines the restricted area Rk according to the first area Rka determined by the first area determination unit 103 and the second area Rkb determined by the second area determination unit 104. do. Specifically, the regulation area determining unit 105 selects an area included in either the first area Rka or the second area Rkb and an area included in both the first area Rka and the second area Rkb as the restriction area. Rk is determined (see FIG. 5(c) described later).

The recommended area determining section 106 (an example of the “information generating means” of the present invention) determines the recommended area Rs according to the restricted area Rk determined by the restricted area determining section 105 . Specifically, an area outside the restricted area Rk is determined as the recommended area Rs among the areas where the patrol target can be photographed by the imaging device (camera) provided in the unmanned aerial vehicle 300 . In the present embodiment, an area outside the regulation area Rk that is equal to or less than a predetermined distance Ls from the outer edge of the regulation area Rk is determined as the recommended area Rs (see FIG. 5C described later).

Recommended area information capable of specifying the recommended area Rs determined by the recommended area determination unit 106 is generated, and the recommended area information is stored in the unmanned aerial vehicle 300 . Note that the recommended area information may be stored in the ground control device 400 . With the above configuration, the unmanned aerial vehicle 300 transmits the current coordinates, direction of movement, and acceleration to the ground control device 400 in real time. The ground control device 400 determines whether or not the unmanned aerial vehicle 300 deviates from the recommended area Rs based on the information from the unmanned aerial vehicle 300 . When unmanned aerial vehicle 300 deviates from recommended region Rs, ground control device 400 transmits a control signal to stop movement of unmanned aerial vehicle 300 and displays a warning on display device 401 .

Below, FIG. 5(a-1), FIG. 5(a-2), FIG. 5(b-1), FIG. 5(b-2) and FIG. A specific example of Rs will be described.

FIG. 5(a-1) is a diagram showing a part of the steel tower T and the power line E (jumper). The specific example of FIG. 5(a-1) assumes a case of viewing from a direction perpendicular to the extension direction of the power line E and parallel to the horizontal direction (hereinafter referred to as "Y-axis direction"). FIG. 5(a-2) assumes that the steel tower T and the power line E shown in FIG. 5(a-1) are viewed vertically downward (hereinafter referred to as "Z-axis direction"). Hereinafter, the direction perpendicular to both the Z-axis direction and the Y-axis direction is referred to as the X-axis direction.

FIG. 5(b-1) is a diagram for explaining the first region Rka (part of the regulation region Rk) in the specific example shown in FIGS. 5(a-1) and 5(a-2). be. FIG. 5(b-1) is a diagram of the steel tower T and the power line E viewed in the Z-axis direction, similar to FIG. 5(a-2) described above. As described above, the first area Rka is an area having a separation distance Ln or less from the object to be avoided (the steel tower T in the example of FIG. 5(b-1)). In FIG. 5B-1, the first region Rka is indicated by hatching, and the outer edge of the first region Rka is indicated by broken lines.

FIG. 5(b-2) is a diagram for explaining the second region Rkb (another part of the regulation region Rk) in the specific example shown in FIG. 5(b-1). FIG. 5(b-2) is a view of the steel tower T and the power line E as seen in the Z-axis direction, similar to FIGS. 5(a-2) and 5(b-1) described above. As described above, the second region Rkb is a region that is less than or equal to the separation distance L (a, b, c) from the object to be avoided (the power line E in the example of FIG. 5(b-2)).

In FIG. 5B-2, the second region Rkb is indicated by hatching, and the outer edge of the second region Rkb is indicated by broken lines. As described above, the separation region L of the power line E is variably determined according to the type of the power line E (a, b, c) (power supplied to the power line E). In other words, the above configuration changes the width of the second region Rkb according to the type of power line E. FIG.

FIG. 5(c) is a diagram for explaining the restricted region Rk (Rka+Rkb) and the recommended region Rs in the specific examples shown in FIGS. 5(a-1) and 5(a-2). FIG. 5(c) is a diagram of the steel tower T and the power line E viewed in the Z-axis direction, similar to FIGS. 5(a-2), 5(b-1) and 5(b-2) described above. be. In FIG. 5(c), the restricted area Rk is indicated by light shading, and the recommended area Rs is indicated by thick shading.

As described above, the regulation region Rk is a region included in either the first region Rka or the second region Rkb, and a region included in both the first region Rka and the second region Rkb. Further, among the regions outside the restricted region Rk, a region within a predetermined distance Ls from the outer edge of the restricted region Rk is determined as the recommended region Rs.

For example, in the specific example of FIG. 5(c), it is assumed that an operator at position P0 (observation point) controls unmanned aerial vehicle 300 flying at position P1. In the above case, the unmanned aerial vehicle 300 is shielded by the power line E and the steel tower T, making it difficult to grasp the distance between the unmanned aerial vehicle 300 and the power line E. Therefore, in a configuration in which the restricted area Rk is not provided (hereinafter referred to as "contrast"), depending on the operator, the unmanned aerial vehicle 300 may move in the direction of the arrow with the number "1" in FIG. 5(c). , causing the unmanned aerial vehicle 300 to collide with the power line E.

According to this embodiment, when the unmanned aerial vehicle 300 deviates from the recommended area Rs and enters the restricted area Rk, the movement of the unmanned aerial vehicle 300 is stopped (hovering on the spot). Therefore, the inconvenience of collision between the unmanned aerial vehicle 300 and the power line E is suppressed compared to the above comparison. Further, when the unmanned aerial vehicle 300 enters the restricted area Rk, a warning is displayed on the ground control device 400, so the effect of suppressing the above-described inconvenience is particularly remarkable.

Also, in the above comparison, depending on the operator, the unmanned aerial vehicle 300 is moved in the direction of the arrow with the number "2" in FIG. Sometimes. In the above case, the distance between the power line E and the unmanned aerial vehicle 300 becomes excessively long, and the power line E cannot be clearly captured by the camera of the unmanned aerial vehicle 300 .

According to the present embodiment, when the unmanned aerial vehicle 300 deviates from the recommended area Rs, movement of the unmanned aerial vehicle 300 is stopped even if the unmanned aerial vehicle 300 does not enter the restricted area Rk. In the above case, the unmanned aerial vehicle 300 stops moving before the distance from the power line E becomes excessively long. Therefore, compared with the above-described comparison, the inconvenience that the avoidance target cannot be photographed clearly is suppressed. In addition, in the above case, since the warning is displayed on the ground control device 400, the effect of suppressing the above-described inconvenience is particularly remarkable.

Note that when the unmanned aerial vehicle 300 deviates from the recommended region Rs, the unmanned aerial vehicle 300 enters the restricted region Rk (moves in the direction of the arrow with the number “1”) and does not enter the restricted region Rk (the number “2”). ), the operation of the unmanned aerial vehicle 300 may be different. For example, when the unmanned aerial vehicle 300 deviates from the recommended area Rs but does not enter the restricted area Rk, the unmanned aerial vehicle 300 is hovered and stopped, and when the unmanned aerial vehicle 300 enters the restricted area Rk, the unmanned aerial vehicle 300 moves to the opposite side of the restricted area Rk (recommended area Rs (center side)). Further, the content of the warning displayed on the ground control device 400 may differ between when the unmanned aerial vehicle 300 enters the restricted area Rk and when it does not enter the restricted area Rk.

As shown in the specific example of FIG. 5C, when the distance between the power lines E is relatively large, or when the electromagnetic field generated by the power lines E is relatively weak (when the separation distance L is relatively short), one A recommended area Rs is provided between the power line E and the other power line (the area including the position P2 in FIG. 5(c)). From the position P2 in FIG. 5(c), the steel tower T can be photographed from the direction of the arrow with the number "3" in FIG. 5(c). It is difficult to photograph the steel tower T from the above directions, for example, from the position P1 described above. Also, from the position P2, the power line E can be photographed from the direction of the arrow with the number "4" in FIG. 5(c).

In a configuration in which the restricted area Rk (recommended area Rs) is not provided, it would be difficult for the unmanned aerial vehicle 300 to fly in the area between the power lines E (position P2 described above) while avoiding both power lines E. requires good piloting skills. In this embodiment, since the restricted area Rk is provided, even a relatively inexperienced operator can fly the unmanned aerial vehicle 300 in the area between the power lines E while avoiding both power lines. There is an advantage.

Further, for example, as shown in the specific example of FIG. 5(c), in a relatively large steel tower T (a steel tower with a wide interval between steel pillars), the recommended A region Rs is provided. From the position P3, the steel tower T can be photographed from the direction of the arrow with the number "5" in FIG. 5(c). It is difficult to photograph the steel tower T from the above directions, for example, from the position P1 described above.

In a configuration in which the restricted area Rk (recommended area Rs) is not provided, making the unmanned aerial vehicle 300 fly inside the steel tower T (position P2 described above) requires a high degree of piloting skill. In this embodiment, since the restricted area Rk is provided, there is an advantage that even a relatively inexperienced operator can cause the unmanned aerial vehicle 300 to fly inside the steel tower T.

Note that the recommended area Rs specified by the recommended area information of the present embodiment may be configured to be displayed on the display device. For example, in the three-dimensional image of the inspection area obtained from the spatial information, a configuration is conceivable in which the area corresponding to the recommended area Rs is displayed in a color distinguishable from other areas. Further, a configuration in which the restricted area Rk can be displayed on the display device in addition to the recommended area Rs may be employed.

In the configuration for displaying the recommended area Rs, the display device for displaying the recommended area Rs can be changed as appropriate. For example, it may be configured to display on a display provided in the ground control device 400 . In the above configuration, it is preferable to display the current location of the unmanned aerial vehicle 300 in a three-dimensional image in addition to the recommended region Rs. The operator of the unmanned aerial vehicle 300 can operate the unmanned aerial vehicle 300 while checking the positions of the recommended area Rs displayed on the display and the unmanned aerial vehicle 300 .

FIG. 6 is a system sequence diagram of this embodiment. As shown in FIG. 6, the information processing apparatus 100 (the patrol area obtaining unit 101) executes patrol area obtaining processing (S1). In the patrol area acquisition process, the information processing apparatus 100 outputs to the map server apparatus 200 a signal that can specify the patrol area for which recommended area information is to be generated. When the above signal is input, the map server device 200 outputs the spatial information of the patrol area specified from the signal to the information processing device 100 (S2).

When the spatial information is input from the map server device 200, the information processing device 100 (target identification unit 102) executes target information generation processing (S3). In the target information generation process, the target information shown in FIG. 4A is generated.

Specifically, when the target information generation process is started, the spatial information acquired from the map server device 200 is displayed on a predetermined display device. In the above case, images (point groups) of various avoidance targets including patrol targets (pylon T, etc.) are displayed. The operator, for example, operates the operation unit (pointing device such as a mouse) to select the point group displayed on the display device for each avoidance target. By the above operation, the same group ID is given to the point group forming one avoidance target. Further, the operator performs an operation of inputting the type of the avoidance target and the necessity of photographing for each of the avoidance targets. Through the operations described above, the target information of the spatial information acquired from the map server device 200 is generated.

After executing the target information generation process, the information processing apparatus 100 (first area determination unit 103) executes a first area determination process (S4). In the first area determination process, the separation distance L is determined for avoidance targets (pylon T, etc.) that do not generate an electromagnetic field. Specifically, the first distance table (see FIG. 4(c)) is used to determine the separation distance L for each avoidance target. Also, in the first area determination process, the area from the avoidance target to the separation distance L is determined as the first area Rka. Specifically, the coordinates of the area from the avoidance target to the separation distance L are stored as the coordinates of the first area Rka.

After executing the first area determination process, the information processing apparatus 100 (second area determination unit 104) executes the second area determination process (S5). In the second area determination process, the separation distance L is determined for the avoidance target (power line E, etc.) that generates the electromagnetic field. Specifically, the second distance table (see FIG. 4D) is used to determine the separation distance L for each avoidance target. Further, in the second region determination process, the region from the avoidance target to the separation distance L is determined as the second region Rkb. Specifically, the coordinates of the area from the avoidance target to the separation distance L are stored as the coordinates of the second area Rkb.

After executing the second area determination process, the information processing apparatus 100 (restricted area determination unit 105) performs the restricted area determination process (S6). In the regulation area determination process, the regulation area Rk is determined from the first area Rka determined in the first area determination process and the second area Rkb determined in the second area determination process. Specifically, of the coordinates of the inspection area (spatial information), both the coordinates of the first area Rka and the coordinates of the second area Rkb are stored as the coordinates of the regulation area Rk.

After executing the restricted area determination process, information processing apparatus 100 (recommended area determination unit 106) executes recommended area determination process (S7). In the recommended area determination process, the recommended area is determined from the regulatory area Rk determined in the above-described regulatory area determination process. Specifically, an area having a separation distance Ls or less from the outer edge of the regulation area Rk to the outer direction of the regulation area Rk is determined as the recommended area. In addition, the information processing apparatus 100 generates recommended area information that can specify the coordinates of the recommended area.

The recommended area information generated by the information processing device 100 is input to the unmanned aerial vehicle 300 (S8). The unmanned aerial vehicle 300 executes storage processing (S9) and stores the recommended area information. In addition to the recommended area information, the unmanned aerial vehicle 300 may store information that enables the coordinates of the restricted area Rk to be specified.

The unmanned aerial vehicle 300 executes the departure monitoring process (S10) during the patrol period (flight period) of the patrol target. In the deviation monitoring process, it is determined whether or not the unmanned aerial vehicle 300 deviates from the recommended area Rs based on the current coordinates, traveling direction, and acceleration.

It should be noted that it may be configured such that whether or not to deviate from the recommended region Rs is determined only from the current coordinates of the unmanned aerial vehicle 300 . For example, if the current coordinates of the unmanned aerial vehicle 300 reach the coordinates near the outer edge of the recommended area Rs, it may be determined that the unmanned aerial vehicle 300 deviates from the recommended area Rs.

When it is determined that it deviates from the recommended region Rs, the unmanned aerial vehicle 300 executes emergency operation processing (S11). In the emergency operation process, movement of unmanned aerial vehicle 300 is stopped. Note that when the emergency operation process is executed, movement of the unmanned aerial vehicle 300 is prohibited until a predetermined trigger is met.

After executing the emergency operation process, information processing device 100 transmits a warning display signal to ground control device 400 . When the ground control device 400 receives the warning display signal, the ground control device 400 executes warning display processing (S14). In the warning display process, a warning is displayed on the display device 401 of the ground control device 400 . Note that the configuration for notifying that unmanned aerial vehicle 300 has deviated from the recommended area is not limited to the above example. For example, a speaker may be provided in the ground control device 400, and a warning sound may be output from the speaker when the unmanned aerial vehicle 300 deviates from the recommended area.

<Summary of Actions and Effects of Mode Examples of the Present Embodiment>
<First aspect>
The information processing apparatus according to this aspect causes the unmanned aerial vehicle (300) to avoid a plurality of types of avoidance targets including patrol targets (steel tower T, etc.), and at the same time, provides information for causing a photographing device provided on the unmanned aerial vehicle to photograph the patrol targets. which is capable of determining an area in which the distance to the avoidance target is equal to or less than a specific value (separation distance L) as the restricted area (Rk) (regulated area determination unit 105) and information generating means (recommended area determination unit 106) for generating information (recommended area information) for causing the unmanned aircraft to fly outside the restricted area determined by the restricted area determining means, and avoiding the specific value It is characterized by being variable according to the type of object. According to this aspect described above, since the specific value can be varied according to the type of the avoidance target, the distance from the avoidance target to the drone can can be set appropriately.

<Second aspect>
In the information processing apparatus according to this aspect, when the avoidance target (power line EA, power line EB, power line EC) generates an electromagnetic field, the information processing apparatus according to this aspect has a specific value that increases as the strength of the electromagnetic field increases. Additionally, the regulatory domain can be determined. According to this aspect described above, the effect of making it easier to set the distance from the avoidance target to the drone is particularly remarkable.

<Third aspect>
In the information processing apparatus according to this aspect, when the object to be avoided (steel tower, standing tree) does not generate an electromagnetic field, the information processing apparatus according to this aspect can determine an area in which the distance to the object to be avoided is equal to or less than a predetermined value as the restricted area. is. According to this aspect described above, the effect of making it easier to set the distance from the avoidance target to the drone is particularly remarkable.

<Fourth Aspect>
The information processing apparatus according to this aspect includes specific value storage means for pre-storing a plurality of types of specific values corresponding to the avoidance targets, and the restricted area determination means selects the avoidance targets based on the specific values stored in the specific value storage means. A corresponding specific value is determined, and the regulatory domain to be avoided is determined based on the specific value. According to this aspect described above, for example, compared to a configuration in which a specific value is calculated by calculation processing from the electromagnetic force to be avoided, an effect of reducing the processing load on the information processing device is achieved.

<Fifth aspect>
An information processing system according to this aspect includes the information processing apparatus according to any one of the first to fourth aspects described above, and warning means (ground control unit) for executing a predetermined warning when the unmanned aerial vehicle enters a restricted area. display of device 400). According to this aspect described above, it is notified that an unmanned aerial vehicle is approaching.

<Sixth Aspect>
An information processing system according to this aspect includes an information processing apparatus according to any one of the above-described first to fourth aspects, and an unmanned aircraft control system when an unmanned aircraft enters a restricted area. and a movement stopping means (CPU of the unmanned aerial vehicle, etc.) for stopping movement to the area side. According to this aspect described above, it becomes easier to prevent the inconvenience of the unmanned aerial vehicle colliding with the object to be avoided.

<Seventh Aspect>
A control method for an information processing apparatus according to this aspect provides information for generating information for capturing an image of a patrol target by an imaging device provided on the unmanned aerial vehicle while causing the unmanned aerial vehicle to avoid multiple types of avoidance targets including patrol targets. A control method for a processing device, comprising: a step capable of determining an area where the distance to an avoidance target is equal to or less than a specific value as a restricted area into which entry of an unmanned aircraft is restricted; and generating information for causing an unmanned aerial vehicle to fly over the area, wherein the specific value is variable according to the type of object to be avoided. According to the present aspect described above, the same effects as those of the above-described first aspect can be obtained.

DESCRIPTION OF SYMBOLS 100... Information processing apparatus 101... Patrol area|region acquisition part 102... Object specification part 103... 1st area|region determination part 104... 2nd area|region determination part 105... Regulation area|region determination part 106... Recommended area|region determination part 200 Map server device 201 Storage unit 300 Unmanned aerial vehicle 301 Storage unit 302 Signal transmission/reception unit 303 Sensor unit 304 Shooting control unit 400 Ground control device 401 Display device 402 Signal transmitter/receiver.

Claims (7)

An information processing device that generates information for causing an unmanned aerial vehicle to avoid a plurality of types of avoidance targets including patrol targets and to cause an imaging device provided on the unmanned aerial vehicle to photograph the patrol targets,
Spatial information acquiring means for acquiring spatial information capable of specifying the position and shape of the avoidance target in the patrol area;
a restricted area determining means capable of determining, for each of the avoidance targets, a restricted area in which the distance to the surface of the avoidance target is equal to or less than a specific value , using the spatial information ;
information generating means for generating recommended area information for causing the unmanned aerial vehicle to fly a recommended area in which the patrol target can be photographed out of the area outside the restricted area of the patrol target ,
The avoidance target includes an avoidance target that generates an electromagnetic field and an avoidance target that does not generate an electromagnetic field,
the specific value is variable according to the type of the object to be avoided ;
The restricted area determining means can determine the restricted area of the avoidance target such that, when the avoidance target generates an electromagnetic field, the specific value increases as the strength of the electromagnetic field increases. An information processing device characterized by: a specific value storage means for pre-storing a plurality of types of specific values corresponding to a plurality of types of avoidance targets having different strengths of generated electromagnetic fields ;
the specific value corresponding to the one avoidance target is stored for each type of the unmanned aerial vehicle having different strengths of the electromagnetic field capable of operating normally;
The regulation area determining means determines the specific value according to the combination of the type of the unmanned aircraft and the type of the object to be avoided from the specific values stored in the specific value storage means, The information processing apparatus according to claim 1, wherein the area is determined based on the specific value. The object to be avoided includes an overhead wire,
3. The information processing apparatus according to claim 1 , wherein said recommended area includes an area below said overhead line . The object to be avoided includes a plurality of parallel overhead wires,
The recommended area includes an area sandwiched by a plurality of overhead wires
The information processing apparatus according to any one of claims 1 to 3 . an information processing device according to any one of claims 1 to 4;
and warning means for executing a predetermined warning when the unmanned aerial vehicle enters the restricted area. The recommended area is an area outside the restricted area that is at a predetermined distance or less from the outer edge of the restricted area,
The warning means can issue warnings in different manners depending on whether the unmanned aerial vehicle exits from the recommended area toward the restricted area or when the unmanned aircraft exits from the recommended area to the opposite side of the restricted area. be
The information processing system according to claim 5 . A control method for an information processing device for generating information for causing an unmanned aerial vehicle to avoid a plurality of types of avoidance targets including a patrol target and capturing an image of the patrol target by an imaging device provided on the unmanned aerial vehicle, the method comprising:
obtaining spatial information that can specify the position and shape of the avoidance target in the patrol area;
a step capable of determining , for each avoidance target , a restricted area in which the distance to the surface of the avoidance target is equal to or less than a specific value , using the spatial information ;
generating recommended area information for causing the unmanned aerial vehicle to fly a recommended area in which the patrol target can be photographed out of the area outside the restricted area of the patrol target ,
The avoidance target includes an avoidance target that generates an electromagnetic field and an avoidance target that does not generate an electromagnetic field,
the specific value is variable according to the type of the object to be avoided ;
wherein, when the object to be avoided generates an electromagnetic field, the restricted area of the object to be avoided can be determined so that the specific value increases as the strength of the electromagnetic field increases. control method.

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