JP7418727B1 - Information processing method, information processing system and program - Google Patents

Abstract

The present invention provides an information processing method and the like that enables an aircraft to photograph multi-conductor type power lines and span spacers with fewer blind spots. According to the present embodiment, an information processing method is provided in which a plurality of power lines and span spacers extending in a first direction are photographed by an aircraft. The information processing method includes a first step (S11) of flying the aircraft in at least a first direction and photographing the power line and the span spacer at a first photographing angle; and flying the aircraft in at least the opposite direction to the first direction. a second step (S12) of photographing the power line and the span spacer while flying the aircraft again in at least the first direction and photographing the power line and the span spacer at a second photographing angle different from the first photographing angle (S12); S13). [Selection diagram] Figure 17

Description

The present invention relates to an information processing method, an information processing system, and a program.

In recent years, flying vehicles (hereinafter collectively referred to as "flying vehicles") such as drones and unmanned aerial vehicles (UAVs) have begun to be used in industry. Under these circumstances, Patent Document 1 discloses a system for photographing and inspecting power lines using a flying object.

Japanese Patent Application Publication No. 2020-196355

Conventionally, when photographing power lines using a flying vehicle, a camera mounted on the flying vehicle is positioned with the photographing direction directly facing the power line (with the photographing angle of the camera being approximately perpendicular to the direction in which the power line extends). This is done by flying along the direction of the power line.

If the power line connected to each cross arm of a support such as a steel tower that supports the power line is composed of a single power line, the single power line is photographed during one flight of the aircraft. If the power line connected to each cross arm is a multi-conductor power line consisting of two or more power lines (conductors), two or more power lines are photographed at the same time during one flight of the aircraft. It is desirable to be able to do so. In a multi-conductor type power line, each power line is maintained at a constant distance from each other by a span spacer.

When photographing a multi-conductor type power line including multiple power lines using a flying vehicle, the side of the span spacer in particular must be photographed, and the gripping part of the span spacer that holds each power line is a blind spot. I can't take pictures because of this.

On the other hand, by photographing power lines with the imaging direction of the camera facing diagonally forward in the direction of travel with respect to the power line extension direction, the state of multiple power lines and span spacers, including the span spacers that hold each power line, can be observed. It is possible to take pictures at once. However, if you start shooting with the camera's imaging direction facing diagonally forward in the direction of flight of the aircraft, the area of the power line located right next to the aircraft at the flight start point will become the camera's blind spot, and Power lines and span spacers cannot be photographed.

The present invention has been made in view of this background, and provides an information processing method etc. that enables an aircraft to photograph multi-conductor type power lines and span spacers with fewer blind spots. The purpose is to

The main invention of the present invention for solving the above problems is an information processing method for photographing a plurality of power lines and span spacers extending in a first direction using a flying object, the method comprising: flying the flying object in at least the first direction; a first step of photographing the power line and the span spacer at a first photographing angle; a second step of photographing the aircraft while flying in at least the opposite direction to the first direction; and a second step of photographing the power line and the span spacer at a first photographing angle; An information processing method, etc., characterized by including a third step of flying the power line and photographing the span spacer at a second photographing angle different from the first photographing angle.

According to the present invention, in particular, it is possible to provide an information processing method and the like that enables an aircraft to photograph multi-conductor type power lines and span spacers so that blind spots are further reduced.

1 is a diagram showing the configuration of an information processing system according to an embodiment of the present invention. FIG. 2 is a block diagram showing the hardware configuration of the management server in FIG. 1. FIG. FIG. 2 is a block diagram showing the hardware configuration of the user terminal in FIG. 1. FIG. FIG. 2 is a block diagram showing the hardware configuration of the aircraft shown in FIG. 1. FIG. FIG. 2 is a block diagram showing the functions of the management server in FIG. 1. FIG. 2 is an example of a conceptual diagram for explaining processing by the management server in FIG. 1. FIG. FIG. 3 is a diagram illustrating various examples of span spacers used in multi-conductor power lines. 2 is an example of a conceptual diagram for explaining processing by the management server in FIG. 1. FIG. 2 is an example of a conceptual diagram for explaining processing by the management server in FIG. 1. FIG. 2 is an example of a conceptual diagram for explaining processing by the management server in FIG. 1. FIG. 2 is an example of a conceptual diagram for explaining processing by the management server in FIG. 1. FIG. 2 is an example of a conceptual diagram for explaining processing by the management server in FIG. 1. FIG. 2 is an example of a conceptual diagram for explaining processing by the management server in FIG. 1. FIG. 2 is an example of a conceptual diagram for explaining processing by the management server in FIG. 1. FIG. 2 is an example of a conceptual diagram for explaining processing by the management server in FIG. 1. FIG. FIG. 3 is a diagram illustrating an example of a flight path and an imaging angle of an aircraft set by a flight information setting unit. 1 is a flowchart for explaining an information processing method according to an embodiment of the present invention.

The contents of the embodiments of the present invention will be listed and explained. The present invention includes, for example, the following configuration.
[Item 1]
An information processing method in which a plurality of power lines and span spacers extending in a first direction are photographed by a flying object, the method comprising:
a first step of flying the flying object in at least the first direction and photographing the power line and the span spacer at a first photographing angle;
a second step of photographing the flying object while flying at least in a direction opposite to the first direction;
a third step of flying the flying object again in at least the first direction and photographing the power line and the span spacer at a second photographing angle different from the first photographing angle;
An information processing method characterized by:
[Item 2]
The first photographing angle and the second photographing angle are mutually different angles with respect to at least the first direction,
The information processing method according to item 1, characterized in that:
[Item 3]
In the second step, the power line and the span spacer are photographed by the flying object;
The information processing method according to item 1 or 2, characterized in that:
[Item 4]
An information processing system for photographing a plurality of power lines and span spacers extending in a first direction using a flying object,
a first step of flying the flying object in at least the first direction and photographing the power line and the span spacer at a first photographing angle;
a second step of photographing the flying object while flying at least in a direction opposite to the first direction;
a third step of flying the flying object again in at least the first direction and photographing the power line and the span spacer at a second photographing angle different from the first photographing angle;
An information processing system comprising: a control unit that executes.
[Item 5]
A program that causes a computer to execute an information processing method for photographing a plurality of power lines and span spacers extending in a first direction using a flying object, the program comprising:
to the computer,
a first step of flying the flying object in at least the first direction and photographing the power line and the span spacer at a first photographing angle;
a second step of photographing the flying object while flying at least in a direction opposite to the first direction;
performing a third step of flying the flying object again in at least the first direction and photographing the power line and the span spacer at a second photographing angle different from the first photographing angle;
A program characterized by:

<Details of embodiment>
Embodiments of information processing methods and the like according to embodiments of the present invention will be described below. In the accompanying drawings, the same or similar elements are given the same or similar reference numerals and names, and redundant description of the same or similar elements may be omitted in the description of each embodiment. Further, features shown in each embodiment can be applied to other embodiments as long as they do not contradict each other.

<Configuration>
As shown in FIG. 1, the information processing system in this embodiment includes a management server 1, one or more user terminals 2, and one or more flying objects 4. The management server 1, the user terminal 2, and the aircraft 4 are connected to each other via a network so that they can communicate with each other. Note that the illustrated configuration is an example and is not limited to this.

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

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

The management server 1 includes at least a processor 10, a memory 11, a storage 12, a transmitting/receiving section 13, an input/output section 14, etc., which are electrically connected to each other via a bus 15.

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

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

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

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

The input/output unit 14 includes information input devices such as a keyboard and mouse, and output devices such as a display.

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

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

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

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

Memory 411 may include, for example, a separable medium or external storage such as an SD card or random access memory (RAM). Data acquired from cameras/sensors 42 may be communicated directly to and stored in memory 411. For example, still image/video data taken with a camera or the like may be recorded in the built-in memory or external memory, but the invention is not limited to this. It may be recorded in one of the user terminals 2. A camera 42 is installed on the flying object 4 via a gimbal 43.

Flight controller 41 includes a control module (not shown) configured to control the state of the aircraft. For example, the control module may be configured to adjust the spatial position, velocity, and/or acceleration of an air vehicle with six degrees of freedom (translational motion x, y, and z, and rotational motion θ _x , θ _y , and θ _z ). , and controls the propulsion mechanism (motor 45, etc.) of the aircraft via an ESC 44 (Electric Speed Controller). A propeller 46 is rotated by a motor 45 supplied with power from a battery 48, thereby generating lift of the flying object. The control module can control one or more of the states of the mounting section and sensors.

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

For example, the transmitter/receiver 47 uses one or more of a local area network (LAN), wide area network (WAN), infrared rays, wireless, WiFi, point-to-point (P2P) network, telecommunications network, cloud communication, etc. can do.

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

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

<Management server functions>
FIG. 5 is a block diagram illustrating functions implemented in the management server 1. In this embodiment, the management server 1 includes a processor 10, a transmitting/receiving section 13, and a storage section 200. The processor 10 includes a support coordinate acquisition unit 110, an intermediate coordinate calculation unit 120, an intermediate point power line height coordinate acquisition unit 130, an oblique sag calculation unit 140, an arbitrary point sag calculation unit 150, and an arbitrary point power line height coordinate calculation unit 160, a turning point height coordinate calculation section 170, a waypoint height coordinate setting section 180, a flight information setting section 190, and a flight execution section 195. Furthermore, the storage unit 200 includes various databases such as a support related information storage unit 210 and a flight information storage unit 220.

The support coordinate acquisition unit 110 acquires first and second support coordinates (for example, a power line anchoring point A of a suspension insulator hanging from a tip of a cross arm, The three-dimensional coordinates (XYZ coordinates, etc.) of B are respectively acquired from the support related information storage unit 210. More specifically, the three-dimensional coordinates (XYZ coordinates) of the power line attachment positions A and B of the arms of the supports P and Q illustrated in FIG. 6 and the like are respectively acquired. The support coordinates can be calculated directly or indirectly based on the information acquired by various sensors (for example, GPS position information, barometric pressure sensor information, photographic information, laser sensor information, etc.) by flying the flying object 4 in advance, for example. Two-dimensional coordinate (XY coordinate) information on a horizontal plane may be stored by the user in advance by selecting the tip position of the arm arm from the map information displayed on the user terminal 2 through a selection operation. and height information related to the support that is stored in advance (for example, height information of the support, information on the height of the tip of the cross arm, information on the height of the power line anchoring point of the suspension insulator that supports the power line, etc.) may be set directly or indirectly based on the above, or may be stored in advance using a method other than these.

The power lines described in this embodiment include power lines made of a single conductor as well as multi-conductor power lines made of a plurality of conductors. In this specification and claims, the term "power line" refers to the entire power line consisting of one or more conductors, unless it is explicitly stated that the description refers to a specific conductor. In a multi-conductor type power line, each power line is maintained at a constant distance from each other by a span spacer.

FIG. 7 illustrates various examples of span spacers used in multi-conductor power lines. FIG. 7(a) is a configuration example of a span spacer that holds two power lines. The span spacer 300 shown in FIG. 7(a) includes one spacer 310 and two It has two gripping parts 320. Each of the gripping parts 320 holds the conductors with a distance corresponding to the length of the spacing body 310 between the conductors. FIG. 7(b) shows an example of the configuration of a span spacer that holds four conductors. The span spacer 300 shown in FIG. , and four gripping parts 320 fixed to the four corners of the rectangle, respectively. Further, FIG. 7(c) shows a configuration example of a span spacer that holds six conductors, and the span spacer 300 shown in FIG. 7(c) includes a hexagonal spacer 310 and the hexagonal spacer 310. Six gripping parts 320 are arranged and fixed at equal intervals around a rectangular spacer 310. The configuration of the span spacer shown in FIG. 7 is merely an example, and may have an appropriately different configuration such as another polygonal shape depending on the number of conductors included in the power line. The span spacers 300 are installed, for example, at regular intervals in the extending direction of the power line, and prevent the conductors from coming into contact with each other.

Hereinafter, an example of a functional unit and waypoint setting method for setting a waypoint when photographing a power line between supports will be described. In the description, only one power line out of a plurality of power lines is extracted as a reference power line.

The intermediate coordinate calculation unit 120 calculates intermediate coordinates (at least two-dimensional XY coordinates on a horizontal plane) between two reference coordinates shifted by a predetermined distance in a predetermined direction from each support coordinate, and stores it in the support related information storage unit 210. . The predetermined direction may be, for example, the outer direction of the power line, and in particular, the direction perpendicular to the extending direction of the power line from each support coordinate in the horizontal direction (see FIG. 8). The predetermined distance is a value set by the user and may be a safe separation distance from the power line. More specifically, the height coordinates of the three-dimensional coordinates (XYZ coordinates) of the power line attachment positions A and B of the arms of the supports P and Q illustrated in FIG. The intermediate coordinates (XYZ coordinates).

The midpoint power line height coordinate acquisition unit 130 obtains the first power line height coordinate (at least the Z coordinate) of the power line position corresponding to the horizontal position shifted by the predetermined distance from the midpoint C in the opposite direction to the predetermined direction. It is acquired and stored in the support related information storage unit 210. More specifically, the height coordinates of a position D of the power line located directly above a point D' shifted by a predetermined distance L in the opposite direction to the above predetermined direction from the intermediate point C illustrated in FIG. 9 etc. are acquired. The height coordinate of the position D can be obtained by, for example, using a sensor such as a laser sensor of the flying object 4 described above. In this case, the flying object 4 floats vertically from the intermediate point C and the height coordinate of the It is possible to obtain the height coordinates of position D by using the above sensor at the same height as . Furthermore, at this time, by using not only the value of the laser sensor but also the altitude information of the flying object 4 (information of the atmospheric pressure sensor) as reference information, it is possible to obtain the height coordinates of the position D with higher accuracy. It is possible.

In addition, when the power line is of a multi-conductor type, for example, one of the plurality of conductors included in the power line is located at a predetermined height position facing the aircraft 4 floating vertically from the intermediate point C. The height of the conductor may be obtained and used as the height coordinate of the position D. For example, if the power line is a two-conductor system held by a spacer as shown in FIG. 7(a), the height of one conductor on the side facing the aircraft 4 is obtained as the height coordinate of the position D. Ru. In addition, if the power line is a four-conductor system held by a spacer as shown in FIG. Any predetermined height of the conductor is acquired as the height coordinate of the position D. Furthermore, if the power line is a 6-conductor system held by a spacer as shown in FIG. The height of a predetermined conductor, either the conductor or the upper conductor, is obtained as the height coordinate of the position D.

The slope sag calculation unit 140 calculates the slope sag based on the first and second support coordinates (especially height coordinates) and the first power line height coordinate, and stores the calculated slope in the support related information storage unit 210. . More specifically, the oblique sag is the distance d of a vertical line from the position D of the power line to the imaginary line connecting the positions A and B of the supports P and Q, as illustrated in FIG. For example, the absolute value of the value obtained by subtracting the height coordinate of the position D from the height coordinate of the intermediate point D'' between the positions A and B of the supports P and Q may be taken as the value of the distance d.

The arbitrary point sag calculation unit 150 calculates the position A of one support from the first distance between the positions A and B of each support, and the distance from the position A of one support to the center of the first distance. The first or second distance at the first or second arbitrary point based on the difference value (absolute value) of the second or third distance from The sag at any point is calculated and stored in the support related information storage unit 210. More specifically, the span length S between the positions A and B of each support as illustrated in FIG. ” Distance _S from _D to the first arbitrary point D _x1 or second arbitrary point D x2 from the power line attachment position A of the arm arm of the support P Second distance S _x1 or third distance S _x2 (For example, both are distances parallel to the span length S) Based on the difference value (absolute value) and the above-mentioned oblique sag degree d, the first or second arbitrary point D _x1 , D _{x2 is} determined by the following formula 1. Calculate _the first _{or second} arbitrary point sag _d , may be calculated using other calculation methods.

d _x = d×(1-(2|S _D -S _x |/S) ² ) (Formula 1)

The arbitrary point power line height coordinate calculation unit 160 calculates the first and second arbitrary point sag, the first distance between the positions A and B of each support, and the first and second support coordinates. , and second and third power line heights of the first and second arbitrary points based on the second and third distances from one of the two support positions to the first and second arbitrary points. The coordinate Z _x is calculated and stored in the support related information storage unit 210 . More specifically, the first and second arbitrary point sag d _x1 , d _x2 and the first and second support coordinates ( In particular, based on the height coordinate) and the second and third distances (S _x1 , S _x2 ) from one of the two support positions A, B (A) to the first and second arbitrary points, The second and third power line height coordinates Z _x1 and Z _x2 of the first and second arbitrary points D _x1 and D _x2 are calculated using Equation 2 below.

Power line height coordinate Z _x of arbitrary point D _x = (height coordinate Z B of support position _B - height coordinate Z A of support position _A ) x (distance S _x /span length to arbitrary point D _x S) + height coordinate of support position A Z _A - arbitrary point sag d _x (Formula 2)

Furthermore, as shown in FIG. 11, the arbitrary point power line height coordinate calculation unit 160 calculates the power line height coordinate Z _S of the flight start point D _S from the above equations 1 and 2 as one of the arbitrary points D _x . Then, it is stored in the support related information storage section 210. The distance S _S to the flight start point D _S may be any distance from the support position A (for example, 10 m or 15 m). Then, by using Equation 1 and Equation 2 as described above, the power line height coordinate Z _S of the flight start point D _S is derived. Note that the flight start point _DS is not limited to this, and for example, the power line attachment position A (especially the height coordinate Z _A ) of the arm of the support P is used as the reference for the flight start point _DS of the flying object 4. It may be stored as a position.

In addition, as shown in FIG. 12, regarding the power line height coordinate Z _G of _the flight end point D _G , the power line height coordinate _Z Based on the height coordinate _ZB of the power line attachment position B of the arm arm, the distance from the support Q is calculated using Equation 3 below.

Power line height coordinate Z _G of flight end point D _G = (height coordinate Z B of support position _B - power line height coordinate Z _x2 of arbitrary point D _x2 ) / (span length S - up to arbitrary point D _x2 Distance S _x2 ) x (span length S - distance S _x2 to arbitrary point D _x + (separation distance from support Q x tan (90 degrees - imaging angle)) + power line height coordinate of arbitrary point D _x2 Z _x2 (Formula 3)

The turning point height coordinate calculation unit 170 calculates the height of a turning point RP (D _RP ) where the flying object 4 returns once toward the flight starting point _DS after moving a predetermined distance from the flight starting point _DS directly facing the power line. The coordinates are calculated and stored in the support related information storage unit 210. When the power line attachment position A of the arm of the support P is the starting point of the flight of the flying object ₄ , as shown in FIG. Using the distance S _x3 to D _RP , the third arbitrary point sag d _x3 from equation 1
is obtained, and furthermore, the power line height coordinate Z _x3 of the turning point RP (D _RP ) can be obtained from Equation 2.

Here, the predetermined distance S _x3 in the horizontal direction from the flight start point to the turnaround point RP is, for example, a predetermined separation distance from the virtual line connecting the positions A and B of each support (distance L shown in FIG. 10, etc.) ) may be the same as

The waypoint height coordinate setting unit 180 determines the position of the aircraft based on the first and second support coordinates (especially height coordinates), the first to third power line height coordinates, and the height coordinate of the turning point. 4 as the height coordinates of each waypoint, and stored in the flight information storage unit 220. More specifically, for example, when photographing a plurality of power lines from above, the height coordinates of positions A and B of the support, and the height coordinates of the first, second, and third power lines, as illustrated in FIG. (height coordinates of arbitrary points D, D _x1 , D _x2 ), and the height coordinate of the turning point RP plus an arbitrary distance height coordinate H (H may be 0), It may also be set as the height coordinates of each of the four waypoints W. In addition, when photographing multiple power lines from the side, for example, as illustrated in FIG. The height coordinates of arbitrary points D, _Dx1 , _Dx2 ) and the height coordinates of the turning point RP may be directly set as the height coordinates of each waypoint W of the aircraft 4.

The flight information storage unit 220 stores flight information used in flights aimed at, for example, inspecting supports, power lines, span spacers, and the like. Flight information includes, for example, flight route information (including waypoint information), flight speed, minimum flight altitude, imaging condition information (imaging angle of view, imaging angle, overlap rate of captured images, etc.), information acquired during flight (e.g. , image information, video information, etc.). In particular, as waypoint information, the height coordinate information (Z coordinate) of each waypoint uses the information set by the waypoint height coordinate setting section 180, and the horizontal coordinate information (XY coordinate) of each waypoint uses, for example , horizontal coordinate information of positions A and B of the support, horizontal distance from position A to each point (S _x , S _x1 , S _x2 ), span length S, or distance to the midpoint of span length S It is also possible to use horizontal coordinate information that has been horizontally moved to a virtual line connecting positions A'' and B'' as shown in Fig. 15. Each waypoint position selected by a selection operation from the map information displayed on the terminal 2 may be used.

The flight information setting unit 190 sets flight route information including at least the following first to third flight stages as the flight route of the aircraft 4, and stores it in the flight information storage unit 220.
(1) In the first direction, which is the direction in which the power line extends from position A to position B, from waypoint _W1 , which is the flight start point corresponding to position A of support P, to waypoint corresponding to turning point RP. Move to W ₂ (first flight stage)
(2) Move in a second direction opposite to the first direction from waypoint W2, which corresponds to the turning point RP, to waypoint _W1 , which is the flight start point corresponding to position _A (second flight stage)
(3) In the first direction, the flight starts from waypoint W ₁ , passes through waypoints W ₂ , W ₃ , W ₄ , and W ₅ in order, and reaches the flight end point corresponding to position B of support Q. Move to waypoint W ₆ (3rd flight stage)

The flight information setting section 190 also sets the following imaging condition information as the imaging angle of the aircraft 4 by the camera 42, and stores it in the flight information storage section 220.
(1) In the first flight stage, the imaging angle with respect to the extending direction of the power line is a first angle (for example, about 90°)
(2) In the second flight stage, the imaging angle with respect to the extending direction of the power line is an arbitrary angle. (3) In the above first flight stage, the imaging angle with respect to the extending direction of the power line is an arbitrary angle different from the first angle. 2 angle (for example, about 45° if the above-mentioned separation distance L and the distance S _x from the power line attachment position A of the turning point RP are the same distance)

Here, regarding the imaging angle by the camera 42 of the aircraft 4, if the nose direction of the aircraft 4 and the imaging direction of the camera 42 are the same and these directions are fixed to each other, the aircraft 4 The aircraft moves along the extending direction of the power line with its nose facing the power line side by a predetermined imaging angle from the direction of travel. Alternatively, if the imaging direction of the camera 42 is configured to be rotatable with respect to the nose direction of the aircraft 4, the aircraft 4 may rotate the camera 42 by a predetermined imaging angle while observing the power line. Move along the stretching direction.

FIG. 14 is a plan view showing an example of the flight path and imaging angle of the flying object 4 set by the flight information setting unit 190 in this embodiment. FIG _. 16(a) shows the imaging angle in the _first flight stage. , the imaging angle of the camera 42 is a first angle (for example, about 90°). FIG _. 16(b) shows a second flight stage, in which the camera ₄₂ takes an image at an imaging angle of is optional. In addition, in the second flight stage, a power line photographing operation may be performed in order to acquire power line information, or a power line photographing operation may not be performed in order to eliminate the acquisition of power line information in an overlapping range. Good too. FIG. 16(c) shows the imaging angle in _{the third} flight stage. The imaging angle relative to the second angle is a second angle (eg, about 45°).

Note that the specific numerical values of the first and second imaging angles described above are merely examples, and the present invention is not limited to these angles. In particular, the second imaging angle may vary depending on, for example, the relationship between the above-mentioned separation distance L and the distance S _x of the turning point RP from the power line attachment position A.

The flight execution unit 195 executes a flight for the purpose of inspection or the like based on various types of flight information stored in the flight information storage unit 220. The flight execution unit 195 particularly functions as a control unit that controls the operation of the flying object 4 and the sensors 42 (cameras) mounted thereon.

<Information processing method executed by flight execution unit 195 (control unit)>
The information processing method executed by the flight execution unit 195 in this embodiment will be described with reference to FIG. 17 and the like. FIG. 17 illustrates a flowchart of the information processing method according to this embodiment.

First, the flight execution unit 195 of the management server 1 causes the aircraft 4 to fly according to the first flight stage based on the flight information stored in the flight information storage unit 220 (step S11, see FIG. 16(a)).

According to the first flight stage executed in step S11, the flying object 4 moves to the position A of the support P in the first direction, which is the direction in which the power line extends from the power line attachment position A to the power line attachment position B. Travel from waypoint _W1 , which is the corresponding flight start point, to waypoint _W2 , which corresponds to the turnaround point RP. As described with reference to FIG. 16(a), during flight in the first flight stage, the imaging angle by the camera 42 of the flying object 4 is set at a first angle (for example, (approximately 90°). Therefore _{, when the aircraft 4 initially moves from waypoint W 1, which is the flight start point, to waypoint W 2 ,} which corresponds to the turning point RP, in the first flight stage, the camera 42 of the aircraft 4 The power line and the span spacer are photographed at an imaging angle that is substantially directly opposite to the direction in which the power line and the span spacer are stretched.

Next, the flight execution unit 195 of the management server 1 causes the aircraft 4 to fly according to the second flight stage based on the flight information stored in the flight information storage unit 220 (step S12, see FIG. 16(b)). .

According to the second flight stage executed in step S12, the flying object 4 moves in a second direction that is opposite to the first direction, and reaches the waypoint W ₂ corresponding to the turning point RP. From there, the flight returns to waypoint _W1 , which is the flight starting point corresponding to position A. While the flying object 4 is moving in the second flight stage, the imaging angle of the camera 42 with respect to the extending direction of the power line may be set to an arbitrary angle.

Finally, the flight execution unit 195 of the management server 1 causes the aircraft 4 to fly according to the third flight stage based on the flight information stored in the flight information storage unit 220 (step S13, see FIG. 16(c)). .

According to the third flight stage executed in step S13, the flying object 4 moves in the first direction from the waypoint _W1 , which is the flight start point, to the waypoints _W2 , _W3 , _W4 , _W5. , and moves to waypoint _W6 , which is the flight end point corresponding to position B of support Q.

As described with reference to FIG. 16(c), during flight in the third flight stage, the imaging angle by the camera 42 of the aircraft 4 is set at a second angle (for example, approximately 45°). Therefore, when the flying object 4 moves from waypoint W ₁ , which is the flight start point, to waypoint W ₆ , which is the flight ending point, in the third flight stage, the camera 42 of the flying object 4 moves in the direction in which the power line extends. The power line and span spacer are photographed at an imaging angle oblique to the At this time, it is preferable that the camera 42 zooms in so that the magnification is such that each power line and the span spacer are photographed in an enlarged state as much as possible.

In the second flight stage, the flying object 4 returns to waypoint W1, which is the flight start point, while maintaining the same distance from the power line as the separation distance in the first flight stage, and from there, the distance from the power line is maintained at the same distance as in the _first flight stage. A third flight phase may be performed keeping the distance the same. In this case, when the flight path of the flying object 4 is viewed from above, the flying object 4 moves on one straight line.

As described above, according to the present embodiment, the section from waypoint _W1 , which is the flight start point, to waypoint _W2 , which is the turnaround point RP, is captured by the camera 42 at the first imaging angle (approximately 90 degrees) with the power line. The span spacer is photographed. When photographing from waypoint _W1 , which is the flight start point, with the imaging direction of camera 42 facing diagonally forward, the power line and span spacer located in the area directly beside the aircraft 4 at waypoint _W1 are This becomes a blind spot for the camera 42, and the power line and the span spacer cannot be photographed in that area. However, according to the present embodiment, in the first flight stage, the camera 42 is directed to capture the power line and the span spacer in an imaging direction that is almost directly facing the power line. is photographed, it is possible to prevent omission of photographing the power line and span spacer in the section from waypoint _W1 to waypoint _W2 .

Further, according to the present embodiment, the power line and the span spacer are captured by the camera 42 at the second imaging angle (approximately 45 degrees) from waypoint _W1 , which is the flight start point, to waypoint _W2 , which is the flight end point. Being photographed. As a result, for the section from waypoint W ₁ to the point viewed diagonally forward at the second imaging angle (in the above example, turnaround point RP) to flight end point B, the power line and span spacer cannot be seen from directly sideways. Since the image is taken with the camera 42 so as to look obliquely into the image, the span spacer can be imaged including the state of the gripping portion that holds each power line.

As described above, the present invention can provide an information processing method and the like that enables an aircraft to photograph multi-conductor type power lines and span spacers with fewer blind spots.

The embodiments described above are merely illustrative to facilitate understanding of the present invention, and are not intended to be interpreted as limiting the present invention. It goes without saying that the present invention can be modified and improved without departing from its spirit, and that the present invention includes equivalents thereof. In the above embodiment, a case has been described in which the object to be photographed is a power line, but the present invention can also be applied to other objects to be photographed, such as a ropeway.

1 Management server 2 User terminal 4 Aircraft

Claims (4)

An information processing method in which a plurality of power lines and span spacers extending in a first direction are photographed by a flying object, the method comprising:
A first step of photographing the power line and the span spacer at a first photographing angle by flying the flying object in the first direction from a first waypoint that is a photographing start point to a second waypoint. and,
a second step of photographing the flying object while flying in a direction opposite to the first direction from the second waypoint to the first waypoint;
The flying object is flown in the first direction from the first waypoint to a predetermined waypoint, and the power line and the span spacer are photographed at a second photographing angle different from the first photographing angle. a third step of
The first photographing angle is an angle directly facing the first direction of the power line,
The second photographing angle is an angle obliquely inclined with respect to the first direction of the power line.
Information processing method. In the second step, the power line and the span spacer are photographed by the flying object;
The information processing method according to claim 1, characterized in that: An information processing system for photographing a plurality of power lines and span spacers extending in a first direction using a flying object,
A first step of photographing the power line and the span spacer at a first photographing angle by flying the flying object in the first direction from a first waypoint that is a photographing start point to a second waypoint. and,
a second step of photographing the flying object while flying in a direction opposite to the first direction from the second waypoint to the first waypoint;
The flying object is flown in the first direction from the first waypoint to a predetermined waypoint, and the power line and the span spacer are photographed at a second photographing angle different from the first photographing angle. a third step to perform ;
The first photographing angle is an angle directly facing the first direction of the power line,
The second photographing angle is an angle obliquely inclined with respect to the first direction of the power line.
Information processing system. A program that causes a computer to execute an information processing method for photographing a plurality of power lines and span spacers extending in a first direction using a flying object, the program comprising:
to the computer,
A first step of photographing the power line and the span spacer at a first photographing angle by flying the flying object in the first direction from a first waypoint that is a photographing start point to a second waypoint. and,
a second step of photographing the flying object while flying in a direction opposite to the first direction from the second waypoint to the first waypoint;
The flying object is flown in the first direction from the first waypoint to a predetermined waypoint, and the power line and the span spacer are photographed at a second photographing angle different from the first photographing angle. The third step of
The first photographing angle is an angle directly facing the first direction of the power line,
The second photographing angle is an angle obliquely inclined with respect to the first direction of the power line.
program.

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