JPH11252729A - Separation distance computing method and storage medium with separation distance computing program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a separation distance computing method which automatically computes a distance from a grown substance which becomes a hindrance from three-dimensional data. SOLUTION: A local coordinate forming process 2 forms local coordinates on a memory 3 from iron tower information of a database 1, and a parabola forming process 4 finds a straight line connecting the fulcrum coordinates of iron towers to each other and finds a parabola Ld, by converting this straight line on the basis of transmitted power parameters. Then a swing compass length determining process 5 draws perpendicularlines from the position of a tree Ki toward the straight line and the parabola Ld of the local coordinate system and determines the distance between the intersection of the straight line and that of the parabola obtained as a compass Pi length. A parabola swinging process 6 draws a curve F1, based on the compass Pi on the YR-ZR plane of the local coordinate system, and a separation computing process 9 finds the separation distance between the tree Ki and the curve Fi drawn with the compass Pi.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention automatically determines the separation distance between a growth and a cable from three-dimensional coordinates of two fulcrums for suspending a predefined cable and three-dimensional coordinates of a growth near the cable. The present invention relates to a method for calculating a separation distance to be determined.

[0002]

2. Description of the Related Art In general, a power transmission line is constructed such that a steel tower is laid in a mountain field with a certain slack. For this reason, the distance between the transmission line and the tree cannot be maintained properly due to the growth of trees near the transmission line (hereinafter referred to as a tree under the transmission line).

Conventionally, such an obstruction tree under a transmission line is conventionally produced by an elected worker of a power company, which goes under the transmission line and transmits the obstruction tree under the transmission line. (Including trees that could touch the wires) and fell if necessary.

[0004] For this reason, a large number of operators are required to perform the check, and the check requires a very long time.

[0005] In recent years, there has been a case where it is checked from a three-dimensional photograph obtained by flying over a power transmission line by an aircraft whether a tree touches the power transmission line.

In this check, a human determines the height of a tree from a three-dimensional photograph, plots the height of the tree on a drawing in which the height of the transmission line is written, and then writes the range in which the transmission line swings due to wind or the like.

[0007] Then, it has been checked whether there is any tree that falls within this range or in the near future.

[0008]

However, from the three-dimensional photographs of forests and the like obtained by an aircraft, the obstacle trees near the lower part of the transmission line are determined by a person, while the height of each tree is determined.
Since it is necessary to write the range in which the transmission line sways, there is a problem that it takes an enormous amount of time to determine the troubled tree.

[0009] Therefore, it is desirable to provide a separation distance calculation method capable of automatically calculating the distance to a growth that becomes an obstacle from three-dimensional data obtained by an aircraft.

[0010]

According to the present invention, there is provided a method for calculating a separation distance, comprising the steps of: providing a predetermined three-dimensional coordinate system with three-dimensional coordinates of two fulcrum points for suspending a cable; A distance calculating method for calculating a distance between a growth and a cable from three-dimensional coordinates, the first distance being based on various conditions of a first straight line connecting two supporting points and a cable in a three-dimensional coordinate system. After defining the first curve in which the straight line is shifted, a growth in the three-dimensional coordinate system is searched, and a first perpendicular and a first perpendicular to the X axis of the three-dimensional coordinate system are searched from the plane coordinates of the searched growth. A second perpendicular from the straight line to the first perpendicular is defined in a three-dimensional coordinate system, and the second perpendicular and the first perpendicular are defined.
The point is to obtain a first intersection with the curve and obtain a separation distance from the first intersection to the growth from the three-dimensional coordinate system.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 shows a method of calculating a separation distance, as shown in FIG. 1, a database 1, a local coordinate generation step 2, a memory 3 for local coordinate generation, a parabola calculation step 4, a swing compass, and the like. It comprises a length determination step 5, a parabolic swing step 6, a fallen tree calculation step 7, and a separation calculation step 9.

The database 1 stores the tower coordinate information Ji (Ji; tower coordinate information J) of the transmission line obtained from the three-dimensional image data.
a, the tower coordinate information Jb) and tree coordinates Ki (Ki; Xk, Yk, Zk) and the like near the two towers are represented by geographic coordinates (X,
Y, Z). The above-mentioned tower coordinate information Ja and the tower coordinate information Jb are the tower coordinate Jaj (Jaj; Xaj,
Yaj, Zaj), tower coordinates Jbj (Jbj; Xbj,
Ybj, Zbj) and the fulcrum coordinates Taj (Ta
j; Xtaj, Ytaj, Ztaj), Tbj (Tb
j; Xtbj, Ytbj, Ztbj).

[0013] Further, the database includes a steel tower Ja, J
b and the transmission power information Hi used in b.
(Normal transmission power condition Ha, maximum transmission power condition Hb) are stored.

In the local coordinate generation step 2, the line direction connecting the tower coordinate Jaj of the database 1 and the X component of the tower coordinate Jbj is set as the XR axis, and the direction connecting the Y component of one of the towers is set as the YR axis. , And the local coordinates with the Z component direction as ZR are generated in the memory 3.

The parabola generation step 4 obtains a straight line connecting the fulcrum coordinates Taj and Tbj of the towers Ja and Jb in the local coordinate system, and obtains a parabola Ld obtained by shifting the straight line based on the transmission power parameter.

In the swing compass length determining step 5, a tree position Ki in the local coordinate system is searched, and the searched tree position K is searched.
A perpendicular is drawn from i toward the parabola Ld and the straight line in the local coordinate system, and the distance from the intersection of the obtained straight line to the intersection of the parabola is defined as the compass Pi length.

In the parabola swinging step 6, a curve Fi based on the compass Pi is drawn on the YR-ZR plane of the local coordinate system.

In the fallen tree computing step 7, a curve Ui is obtained when the tree is fallen from the root coordinate of the tree as a starting point.

The information reading step 8 takes in the gauge information Gi and the transmission power information Hi used for the towers Ja and Jb from the database 1.

In the distance calculating step 9, a distance between the tree Ki and the curve Fi drawn by the compass Pi is determined.

The method for calculating the separation distance comprising the above steps will be described below. In this example, a description will be given of an example of a tree obstructing a transmission line. FIG. 2 is a flowchart for explaining the obstacle growth automatic detection method.

First, the local coordinate generation step 2 from the database 1 includes two tower coordinate information Ja and two tower coordinate information J.
b is read (S1), and a local coordinate system (XR, YR, ZR) is generated in the memory 3 based on the tower coordinate information (S2).

As shown in FIG. 3, the local coordinate system has a tower coordinate Jaj (Jaj; Xaj, Yaj, Za).
j) and tower coordinates Jbj (Jbj; Xbj, Ybj, Z
bj) the line direction connecting Xaj and Xbj to the XR axis,
And fulcrum coordinates Taj (Taj; X) of one of the towers.
taj, Ytaj, Ztaj), fulcrum coordinates Tbj (Tb
j; Xtbj, Ytbj, Ztbj) is defined as a YR axis of a local coordinate system in a line direction (also referred to as an arm direction).
For example, when the tower Ja is selected, the Y of the fulcrum coordinates Ta1 is selected.
The line direction connecting ta1 and Yta2 of the fulcrum coordinates Ya2 is defined as the YR axis. Further, let Zaj of the tower Ja be the ZR axis of the local coordinate system.

Next, the tree coordinates Ki are obtained from the database 1.
(Ki; Xk, Yk, Zk) is read out and defined in the local coordinate system (S3).

Next, each step judges a command input by the operator (S4). This command
(1) When the maximum power is not supplied to the transmission line (normal transmission)
Then, when there is no wind, a command for calculating the distance (separation distance r) between the transmission line and the tree. (2) In the case of normal power transmission,
A command for obtaining the separation distance r when there is a wind, (3) a command for obtaining the separation distance r in a windless state when the maximum power is supplied to the transmission line, and (4) a command for obtaining the maximum separation power in the transmission line, And a command for obtaining the separation distance r when there is a wind.

When the maximum power is not supplied to the transmission line in response to the input command (normal power transmission)
Then, when there is no wind, a process of obtaining the separation distance r (hereinafter, referred to as a first process) (S5), and in a case of normal power transmission, a process of obtaining the separation distance r when there is a wind (hereinafter, referred to as a second process). ) (S6), when the maximum power is supplied to the transmission line,
A process for obtaining the separation distance r in a no-wind state (hereinafter, referred to as a third process) (S7), a process for obtaining the separation distance r when wind is present when the maximum power is supplied to the transmission line (hereinafter referred to as a fourth process). And (S8).

The first process and the fourth process among these processes will be described below with reference to the drawings.

(First Process) FIGS. 4 and 5 are flow charts at the time of normal power transmission without wind (first process). First
3, the parabola calculation step 4 obtains a straight line Lb connecting the fulcrum coordinate Ta1 of the tower Ja and the fulcrum coordinate Tb1 of the tower Jb in the local coordinate system (XR, YR, ZR) as shown in FIG. ).

Next, in the parabola calculation step 4, the normal transmission power condition Ha is read, and using this condition Ha, the parabola Ld (L
d; Find a, b, and c of the quadratic equation ax ² + bx + c. ) Is obtained (S402). This parabola Ld is expressed by an equation described below. However, only the Ld equation on the ZR axis is shown.

[0030]

(Equation 1) Then, the swing compass length determining step 5 includes the tower Ja and the tower J
A tree Ki near b is searched (S403), and it is determined whether there is a tree Ki (S404).

In step S404, if a tree Ki exists, the root coordinates (kx, ky, kz) of the tree Ki
Is drawn perpendicular to the XR axis of the local coordinate system from (S405). Next, the straight line Lb obtained in step S401
Is obtained on the XR-YR coordinate system of the local coordinate system, and an intersection dk intersecting the straight line Lbb and the perpendicular Lf is obtained (S406).

Next, as shown in FIG.
From the straight line Lb obtained in step S401
(S501), and the perpendicular Lc and step S401 are obtained.
An intersection di with the parabola Ld obtained in (2) is obtained (S502), a separation calculation process is performed based on the obtained intersection di, and the process returns to step S403 to calculate a separation from the next tree.

In the above-described separation calculation processing, in the case of the first processing, the separation calculation step 9 determines whether or not the vertex kz of the tree Ki is the upper case or the lower case with respect to the intersection di. In the case of, a perpendicular line Lc from the tree trunk (drawing the kz line)
Find the parallel distance to. In addition, as for the separation distance (stationary separation) in the case of the lower case, the stationary separation Cs from the intersection di to the vertex (kz) of the tree Ki is obtained as shown in the following equation.

[0034]

(Equation 2) (Fourth Process) Next, the process when the maximum power is supplied in the presence of wind will be described below with reference to the flowcharts of FIGS.

First, the parabola generation step 4 is performed in the local coordinate system (XR, YR, ZR) with the fulcrum coordinates T of the tower Ja.
A straight line Lb connecting a1 and the fulcrum coordinate Tb1 of the tower Jb is obtained (S701).

Next, the maximum transmitted power condition Hb is read, and the parabola Ld (Ld; a, a of the quadratic equation ax ² + bx + c) of the straight line Lb is read in the local coordinate system using the condition Hb.
b, c) are obtained (S702). This parabola Ld is expressed by an equation described below.

[0037]

(Equation 3) Next, the swing compass length determination step 5 reads the insulator information Gi and determines whether or not the towers Ja and Jb have insulators (S703). If there is an insulator, the insulator flag is set.

If it is determined in step S703 that there is no insulator, the trees Ki near the tower Ja and the tower Jb are determined.
Is determined (S704), and it is determined whether there is a tree Ki (S705).

In step S705, if the tree Ki exists, the root coordinates (kx, ky, kz) of the tree Ki
Is drawn perpendicular to the XR axis of the local coordinate system from (S706). Next, the straight line Lb obtained in step S701
Is obtained on the XR-YR coordinate system of the local coordinate system, and an intersection dk that intersects the straight line Lbb and the perpendicular Lf is obtained (S707).

If it is determined in step S703 that there is a insulator, the insulator length mi is set to the tower J
Zta1 of the fulcrum coordinates Ta1 of a, and the fulcrum coordinates T of the steel tower Jb
B1 is added to Ztb1 (S708), and a straight line La is obtained from the updated fulcrum coordinates Ta1 and Tb1 (S70).
9), the process returns to step S704.

That is, when there is a insulator, as shown in FIG. 9, a straight line La connecting the vertices of the insulator is obtained, and a straight line Lb connecting the support points of the insulator is obtained.

Next, as shown in FIG.
, A perpendicular Lc is obtained in the direction of the straight line Lb obtained in step S701 (S801), and an intersection di between the perpendicular Lc and the parabola Ld obtained in step S701 is obtained (S802).

Then, it is determined whether or not the insulator flag is set (S803). If it is determined in step S803 that the insulator flag has been set, the intersection da of the straight line La and the perpendicular Lc is determined, and the intersection da is set as the starting point of the compass Pi (S804).

Next, the intersection da obtained in step S804
And the distance wi between the intersection di obtained in step S802
Is the compass length of the compass Pi (S805).

Next, the parabola swinging step 6 performs a process of drawing a curve Fi based on the compass Pi as shown in FIG. 11 (S806), and obtains a separation distance between the tree ki and the transmission line (S807).

That is, when there is a insulator, a straight line La connecting the vertices of both insulators is obtained as shown in FIG. 9, and the compass is set with the intersection da at this La as the starting point and the length as the point di of the parabola Ld. Obtain Pi.

If it is determined in step S803 that there is no insulator, as shown in FIG.
An intersection db with c is obtained, and this intersection dp is set as the starting point of the compass Pi (S808). Next, the distance wi between the intersection dp and the intersection di is set as the length PL of the compass Pi (S8).
09), the process returns to step S806, and the separation distance is obtained by drawing the curve of the compass Pi.

Next, the calculation of the separation distance will be described below with reference to FIGS. The separation calculating step 9 draws a straight line FL1 connecting the end point Fa of the curve Fi to the starting point of the compass Pi, as shown in FIG.
A parallel line FL2 and a perpendicular line FL3 are drawn from the end point Fa.

The area of the angle formed by the straight line FL1 and the perpendicular Lc is the area of the case 1 and the area of the angle formed by the straight line FL1 and the parallel line FL2 is the area of the case 2 and the angle formed by the parallel line FL2 and the perpendicular FL3. Is defined as the case 3 area.

Next, it is determined whether the detected tree belongs to any one of the above-mentioned areas, and the separation distance is obtained by the following equation according to the determined area.

[0051]

(Equation 4) That is, the case 1 is inside the wire swing angle θ, the case 2 is outside the wire swing angle θ and below the fulcrum, and the case 2 is outside the wire swing angle θ and is above the fulcrum. Separately from the case 3, each separation distance r
Ask for.

Further, as for the fallen tree, as shown in FIG.
Ask for. Then, the separation calculation step 9 sets the distance between the intersection Lua of the straight line LUj connecting the curve Ui, the root coordinate sy of the tree, and the end point Fa of the curve Fi of the transmission line as the separation distance CT.
The fallen tree separation distance CT at this time is obtained according to the following equation.

[0053]

(Equation 5) In the above embodiment, the distance between the transmission line and the tree is determined, but the distance between the transmission line and the building may be determined, for example.

[0054]

As described above, according to the present invention, the first straight line and the first straight line connecting the three-dimensional coordinates of the two supporting points for suspending the cable are shifted based on various conditions of the cable. After defining the first curve, a first perpendicular to the X-axis of the three-dimensional coordinate system from the planar coordinates of the grown object and a second perpendicular to the first perpendicular from the first straight line are defined in the three-dimensional coordinate system. I do. Then, the first perpendicular between the second perpendicular and the first curve
And the separation distance from the first intersection to the growth is determined.

Therefore, the effect is obtained that the separation distance from the growth which becomes an obstacle is automatically determined from the three-dimensional data.

[Brief description of the drawings]

FIG. 1 is a process diagram illustrating a separation distance calculation method according to an embodiment.

FIG. 2 is a flowchart illustrating a pre-process for calculating a separation distance.

FIG. 3 is an explanatory diagram illustrating a first process.

FIG. 4 is a flowchart illustrating a first process.

FIG. 5 is a flowchart illustrating a first process.

FIG. 6 is an explanatory diagram illustrating calculation of a compass length with a insulator.

FIG. 7 is a flowchart illustrating a fourth process.

FIG. 8 is a flowchart illustrating a fourth process.

FIG. 9 is an explanatory diagram of a case where there is an insulator in the fourth processing.

FIG. 10 is an explanatory diagram of a case where there is no insulator in the fourth processing.

FIG. 11 is an explanatory diagram illustrating a curve drawn by a compass.

FIG. 12 is an explanatory diagram illustrating calculation of a separation distance at the time of electric wire lateral vibration.

FIG. 13 is an explanatory diagram illustrating calculation of a separation distance of a fallen tree;

[Explanation of symbols]

 Reference Signs List 1 database 2 local coordinate generation process 3 memory 4 parabola calculation process 5 swing compass length determination process 6 parabola swing process 7 fallen tree calculation process 9 separation calculation process 9

Claims (10)

[Claims] 1. In a predetermined three-dimensional coordinate system (X, Y, Z),
A separation distance calculation method for determining a separation distance between the growth object and the cable from three-dimensional coordinates of two fulcrums for suspending a predefined cable and three-dimensional coordinates of the growth object near the cable, After defining, in the three-dimensional coordinate system, a first straight line connecting the two supporting points and a first curve obtained by shifting the first curve based on various conditions of the cable, the three-dimensional coordinate system And a second perpendicular to the first perpendicular from the first straight line and the first perpendicular to the X axis of the three-dimensional coordinate system is determined from the planar coordinates of the searched grown at 3. Defined in a three-dimensional coordinate system, a first intersection of the second perpendicular and the first curve is determined, and a separation distance from the first intersection to the growth is 3
A method for calculating a separation distance, wherein the separation distance is obtained from a three-dimensional coordinate system. 2. When the first straight line is defined in the three-dimensional coordinate system, a second straight line obtained by projecting the first straight line on an XY coordinate system is defined, and the second straight line and the second straight line are defined. From a second intersection point where the first perpendicular line intersects, a second intersection with respect to the first straight line
2. The method according to claim 1, wherein the first intersection is obtained by defining a perpendicular line. 3. A third intersection where the second perpendicular line and the first straight line intersect is obtained, and the third intersection is set as a starting point, and the length is set to the first intersection and the third intersection. 3. A second curve obtained by traversing the first curve with a compass having a distance between the first and second coordinates is defined on an XZ plane of the three-dimensional coordinate system. 4. Calculation method of separation distance. 4. A third straight line passing through the maximum end of the second curve and the fulcrum is defined toward a plane, and a fourth straight line parallel to the plane is defined from the fulcrum. 3 is the first area, and the area between the third straight line and the fourth straight line is the second area and the fourth straight line. Second
After defining the area sandwiched by the perpendiculars as a third area, it is determined to which area the growth belongs, and when the growth belongs to the first area, the second area is determined. Determining a separation between a curve and a vertex of the growth; and a separation between a maximum end of the second curve and a top of the growth when the growth belongs to the second area. The distance between the maximum end of the second curve and the line in the Z direction of the grown product is determined when belonging to the third area. The described separation distance calculation method. 5. The three-dimensional coordinates of a first tower that suspends a transmission line, the three-dimensional coordinates of first and second fulcrums at both ends of a first arm of the tower, defined in a geographic coordinate system in a database. And three-dimensional coordinates of a second tower that suspends the transmission line,
A first step of reading the three-dimensional coordinates of the third and fourth fulcrums at both ends of the second arm of the tower, and using the XY coordinates of either the first tower or the second tower as the origin. , The line connecting the X values of the first and second towers is XR
Axis, the arm direction is YR axis, the Z direction of the tower is ZR
A second step of defining a three-dimensional local coordinate system as an axis in an internal memory; and a step of reading the three-dimensional coordinates of a growth defined in a geographical coordinate system into the database and defining the three-dimensional coordinate in the local coordinate system. A third fulcrum or a second fulcrum of a first tower in the local coordinate system;
A fourth straight line defining a first straight line connecting the fulcrum and the third fulcrum or the fourth fulcrum of the second tower to the local coordinate system.
And defining a first curve obtained by shifting the first straight line based on various conditions of the transmission line in the local coordinate system.
And a sixth step of obtaining a second straight line by projecting the first straight line on an XY plane of the local coordinate system; and searching for the growth in the local coordinate system, From the plane coordinate values of the object, the first with respect to the XR axis
Is defined as a first line between the first curve and the first perpendicular line.
A storage medium storing a separation distance calculation program, comprising: a seventh step of obtaining an intersection point of; and an eighth step of obtaining a separation distance between the first intersection point and the searched growth from the local coordinate system. . 6. The seventh step, when the first straight line is defined in the three-dimensional coordinate system, defines a second straight line projected on the XY coordinate system, A second intersection of the second straight line and the first perpendicular
6. The storage medium according to claim 5, wherein the first intersection is obtained by defining a second perpendicular to the first straight line from the intersection. 7. A third intersection point where the second perpendicular line intersects with the first straight line is obtained, and the third intersection point is set as a starting point, and the length is set to the first intersection point and the third intersection point. A ninth step of defining a second curve obtained by traversing the first curve with a compass set at a distance between the XR-ZR plane of the local coordinate system. A storage medium storing a separation distance calculation program. 8. The eighth step is to define a maximum end of the second curve and a third straight line passing through the fulcrum toward a plane, and define a fourth straight line parallel to the plane from the fulcrum. A step of defining a straight line; an area sandwiched between the third straight line and the second perpendicular line is defined as a first area, and an area sandwiched between the third straight line and a fourth straight line is defined as a second area. Area and the fourth straight line and the second
Defining an area sandwiched between the first and second perpendicular lines as a third area; calculating whether the grown product belongs to any of the first, second, and third areas; Calculating the separation distance between the second curve and the apex of the growth when the growth belongs to the area; and when the growth belongs to the second area, Calculating the separation distance between the maximum end of the second curve and the vertex of the growth, and when belonging to the third area, the maximum end of the second curve and the Z-direction line of the growth. Calculating a separation distance between the storage medium and the storage medium. 9. When the first straight line is determined, the first straight line is determined.
6. The separation distance according to claim 5, wherein the fulcrum when the straight line is obtained includes the tenth step in which the fourth step obtains a straight line connecting other different fulcrums as a new first straight line. A storage medium storing a calculation program. In a ninth step, when the first and second towers support the transmission line with a insulator, a fifth straight line obtained by adding the insulator length to a fulcrum thereof is obtained; A compass whose starting point is a fourth intersection point at which the fifth straight line intersects with the second perpendicular line and whose length is set to the distance between the fourth intersection point and the second intersection point;
The storage medium according to claim 5, wherein a curve obtained by traversing the first curve is defined on the XR-ZR plane of the local coordinate system as the second curve.