JPWO2019163050A1 - Power transmission and distribution equipment inspection system - Google Patents

Abstract

Inspection of power transmission and distribution equipment including a flying object and a processing device for inspecting power transmission and distribution equipment configured by a transmission and distribution line for transmitting and distributing electricity and a plurality of support columns installed at predetermined intervals and supporting the transmission and distribution line. System. The flying object flies according to a flight path including a predetermined measurement point, a first distance from the measurement point to an edge point which is a boundary between the target support pillar and the foundation ground, and a target support from the measurement point. A measuring unit is provided for measuring a second distance to a fixing point for fixing the column and the transmission and distribution line. The processing device is configured to calculate a distance from a ground point to a fixed point based on the first distance and the second distance measured by the measurement unit, and to calculate a distance calculated by the first calculation unit. A determination unit that determines whether the difference exceeds a predetermined difference by comparing with a reference value.

Description

  The present invention relates to a power transmission and distribution equipment inspection system for inspecting power transmission and distribution equipment.

  It is known that an unmanned aerial vehicle performs inspection of trees approaching an overhead transmission and distribution line, inspection of a site, inspection of a line base condition, inspection of a steel tower, and the like (for example, Patent Document 1). In addition, the support column that supports the transmission and distribution lines is vertically loaded due to the weight of the support columns themselves, the weight and tension of the transmission and distribution lines, the weight of ice and snow attached to the support columns, and sinks, or May float.

JP 2005-265699 A

  However, the conventional system for inspecting power transmission and distribution equipment does not consider such sinking or lifting of the support pillar.

  SUMMARY OF THE INVENTION It is an object of the present invention to provide a power transmission and distribution equipment inspection system capable of inspecting power transmission and distribution equipment including sinking and lifting of a support column.

  In order to solve the above-described problems and achieve the object, a power transmission and distribution equipment inspection system of the present invention includes a transmission and distribution line for transmitting and distributing electricity, and a plurality of supports installed at predetermined intervals and supporting the transmission and distribution line. A power transmission and distribution equipment inspection system including a flying object for inspecting power transmission and distribution equipment constituted by pillars and a processing device, wherein the flying object flies according to a flight path including a predetermined measurement point, and the measurement point And a second distance from the measurement point to a fixed point for fixing the target support column and the transmission / distribution line from the measurement point to a ground point which is a boundary between the target support column and the foundation ground. And a measuring unit that measures a distance from the ground point to the fixed point based on the first distance and the second distance measured by the measuring unit. 1 calculation section and the first calculation section Distance is compared with a reference value, the difference is and a determination unit for determining whether or exceeds a predetermined difference.

  The processing device includes a second calculation unit that calculates a tilt of the target support column based on the first distance and the second distance measured by the measurement unit, and the determination unit includes: It is preferable that the slope calculated by the second calculator is compared with a reference value to determine whether the difference exceeds a predetermined difference.

  The processing device is based on a result measured by the measurement unit, the target support column, the first wire tension applied between one of the support columns adjacent to the target support column, A third calculating unit configured to calculate a second wire tension applied between the target supporting column and the other supporting column adjacent to the target supporting column; and the determining unit includes the third calculating unit. It is preferable to determine whether the sum of the combined tension of the first wire tension and the second wire tension calculated by the above and the wind pressure load applied to the target support column exceeds a predetermined value.

  The processing device calculates a wire tension applied between the target support column and one of the support columns adjacent to the target support column based on a result measured by the measurement unit. Preferably, a calculation unit is provided, and the determination unit preferably determines whether a sum of the wire tension calculated by the fourth calculation unit and a wind pressure load applied to the target support column exceeds a predetermined value. .

  The flying object includes an imaging unit that captures an image of an inspection target, and the processing device includes a difference detection unit that detects a difference between an image captured last time by the imaging unit and an image captured this time at the same measurement point. Preferably, the determination unit determines whether the difference detected by the difference detection unit exceeds a predetermined value.

  ADVANTAGE OF THE INVENTION According to this invention, an inspection of the power transmission / distribution facilities including the sinking or rising of the support pillar can be performed.

FIG. 1 is a conceptual diagram showing that measurement is performed while flying around power transmission and distribution facilities by a flying object, and the processing result is processed by a processing device. FIG. 2 is a diagram illustrating a configuration of a power transmission and distribution facility inspection system including a flying object and a processing device. FIG. 3 is a diagram provided for explanation when measuring a first distance and a second distance from a measurement point by a measurement unit. FIG. 4 is a diagram for explaining the wire tension applied to the wire between the support columns in the horizontal direction. FIG. 5 is a diagram provided for describing a procedure for calculating the sum of the first wire tension, the second wire tension, and the wind pressure load. FIG. 6 is a diagram for explaining a procedure for calculating the sum of the first wire tension TL and the wind pressure load.

  In a hydroelectric power generation system that generates electricity using hydraulic power, power is supplied from a power plant or a general distribution line to supply power to an intake gate installed in an intake dam or water tank. It has been extended. This electric wire is referred to as an embankment line or an aquarium line.

  The embankment line may be laid for several kilometers from the power plant to the intake dam. For example, the embankment line is patroled by a worker once every six months to check for abnormalities, and a periodic inspection of the appearance is performed once every six years.

  The embankment line is laid so as to connect the power plant to the intake dam with the shortest distance. The embankment line is laid, for example, on a road or a forest road along the foot of the mountain, or is laid in a forest by cutting down trees.

  Since the worker patrols the power transmission and distribution equipment while moving along the embankment line, labor and time are required. In addition, information such as a photograph of the power transmission and distribution equipment when it was last visited may be sufficient, but if there is no such information, the worker will perform an inspection based on the previous memory, and the power transmission and distribution equipment will be checked. It is difficult to grasp the slight change of the power transmission and to predict that the transmission and distribution equipment will be abnormal.

  Further, in the visual inspection, it is not possible to determine whether or not the power transmission and distribution equipment is in a state that can withstand the strength assumed at the time of installation, and it is necessary to perform a survey, such as surveying, by stopping the power transmission and distribution equipment again.

  An object of the present invention is to inspect power transmission and distribution facilities while reducing the burden on workers, and determine whether the power transmission and distribution facilities are in a state that can withstand the strength assumed at the time of installation.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 is a conceptual diagram showing that the measurement is performed while flying around the power transmission and distribution equipment 100 by the flying object 10 and the measurement result is processed by the processing device 20.

  The power transmission and distribution equipment 100 includes a power transmission and distribution line (hereinafter, referred to as an electric wire) 101 for transmitting and distributing electricity generated by a power plant, and a plurality of support columns 102 installed at predetermined intervals and supporting the electric wire 101. You. The electric wire 101 is constituted by three units in the case of three-phase alternating current, and is constituted by two units in the case of single-phase alternating current. The support pillar 102 is a steel tower or a utility pole.

  The flying object 10 flies around the power transmission and distribution equipment 100 while flying based on the flight route R included in the flight path. Further, the flying object 10 measures a distance from the measurement point to the support column 102 at a predetermined measurement point included in the flight route R. The processing device 20 checks the power transmission and distribution equipment 100 based on the result measured by the flying object 10.

  FIG. 2 is a diagram illustrating a configuration of the power transmission and distribution equipment inspection system 1 including the flying object 10 and the processing device 20. The flying object 10 includes a control unit 11, a storage unit 12, an attitude sensor 13, a positioning unit 14, a measuring unit 15, an imaging unit 16, and a communication unit 17 mounted thereon.

  The flying object 10 is an unmanned aerial vehicle (UAV, Unmanned Air Vehicle), a drone, a multicopter, or the like configured to be capable of flying and hovering in the air, and a flight path including a predetermined measurement point under the control of the control unit 11. Fly according to. The flight path is realized by, for example, a flight program.

  The control unit 11 is, for example, an arithmetic device such as a CPU (Central Processing Unit).

  The storage unit 12 is, for example, at least one of a hard disk drive, a solid state drive, a flash memory, and other storage devices, and stores various data read by the control unit 11. The storage unit 12 stores a flight program.

  The flight program includes at least a flight route, which is a route on which the flying object 10 flies, a measurement point at which the support column 102 is measured, and information on the time at which the airframe 10 stops at the measurement point. The flight route and the measurement point are configured by coordinate information. The coordinate information includes, for example, latitude and longitude. A plurality of measurement points are designated on the flight route.

  The attitude sensor 13 is a measuring device that detects the angle (posture), acceleration, angular velocity, or angular acceleration of the flying object 10. The posture sensor 13 is realized by, for example, a gyro sensor or an acceleration sensor. The control unit 11 controls the attitude of the flying object 10 at the time of flight or at rest in the air, based on data detected by the attitude sensor 13.

  The positioning unit 14 is a device that receives time signals emitted from a plurality of satellites and measures the position of the flying object 10 on the earth. The positioning unit 14 is realized by, for example, a GPS (Global Positioning System) receiver. The control unit 11 causes the flying object 10 to fly along the flight route based on the position measured by the positioning unit 14, or stops the flying object 10 at the measurement point in the air.

  The measurement unit 15 includes a first distance from a measurement point to a ground edge which is a boundary between the target support column 102 and the foundation ground, and a fixed point for fixing the target support column 102 and the electric wire 101 from the measurement point. And a second distance to

  The measuring unit 15 is a device that irradiates a laser to the support column 102 to be measured, measures the time until the beam hits the support column 102 and returns, and calculates the distance from the measurement result.

  Here, the operation of the measuring unit 15 will be described with reference to FIG. FIG. 3 is a diagram provided to explain the measurement of the first distance D1 and the second distance D2 from the measurement point P1 by the measurement unit 15 mounted on the flying object 10. Hereinafter, it is assumed that the flying object 10 is in the air at the measurement point P1. The measurement point P1 is at an intermediate position between the support columns 102a and 102b, but is not limited to the intermediate position. Also, it is assumed that the coordinate position of the measurement point P1 is the same as the coordinate position of the measurement unit 15.

  It is assumed that the storage unit 12 stores a measurement program for controlling the operation of the measurement unit 15. The measurement program describes coordinate information of a support column to be measured in association with coordinate information of a measurement point. For example, the coordinate information of the measurement point P1 is associated with the coordinate information of the support column 102a and the coordinate information of the support column 102b.

  When the flying object 10 is stopped in the air at the measurement point P1, the control unit 11 reads the measurement program and acquires the coordinate information of the support pillar 102a and the coordinate information of the support pillar 102b.

The measurement unit 15 irradiates the support column 102a with a laser based on the coordinate information of the support column 102a acquired by the control unit 11. Measuring unit 15 measures the first distance L ₁ from the measurement point P1 to earth Sai point P2 is the boundary between the support column 102a and the foundation ground G. The measurement unit 15 measures the second distance _{L 2} from the measurement points P1 to fixed point P3 for fixing the support column 102a and the wire 101. Measurement unit 15, the angle theta ₁ of laser irradiates the earth Sai point P2 with respect to the horizontal direction H of the measurement points P1, laser was irradiated to a fixed point P3 with respect to the horizontal direction H of the measurement points P1 measuring the angle theta _2.

Similarly, the measuring unit 15 irradiates a laser beam to the support column 102b based on the coordinate information of the support column 102b acquired by the control unit 11. Measuring unit 15 measures the first distance L ₃ from the measuring point P1 to earth Sai point P4 is the boundary between the support column 102b and the foundation ground G. The measurement unit 15 measures the second distance _{L 4} from the measurement points P1 to fixed point P5 for fixing the support column 102b and the wire 101. Measuring unit 15 includes a laser of an angle theta ₃ which irradiates the earth Sai point P4 with respect to the horizontal direction H of the measurement points P1, laser was irradiated to a fixed point P5 with respect to the horizontal direction H of the measurement points P1 Is measured with the angle θ ₄ .

The measurement unit 15 stores the measured first distances L ₁ and L ₃ , the second distances L ₂ and L _4, and the angles θ ₁ , θ ₂ , θ ₃ and θ ₄ of the laser in the storage unit 12. The measuring unit 15 processes the first distances L ₁ and L ₃ , the second distances L ₂ and L _4, and the laser angles θ ₁ , θ ₂ , θ ₃ and θ ₄ via the communication unit 17. A configuration for transmitting to the device 20 may be employed.

  The processing device 20 includes a first calculation unit 21, a determination unit 22, and a communication unit 23. The communication unit 23 and the communication unit 17 are connected wirelessly or by wire, and information obtained by the flying object 10 is transmitted to the processing device 20.

  The first calculation unit 21 acquires the first distance and the second distance measured by the measurement unit 15 via the communication unit 23, and based on the acquired first distance and second distance, Calculate the distance to the fixed point.

In the example illustrated in FIG. 3, the first calculation unit 21 calculates the first distances L ₁ and L ₃ , the second distances L ₂ and L _4, and the laser angles θ ₁ , θ ₂ , θ ₃ , and θ ₄ . get.

The first calculating unit 21 calculates the angle theta ₅ from the difference between the angle theta ₂ of the laser angle theta ₁ and the laser first distance L ₁ and the second distance L _2. The first calculating unit 21, the first distance _{L 1} and based on the second distance _{L 2} and the angle theta _5, (1) formula, the distance from the ground Sai point P2 of the support column 102a to a fixed point P3 _{L 5} Is calculated.
^{_{L 5 = √ (L 1 2}} + L 2 2 -2L 1 × L 2 × cosθ 5) ··· (1)

The first calculating section 21 calculates the difference between the laser angle theta ₃ and the laser angle theta ₄ between the first distance L ₃ the angle theta ₆ and the second distance L _4. The first calculating unit 21, a first distance _{L 3} based on the second distance _{L 4} and the angle theta _6, equation (2), the distance from the earth Sai point P4 of the support column 102b to a fixed point P5 _{L 6} Is calculated.
^{_{L 6 = √ (L 3 2}} + L 4 2 -2L 3 × L 4 × cosθ 6) ··· (2)

  The determination unit 22 compares the distance calculated by the first calculation unit 21 with a reference value, and determines whether the difference exceeds a predetermined difference. The reference value is, for example, the distance calculated by the first calculation unit 21 in the previous inspection, the average value of a plurality of distances calculated by the first calculation unit 21 in the past n inspections, or the installation of the support pillar 102. Such as the distance of time. The predetermined difference is, for example, a constant such as 1 cm or 2 cm. When the distance calculated by the first calculation unit 21 is n% or more from the reference value, the determination unit 22 may determine that the difference exceeds a predetermined difference.

  Therefore, the power transmission and distribution equipment inspection system 1 causes the flying object 10 to fly based on the flight route, and determines the distance from the ground edge of the support pillar 102 to the fixed point based on the result measured by the processing unit 20 using the measurement unit 15. Calculate, compare this distance with the reference value, and determine whether the difference exceeds a predetermined difference, so as to reduce the burden on the worker and how much the support column 102 is sinking, or It is possible to check how much the support column 102 is raised. The worker can grasp the behavior of the power transmission and distribution equipment 100, and can recognize the precursor of the occurrence of an abnormality in the power transmission and distribution equipment 100. For example, the worker can determine whether or not the support pillar 102 is in a state that can withstand the strength assumed at the time of installation based on the result of the power transmission and distribution equipment inspection system 1.

  Further, the processing device 20 may have a configuration including the second calculating unit 24 that calculates the inclination of the target support column 102 based on the first distance and the second distance measured by the measuring unit 15.

In the example illustrated in FIG. 3, the second calculating unit 24 calculates the first distance L ₁ and the second distance L ₂ measured by the measuring unit 15, and the position of the support pillar 102 a calculated by the first calculating unit 21. based on the distance _{L 5} to the fixed point P3 from the point P2, the equation (3), calculates an inclination of the support column 102a. Second calculating section 24 calculates the inclination as an angle theta _{7.
^{cosθ 7 = (L 1 2 +}} L 5 2 -L 2 2) / (2 × L 1 × L 5) ··· (3)

Similarly, the second calculation unit 24, a fixed first distance _{L 3} measured by the measuring unit 15, and the second distance _{L 4,} from the earth Sai point P4 of the support column 102b calculated by the first calculating section 21 based on the distance _{L 6} to the point P5, the equation (4), calculates an inclination of the support column 102b. Second calculating section 24 calculates the inclination as an angle theta _{8.
^{cosθ 8 = (L 3 2 +}} L 6 2 -L 4 2) / (2 × L 3 × L 6) ··· (4)

  The determination unit 22 compares the inclination calculated by the second calculation unit 24 with a reference value, and determines whether the difference exceeds a predetermined difference. The reference value is, for example, the inclination calculated by the second calculation unit 24 in the previous inspection, the average value of a plurality of inclinations calculated by the second calculation unit 24 in the past n inspections, or the installation of the support pillar 102. Such as the inclination of time. The predetermined difference is, for example, a constant such as 5 degrees or 10 degrees. Further, when the inclination calculated by the second calculation unit 24 is separated from the reference value by n% or more, the determination unit 22 may determine that the difference exceeds a predetermined difference.

  Therefore, the power transmission and distribution equipment inspection system 1 causes the flying object 10 to fly based on the flight route, calculates the inclination of the support column 102 based on the result measured by the measurement unit 15 by the processing device 20, and calculates the inclination and the reference value. Is compared to determine whether or not the difference exceeds a predetermined difference, it is possible to check how much the support column 102 is inclined while reducing the burden on the operator. The worker can grasp the behavior of the power transmission and distribution equipment 100, and can recognize the precursor of the occurrence of an abnormality in the power transmission and distribution equipment 100. For example, the worker can determine whether or not the support pillar 102 is in a state that can withstand the strength assumed at the time of installation based on the result of the power transmission and distribution equipment inspection system 1.

  In addition, the processing apparatus 20 may be configured to determine whether the first electric wire between the target support column 102 and one of the support columns 102 adjacent to the target support column 102 is based on the result measured by the measurement unit 15. A configuration may be provided that includes the third calculation unit 25 that calculates the tension and the second wire tension applied between the target support column 102 and the other support column 102 adjacent to the target support column 102.

  Here, the operation of the third calculator 25 will be described with reference to FIG. FIG. 4 is a diagram provided for describing a wire tension T applied horizontally between the support pillar 102a and the support pillar 102b.

  The type of the support pillar 102 is selected according to the required design load, and is laid according to the conditions of the ground on which the support pillar 102 is installed. The design load can be determined by the sum (sum of vectors) of the wire tension (vector) applied to the wires and the wind pressure load (vector) applied to the wires and the support columns by the wind. Hereinafter, a case where the design load is always equal to or less than the assumed load without considering the disconnection of the electric wire 101 will be described.

  If the electric wire 101 is stretched tight without any slack, the tension increases, and the durability against rain or wind decreases, and the strength of the support pillar 102 decreases due to vibrations such as earthquakes.

The length L of the electric wire 101 hanging between the support column 102a and the support column 102b is based on the slack D of the electric wire 101 and the span S that is the distance between the support column 102a and the support column 102b. , (5).
L = S + 8D ² / 3S (5)

Here, it is assumed that the length L of the electric wire 101 is known. Further, span S is a second distance L ₂ from the measurement point P1 measured by the measuring unit 15 to the fixing point P3, laser was irradiated with respect to the fixed point P3 with respect to the horizontal direction H of the measurement points P1 on the basis of the angle theta _2, it can be calculated by equation (6).
S = 2 × L ₂ × cos θ ₂ (6)

Therefore, the slack D of the electric wire 101 can be calculated by expanding the equation (5) and using the equation (7).
D = √ ((3S (LS)) / 8) (7)

  The measuring unit 15 may irradiate the electric wire 101 directly below the measurement point P1 with a laser, measure a time until the electric wire 101 comes back after hitting the electric wire 101, and obtain the slack D of the electric wire 101 from the measurement result.

Further, the wire tension T applied to the wire 101 in the horizontal direction can be calculated from the slack D of the wire 101, the load W of the wire 101 per unit length, and the span S by the formula (8). it can. It is assumed that the load W of the electric wire 101 per unit length is known.
T = WS ² / 8D (8)

  FIG. 5 is a plan view of the support columns 102a, 102b, and 102c, and shows the sum W1 (vector sum) of the first wire tension TL (vector), the second wire tension TR (vector), and the wind pressure load Ww (vector). FIG. 9 is a diagram provided for explanation of a procedure for calculating (). The wind pressure load Ww means a composite vector of the wind pressure load (vector) applied to the electric wire 101 and the wind pressure load (vector) applied to the support pillar 102.

  The third calculation unit 25 calculates the first wire tension TL applied between the target support column 102a and one of the support columns 102b adjacent to the support column 102a based on the equation (8). Further, the third calculation unit 25 calculates the second wire tension TR applied between the target support column 102a and the other support column 102c adjacent to the support column 102a based on the equation (8). .

  The determination unit 22 determines whether the sum of the composite tension of the first wire tension and the second wire tension calculated by the third calculation unit 25 and the wind pressure load applied to the target support column 102 exceeds a predetermined value. Is determined. The predetermined value is a design load determined for each type of the support pillar 102. For example, the dimensions, volume, weight, design load, and the like of the support columns 102 are defined by unique “call names”.

The wind pressure load Ww (vector) includes a wind pressure load α per unit area, a first wire tension TL (vector), a second wire tension TR (vector), a diameter d of the wire 101, and the number n of wires 101. Can be calculated by equation (9) based on
Ww = (TL + TR) × d × n × α (9)

  The diameter d of the electric wire 101 does not take into account snowfall. The number n of the electric wires 101 is “3” in the case of three-phase AC, and “2” in the case of single-phase AC. Further, in the equation (9), the horizontal angle of the electric wire 101 is not considered.

  In the example illustrated in FIG. 5, the determination unit 22 calculates a combined tension T0 (vector) of the first wire tension TL (vector) and the second wire tension TR (vector), and calculates the combined tension T0 (vector) and the wind pressure load. A sum W1 (vector sum) with Ww (vector) is calculated, and it is determined whether the calculated sum W1 (vector sum) exceeds a predetermined value.

  Therefore, the power transmission and distribution equipment inspection system 1 determines whether or not the support column 102 always exceeds the design load that is equal to or less than the assumed load, and reduces the load on the support column 102 while reducing the burden on the worker. Can be checked. The worker can grasp the behavior of the power transmission and distribution equipment 100, and can recognize the precursor of the occurrence of an abnormality in the power transmission and distribution equipment 100. For example, the worker can determine whether or not the support pillar 102 is in a state that can withstand the strength assumed at the time of installation based on the result of the power transmission and distribution equipment inspection system 1.

  Although the above description has been made on the assumption that the support columns 102a, 102b, and 102c are laid in a straight line, the power transmission and distribution equipment inspection system 1 is applicable even when the support columns 102a, 102b, and 102c are not laid in a straight line. Can be.

  When the support columns 102a, 102b, and 102c are not laid in a straight line, the direction of the first wire tension TL (vector) and the second wire tension TR (vector) are different from those in the case of being laid straight. It is anticipated that the orientation will be different.

  When the support columns 102a, 102b, and 102c are not laid in a straight line, the determination unit 22 determines, for example, the combined tension T0 (vector) of the first wire tension TL (vector) and the second wire tension TR (vector). ) Is calculated by adding or multiplying correction values according to the laying form of the support columns 102a, 102b, 102c.

  The determination unit 22 determines, for example, whether the support columns 102a, 102b, and 102c are laid in a straight line. The laying form of the support columns 102a, 102b, and 102c may be known, or may be determined from an image captured by the imaging unit 16.

  When the determination unit 22 determines that the support columns 102a, 102b, and 102c are not laid in a straight line, the determination unit 22 calculates the angles between the support columns 102a and 102b and the support columns 102a and 102c, and calculates the angle based on the calculated angle. The composite tension T0 (vector) is calculated using the corresponding correction value.

  Further, the processing device 20 determines the wire tension applied between the target support column 102 and one of the support columns 102 adjacent to the target support column 102 based on the result measured by the measurement unit 15. A configuration including a fourth calculation unit 26 that calculates the value may be employed. Hereinafter, a case where the design load is equal to or less than the assumed emergency load in consideration of the disconnection of the electric wire 101 will be described.

  FIG. 6 is a plan view of the support columns 102a and 102b, and is a diagram provided for describing a procedure for calculating a sum W2 (vector sum) of the first wire tension TL (vector) and the wind pressure load Ww (vector). is there. In FIG. 6, it is assumed that the electric wire 101 between the supporting column 102a and the supporting column 102c is disconnected. The wind pressure load Ww means a composite vector of the wind pressure load (vector) applied to the electric wire 101 and the wind pressure load (vector) applied to the support pillar 102.

  The fourth calculation unit 26 calculates the first wire tension TL applied between the target support column 102a and one of the support columns 102b adjacent to the support column 102a based on the equation (8).

  The determination unit 22 determines whether the sum W2 of the first wire tension TL calculated by the fourth calculation unit 26 and the wind pressure load Ww applied to the target support column 102a exceeds a predetermined value. The predetermined value is a design load determined for each type of the support pillar 102.

  Therefore, the power transmission and distribution equipment inspection system 1 determines whether or not the support column 102 has exceeded the design load that is equal to or less than the assumed emergency load, so that the load on the support column 102 is reduced while reducing the burden on the worker. Can be checked. The worker can grasp the behavior of the power transmission and distribution equipment 100, and can recognize the precursor of the occurrence of an abnormality in the power transmission and distribution equipment 100. For example, the worker can determine whether or not the support pillar 102 is in a state that can withstand the strength assumed at the time of installation based on the result of the power transmission and distribution equipment inspection system 1.

  In addition, the processing device 20 may be configured to include a difference detection unit 27 that detects a difference between the image captured last time by the imaging unit 16 and the image captured this time at the same measurement point.

  Here, an operation of imaging the support column 102 by the imaging unit 16 will be described. It is assumed that the storage unit 12 stores an imaging program for controlling the operation of the imaging unit 16. In the imaging program, information on the coordinates and direction of imaging is described.

  For example, as shown in FIG. 3, the control unit 11 reads the imaging program when the flying object 10 stops in the air at the measurement point P1 at an intermediate position between the support pillar 102a and the support pillar 102b, and determines the coordinates and the direction of the image to be captured. Get information. The control unit 11 moves the flying object 10 to the position of the coordinates to be imaged, and directs the imaging unit 16 in the direction to image. The control unit 11 controls the imaging unit 16 to perform imaging.

  The imaging unit 16 performs imaging according to control by the control unit 11. For example, the imaging unit 16 captures five locations at one measurement point. The imaging unit 16 captures an image from the position of the measurement point P1 toward the fixed point P3 of the support column 102a, and stores the obtained image Pic1 in the storage unit 12. The imaging unit 16 captures an image from the position of the measurement point P1 toward the fixed point P5 of the support column 102b, and stores the obtained image Pic2 in the storage unit 12. The imaging unit 16 captures an image immediately below the measurement point P1 and stores the obtained image Pic3 in the storage unit 12. The imaging unit 16 captures an image from directly above the support column 102a to directly below, and stores the obtained image Pic4 in the storage unit 12. The imaging unit 16 captures an image from directly above the support pillar 102b to directly below, and stores the obtained image Pic5 in the storage unit 12. The storage unit 12 stores the images Pic1, Pic2, Pic3, Pic4, and Pic5 in association with the measurement point P1.

  The difference detection unit 27 reads an image from the storage unit 12 and detects a difference between an image captured last time by the imaging unit 16 and an image captured this time at the same measurement point. The difference detection unit 27 detects, for example, the difference between the previously captured image and the currently captured image by the number of pixels.

  The determination unit 22 determines whether the difference detected by the difference detection unit 27 exceeds a predetermined value. The determination unit 22 determines whether the number of pixels of the difference detected by the difference detection unit 27 exceeds a predetermined value (for example, 100 pixels).

  Accordingly, the power transmission and distribution equipment inspection system 1 detects a difference between the image captured last time by the imaging unit 16 and the image captured this time, and determines whether the difference exceeds a predetermined value. It is possible to check the load applied to the support pillar 102 while reducing the load. The worker can grasp the behavior of the power transmission and distribution equipment 100, and can recognize the precursor of the occurrence of an abnormality in the power transmission and distribution equipment 100. For example, the worker can determine whether or not the support pillar 102 is in a state that can withstand the strength assumed at the time of installation based on the result of the power transmission and distribution equipment inspection system 1.

  Further, the determination unit 22 may be configured to comprehensively determine two or more of the degree of sinking or lifting of the support pillar 102, the degree of inclination of the support pillar 102, and the degree of design load, and issue a warning. Good. For example, the determination unit 22 gives a score according to the degree of sinking of the support pillar 102, and gives a score according to the degree of inclination of the support pillar 102. If the total of the scores exceeds a predetermined value, Give a warning. According to such a configuration, the power transmission and distribution equipment inspection system 1 calculates the distance from the ground point of the support pillar 102 to the fixed point, compares this distance with the reference value, and determines that the difference exceeds the predetermined difference. Even if it is not, a warning can be issued depending on the degree of inclination of the support pillar 102, and it is possible to grasp a precursor to the occurrence of an abnormality in the power transmission and distribution equipment 100.

  The configurations described in the above embodiments are merely examples of the contents of the present invention, and can be combined with other known technologies, and can be combined with other known technologies without departing from the gist of the present invention. Parts can be omitted or changed.

DESCRIPTION OF SYMBOLS 1 Transmission / distribution equipment inspection system 10 Aircraft 11 Control unit 12 Storage unit 13 Attitude sensor 14 Positioning unit 15 Measurement unit 16 Imaging unit 17 Communication unit 20 Processing unit 21 First calculation unit 22 Determination unit 23 Communication unit 24 Second calculation unit 25 Third calculation unit 26 Fourth calculation unit 27 Difference detection unit 100 Power transmission and distribution equipment 101 Transmission and distribution lines (electric wires)
102, 102a, 102b, 102c Supporting column G Foundation ground H Horizontal direction P1 Measurement point P2, P4 Ground point P3, P5 Fixed point R Flight route

Claims (5)

Inspection of power transmission and distribution equipment including a flying object and a processing device for inspecting power transmission and distribution equipment configured by a power transmission and distribution line for transmitting and distributing electricity and a plurality of support columns installed at predetermined intervals and supporting the transmission and distribution line. The system
The flying object is
Fly according to a flight path including a predetermined measurement point,
A first distance from the measurement point to an edge point which is a boundary between the target support column and the foundation ground, and a fixed point for fixing the target support column and the transmission / distribution line from the measurement point. A measuring unit for measuring the second distance;
The processing device includes:
Based on the first distance and the second distance measured by the measurement unit, a first calculation unit that calculates a distance from the ground point to the fixed point,
A determination unit that compares the distance calculated by the first calculation unit with a reference value and determines whether the difference exceeds a predetermined difference.
Transmission and distribution equipment inspection system. The processing device includes a second calculation unit that calculates the inclination of the target support column based on the first distance and the second distance measured by the measurement unit,
The determination unit compares the slope calculated by the second calculation unit with a reference value, and determines whether the difference exceeds a predetermined difference.
The power transmission and distribution equipment inspection system according to claim 1. The processing device is based on a result measured by the measurement unit, the target support column, the first wire tension applied between one of the support columns adjacent to the target support column, A third calculating unit configured to calculate a second wire tension applied between the target supporting column and the other supporting column adjacent to the target supporting column;
The determination unit determines whether a sum of a combined tension of the first wire tension and the second wire tension calculated by the third calculation unit and a wind pressure load applied to the target support column exceeds a predetermined value. Judge,
The power transmission and distribution equipment inspection system according to claim 1. The processing device calculates a wire tension applied between the target support column and one of the support columns adjacent to the target support column based on a result measured by the measurement unit. Equipped with a calculation unit,
The determination unit determines whether the sum of the wire tension calculated by the fourth calculation unit and a wind pressure load applied to the target support column exceeds a predetermined value,
The power transmission and distribution equipment inspection system according to claim 1. The flying object includes an imaging unit that images the inspection target,
The processing device includes a difference detection unit that detects a difference between an image captured last time by the imaging unit and an image captured this time at the same measurement point,
The determination unit determines whether the difference detected by the difference detection unit exceeds a predetermined value,
The power transmission and distribution equipment inspection system according to claim 1.

Images