KR102439487B1 - Providing method for a drone-based transmission and distribution facility management system - Google Patents

Abstract

The present invention relates to a method for providing a drone-based transmission line facility state inspection system. The method comprises the steps of: preparing a transmission line facility management system; installing the transmission line facility management system; and operating the transmission line facility management system, wherein a unit is installed at a site around the transmission line facility so as to perform monitoring and responding for the management of the transmission line facility, the management of access to the surrounding area, accident management, and situation management. The transmission line facility management system comprises: an obstacle distance recognizing means for recognizing a distance to a fixed object which is an obstacle to flight; an electromagnetic wave recognizing means for recognizing the electromagnetic wave intensity in a flight area; and a risk determination module for determining a flight risk in the flight area from the distance to the fixed object and the electromagnetic wave intensity. According to the present invention, various situations which can affect the system quality can be managed in a complex way.

Description

A method for providing a state inspection system for a transmission line facility using a drone {Providing method for a drone-based transmission and distribution facility management system}

The present invention relates to a method for providing a system for checking the status of a transmission line facility using a drone, and more particularly, it is possible to prevent the risk of collision with a transmission tower and a power line connected thereto based on a drone, and manages the system and surrounding sites by means separate from the drone To provide a method for providing a system for checking the condition of power transmission line facilities using drones that provides a warning to block access to safety accident-prone facilities such as power transmission towers, provides reliability to the installation and operation process, and safely manages the verification process.

For safety inspection of transmission towers or communication base stations, safety inspections are carried out using various devices and instruments, but a lot of costs are incurred and many difficulties are followed in the inspection itself.

Accordingly, as described above, if a drone is used, it is possible to easily photograph and manage the power transmission tower and surrounding facilities, and thus its utilization and application are very high.

In such a conventional drone, the frame to which the sensor is attached calculates the distance from the object, flies at a constant height, and determines the movement direction according to the movement direction of an adjacent object. can reduce

The problem to be solved by the present invention is to provide a system capable of monitoring and warning the risk of approaching dangerous facilities with a high incidence of safety accidents, such as transmission towers and power lines connected thereto.

In addition, the provision and installation of such a system are to be provided with reliability and verified to enable safety management.

In addition, management means for system preparation, installation and operation are provided to enable real-time monitoring and response for stable handling of the system.

In addition, through these management means, it is possible to manage and control the system as well as the personnel related to the surrounding field, unauthorized personnel, etc. in these systems, thereby complexly managing various situations affecting the system quality.

In addition, additional additional construction aids installed together with the system around the site (eg, material transfer means, location transfer means, transportation vehicles, workers' heating and cooling containers, containers, etc.) are to be monitored together.

In addition, such management means are provided at a minimum so that a large number of objects can be effectively and efficiently monitored and managed, and responsibility for the occurrence of abnormalities can be verified before or after the occurrence.

In addition, it is to suppress the load and delay that may occur due to the operation change of these management means and to optimize the installation and operation state through active response to the external environment.

The problems of the present invention are not limited to the problems mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the following description.

The present invention provides a method of providing a transmission line facility condition check system using a drone, comprising the steps of: preparing a transmission line facility management system; installing the transmission line facility management system; and the step of operating the power transmission line facility management system, wherein a unit is installed at a site around the power transmission line facility, and a monitor for managing the power transmission line facility, access management to the surrounding site, accident management and situation management response It is performed, and the transmission line facility management system includes: an obstacle distance recognition means for recognizing a distance from a fixed object that is an obstacle to flight; Electromagnetic wave recognition means for recognizing the electromagnetic wave intensity of the flight area; It provides a method of providing a system for checking a state of a power transmission line facility using a drone including a risk determination module for determining a flight risk of a flight area from the distance to the fixed object and the electromagnetic wave intensity.

According to the present invention as described above, there are one or more of the following effects.

The present invention can provide a system capable of monitoring and warning access to dangerous facilities, such as power lines installed and connected around a power transmission tower and its surroundings.

In addition, by providing reliability and verifying the provision, installation and operation process of such a system, it is possible to enable safety management.

In addition, management means for system preparation, installation, operation, etc. may be provided to enable real-time monitoring and response for stable handling of the system.

In addition, through these management means, it is possible to manage and control the system as well as the personnel related to the surrounding field, unauthorized personnel, etc. in these systems, so that various situations affecting the system quality can be managed in a complex manner.

In addition, additional additional construction aids (eg, material transfer means, location transfer means, transportation vehicles, workers' heating and cooling containers, containers, etc.) that are installed together with the system around the site can be monitored together.

In addition, since such management means are provided at a minimum, it is possible to effectively and efficiently monitor and manage a large number of objects, and to verify responsibility for the occurrence of abnormalities in advance or in the aftermath.

In addition, it is possible to suppress the load and delay that may occur according to the operation change of the management means and to optimize the installation and operation state through an active response to the external environment.

1 is a diagram illustrating a transmission line inspection system using a drone;
2 is an explanatory diagram of a wireless connection state of the drone and the pilot device of FIG. 1;
3 is an explanatory diagram of a transmission line condition inspection method using a drone according to the spirit of the present invention;
4 is a detailed functional configuration diagram of a drone and a pilot device according to an embodiment of the present invention;
5 is a flowchart illustrating a method of operating a transmission line inspection system using a drone according to an embodiment of the present invention;
6 to 11 are views illustrating a configuration according to FIG. 2 .

In describing the present invention, terms such as first, second, etc. may be used to describe various components, but the components may not be limited by the terms. The terms are only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, a first component may be referred to as a second component, and similarly, a second component may also be referred to as a first component.

When a component is referred to as being connected or connected to another component, it may be directly connected or connected to the other component, but it can be understood that other components may exist in between. .

The terms used herein are used only to describe specific embodiments, and are not intended to limit the present invention. The singular expression may include the plural expression unless the context clearly dictates otherwise.

In this specification, the terms include or include are intended to designate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, and includes one or more other features or numbers, It may be understood that the possibility of the presence or addition of steps, operations, components, parts, or combinations thereof is not precluded in advance.

In addition, shapes and sizes of elements in the drawings may be exaggerated for clearer description. The present invention relates to a method of operating a drone for monitoring transmission line facilities. Drones can be efficiently used to monitor a large three-dimensional space, and this is particularly useful for monitoring transmission line facilities with a large monitoring area and a considerable height at which the facilities are installed.

If the automatic flight scheduling methods of general drones are applied to the transmission line facility monitoring drone, it will be carried out in the following way. Set a virtual area of attention connecting the power transmission towers, use this as a boundary line, and measure the direction of the drone by employing a geomagnetic sensor outside the boundary line, while inside the boundary line position information of the transmission tower photographed through image recognition of the recording unit And by measuring the relative position of the drone using the triangulation method, the interference caused by the magnetic field formed around the power transmission tower and transmission line is minimized, and the drone flight operation is promoted safely.

However, in the vicinity of the transmission line facilities, especially the transmission towers, there are strong electromagnetic waves that people are reluctant to live, and the distribution of electromagnetic waves around the transmission towers is somewhat irregular due to a device to block the emitted electromagnetic waves from going to the residential area. In addition, if the drone collides with the transmission/distribution facility, it may cause damage to the drone itself as well as the failure of the electric transmission line facility.

On the other hand, in the case of a point where damage is suspected in the power transmission line facility, in order to acquire more detailed image information, etc., it is frequently necessary to get closer to the point even if it is a caution area with a risk of flying a drone.

Therefore, fully automated drone operation without the involvement of the drone pilot is not practically desirable. In the present invention, in a drone system for monitoring power transmission line facilities involving a drone pilot, a method for safely flying over a transmission line facility area, which is a dangerous area, is proposed.

Specifically, to implement the function of measuring the induced voltage/separation distance between the facility (transmission line, OPGW, pylon) and the drone through the sensor mounted on the drone, and a notification notification function to the remote controller operated by the pilot on the ground when the appropriate distance standard is exceeded. do.

1 is a conceptual diagram illustrating a concept of electromagnetic wave-based risk detection according to an embodiment of the present invention. 2 is a perspective view illustrating an external appearance of a drone operating system according to an embodiment of the present invention.

3 is a conceptual diagram illustrating a drone having an integrated sensor used in an embodiment of the present invention. 4 is a block diagram showing the structure of a drone operating system for monitoring transmission line equipment according to an embodiment of the present invention.

The illustrated drone operating system includes an obstacle distance recognition means 120 for recognizing a distance to a fixed object that is an obstacle to flight; Electromagnetic wave recognition means 130 for recognizing the electromagnetic wave intensity of the flight area; a risk determination module 160 for determining a flight risk of a flight area from the distance to the fixed object and the electromagnetic wave intensity; a facility monitoring unit 110 for generating monitoring information for a target facility; a flight control module 140 for controlling driving means for flight according to a flight control signal; a drone 100 including a pilot communication unit 180 for transmitting and receiving the flight control signal and the facility monitoring information through wireless communication; and a drone communication unit 280 for transmitting and receiving flight control signals and facility monitoring information to and from the drone 100 through wireless communication; a flight control signal generator 240 for generating a flight control signal for the flight of the drone; an output means 270 for providing information on the flight risk to the pilot; Including a pilot device 200 including a monitoring information processing unit 250 for processing the monitoring information received from the drone, wherein the drone 100 and the pilot device 200 are, according to the flight risk, a flight path (schedule) ) to adjust.

The obstacle distance recognition means 120 is a sensor that measures the separation distance and/or proximity of the drone 100 and the high risk of flying collision among the power transmission line facilities (transmission line, OPGW, transmission tower, etc.) may include For example, as the sensor for measuring the separation distance, a non-contact distance measuring sensor using electromagnetic waves such as ultrasonic waves, infrared rays, and microwaves may be applied.

In another implementation, the obstacle distance recognizing means 120 is configured in a form in which two or more non-contact distance measuring sensors are installed at both ends of the drone 100 so as to be spaced apart from each other as long as possible, and the sensing signal measured by each distance measuring sensor A more accurate distance can be measured by triangulation using the size and direction of

In another implementation, the obstacle distance recognizing unit 120 is an image analysis module for analyzing an image captured by a camera installed in a drone, and analyzing the image to estimate the separation distance from the facility requiring attention as an object recognized in the image can be

The obstacle distance recognition means 120 of a relatively expensive implementation may include a radar and/or lidar device. In particular, the rider has excellent characteristics for the purpose of detecting an obstacle of a high-speed moving object.

As the obstacle distance recognition means 120, a relatively inexpensive ultrasonic sensor or laser distance detector can be applied, but the ultrasonic sensor has a possibility of failure to detect the power line, and the low-cost laser distance detector has a narrow detection direction, It is suitable to be used in combination with other distance sensing means rather than to be used alone.

The electromagnetic wave recognition means 130 is particularly useful for measuring the proximity of a separation distance between transmission lines that generate a uniform electromagnetic wave according to a uniform current. The electromagnetic wave recognition means 130 may be implemented as a sensor that detects an induced voltage by alternating current having a power frequency (60 Hz). For example, it may be implemented in a form similar to an antenna circuit resonating at a power frequency, or may be implemented in a form similar to a wireless power harvesting circuit.

It is advantageous in terms of cost and sensing signal processing efficiency to implement the obstacle distance recognizing means 120 and the electromagnetic wave recognizing means 130 in the form of an integrated sensor. The electromagnetic wave recognition means 130 and/or the obstacle distance recognition means 120 , or the above-described integrated sensor, is preferably installed at a plurality of points spaced apart from each other on the drone.

For example, the six sensor modules of the above-described integrated sensor type may be disposed spaced apart by six axes with respect to the center point of the drone. More specifically, one may be installed below the propellers (upper, lower, left, right) of a standard type drone having four propellers, and one may be installed at the top and bottom of the drone body.

In the case of a simple implementation, the risk determination module 160 only determines whether the distance to the fixed object and/or the electromagnetic wave intensity exceeds a predetermined criterion, and only performs a binary determination of risk/safety according to the result. can In the case of a complex implementation, the risk determination module 160 may continuously determine a distance or a degree of risk.

The risk determination module 160 determines the flight risk of the flight area from the distance to the fixed object and the electromagnetic wave intensity according to a predetermined determination algorithm.

The simplest algorithm is to determine that a dangerous area has been entered when the distance to the fixed object and/or the electromagnetic wave intensity exceeds a predetermined criterion. In general, a dangerous structure that generates a lot of electromagnetic waves is a power line, and considering that the power line is difficult to detect by image analysis or ultrasound, it is dangerous if any one of the distance to the fixed object and the electromagnetic wave intensity exceeds a predetermined standard It is advantageous to judge that it has entered the realm.

In another algorithm, depending on the location of the drone 100 (that is, the installation location of the transmission line facility to be monitored), the criterion for determining the dangerous area may be changed. In particular, in the case of the electromagnetic wave strength, the magnitude of the induced voltage is different even at the same distance depending on the capacity of the power line, so it is required to consider this in determining the danger area.

As a method for changing the electromagnetic wave intensity standard according to the power line capacity, the simplest is to receive the capacity (or power transmission grade) of the corresponding power line from the pilot through the pilot device 200 , and determine the electromagnetic wave intensity standard according to the capacity.

As another method, it is possible to use an online or offline map in which the locations of transmission line facilities are described. (The online map is to obtain map data by connecting to a server, and the offline map is a form that is pre-stored in the internal storage). In this case, the drone (100) is provided with a location determination means such as GPS, finds the determined location on the on/offline map, and sets the electromagnetic wave intensity standard as a safe separation distance determination standard for the target power line (or transmission line facility) on the map or calculated based on the information recorded in the map. In the case of a more complex risk determination algorithm, parameters that determine risk according to machine learning using accumulated drone operation data can be corrected (adjusted) during operation.

For example, if the degree of inconsistency between the dangerous area determination based on the electromagnetic strength and the danger area determination based on the distance from the obstacle accumulates, the risk area determination is performed with a low frequency means (distance or electromagnetic strength) for the location or facility. ) can be lowered, and the risk judgment standard for means with low risk area judgment can be raised.

For example, if the pilot issues a departure command or performs a maneuver that is estimated to be a dangerous area avoidance maneuver without being judged as a dangerous area because it does not meet the risk determination standard, the risk determination standard may be lowered for the location or facility.

In determining the dangerous area, it is preferable to consider not only the risk of a direct collision with the target facility, but also the risk of inability to communicate with the pilot device 200 .

In particular, the criterion for judging the dangerous area by the electromagnetic wave intensity is to determine the dangerous area when it is difficult for the pilot device 200 to control the drone 100 due to electromagnetic waves emitted from the target power line even if the risk of collision with the target power line is low. can

The communication failure risk may be reflected as an element of the aforementioned machine learning. In general, the wireless communication protocol is implemented to detect a transmission error in preparation for a temporary transmission error and retransmit the data when an error occurs, which is also reflected in the communication between the drone 100 and the pilot device 200 for safe drone operation. . Therefore, in the case of a temporary electromagnetic wave disturbance, there is no problem in drone control due to the above-described transmission error detection and retransmission.

However, when the drone is located in an area where there are many noise electromagnetic waves, transmission error detection and retransmission inevitably occur more frequently. (100) It is possible to determine the degree of electromagnetic wave risk of the location.

If the frequency of occurrence of errors/retransmissions in transmission of the flight control signal is high at a location that is not determined as a hazardous area in the target facility area, this may be reflected in machine learning to lower the risk area determination criteria. Depending on the implementation, it is possible to determine the degree of electromagnetic wave risk of the drone location even with the frequency of occurrence of errors/retransmissions even in the wired internal transmission of internal signals between devices inside the drone 100 . This reflects that it is located in a significant electromagnetic wave hazard area to the extent that noise is also carried on the internal wired signal.

Depending on the implementation, the risk determination module 160 may not only determine the risk area from a technical point of view, but also apply the legal induced voltage/separation distance standard between the drone 100 and the transmission line/OPGW/transmission tower. To this end, the pilot device 200 or the drone 100 may obtain information on the legal induced voltage/separation distance standard by inquiring into an external server through a wireless communication means.

The pilot communication unit 180 transmits the determination information of the risk determination module as a function of the spirit of the present invention to the pilot device 200 having a ground pilot through an RF type wireless communication channel such as Wi-Fi or LTE. In other implementations, other telecommunication technologies such as wireless optical communication means such as infrared light may be substituted or applied in combination. In connection with the spirit of the present invention, the pilot communication unit 180 collects information on the noise level or medium of the radio communication channel of the RF method with the pilot device 200, communication quality by medium, error/retransmission frequency in the protocol, etc. can

The facility monitoring unit 110 is for generating monitoring information necessary to inspect/manage the transmission line facility, and includes: a general band camera photographing means for obtaining RGB color image information recognized by humans; special band camera photographing means such as infrared photographing means as light in a band in which humans cannot be serious; a chemical detection sensor that detects molecules (such as carbon monoxide) generated in abnormal situations such as fire; a temperature sensor for detecting the temperature of the facility or its surroundings; a microphone for detecting the sound of the facility or its surroundings; Radar for scanning facilities using radio waves; And it may be provided with one or more various detection sensors, such as a lidar for scanning a facility using a laser.

Since the measurement is carried out in a state that is substantially spaced apart from the static object, it is advantageous that the microphone and the temperature sensor are directional sensors with high detection intensity in a specific direction. Depending on the implementation, some of the various sensors constituting the facility monitoring unit 110 may also serve as the obstacle distance sensing means. For example, the image captured by the general band camera photographing means may be analyzed and used to detect the distance to the object, or the distance to the object may be determined using the lidar.

The flight control module 140 outputs driving signals for 4 to 8 propellers for the flight of the drone. Depending on the implementation, the flight control module 140 may store in advance a driving algorithm for evasive maneuvers for leaving the danger zone. For example, when it is determined that communication with the pilot device 200 is difficult after the flight control module 140 enters the danger area according to the driving algorithm, the drone 100 returns to a position immediately before entering the danger area. You can control it to move.

The pilot device 200 has almost the same configuration as a general drone control device for driving the drone 100, and transmits information collected by the drone to an external server for facility monitoring (in some cases, data filtering) or compression processing), for the purpose of the present invention, a notification/alarm function for a danger area and a pilot input reception function for setting/avoiding a danger area may be performed.

The drone communication unit 280 forms an RF type wireless communication channel such as Wi-Fi or LTE with the control communication unit 180 of the drone 100 . In other implementations, other telecommunication technologies such as wireless optical communication means such as infrared light may be substituted or applied in combination. The flight control signal generating unit 240 generates a necessary flight control signal according to the manual operation of the pilot's control means (stick, etc.). The generated flight control signal is transmitted to the drone 100 through the drone communication unit 280 .

According to the implementation, the pilot device 200 provides a means for instructing danger and/or avoidance (eg, an emergency button) so that the pilot can intuitively determine the danger area referred to in the present invention and notify the drone 100 . When the instruction means is operated, the flight control signal generating unit 240 may generate a flight control signal indicating a dangerous area entry and/or avoidance maneuver, and transmit it to the drone 100 .

The output means 270 may include various notification lamps or displays such as LEDs as visual output means, and may include a speaker or the like as an audible output means. According to implementation, a tactile output means such as a vibration generator may be further provided.

Depending on the implementation, the output means 270 may display only whether the dangerous area has entered or not, or may display information about the distance from the obstacle and/or the electromagnetic wave strength. For example, the distance and direction to the obstacle may be displayed based on the flight direction of the drone through the display device, and the degree of communication failure may be displayed together.

In the case of an implementation in which electromagnetic/distance detection sensors are disposed with respect to six axes of the drone, the output means 270 may display a sensor that has generated a sensor signal detected as a danger area. For example, the distance to the obstacle detected by each of the six sensors may be displayed together through the display device.

The monitoring information processing unit 250 processes monitoring information about the transmission line equipment collected by the drone 100 . For example, the drone 100 may classify only those necessary for monitoring from the image captured by the power transmission line facility, store it, and transmit it to an external server.

The output means 270 of the pilot device 200, when the risk determination module 160 determines that it is a flight risk, performs a warning on the direction and distance of the determined risk. In this case, the approach alarm may be performed based on the nearest sensed value. Then, the drone pilot can recognize the danger through a notification alert such as a beep or vibration to the remote controller, and an alarm is turned on.

Depending on the implementation, the display device as the output means 270 may display the time of entering the electromagnetic wave danger area or whether or not a communication error/retransmission has occurred and the number thereof. 5 is a flowchart illustrating a method of operating a drone for monitoring transmission line equipment according to an embodiment of the present invention.

The illustrated drone operation method includes the steps of: measuring a distance to a flying obstacle and an electromagnetic wave strength while collecting monitoring information on a target facility (S120, S130); determining the flight risk by analyzing the measured distance and electromagnetic wave strength to the flight obstacle according to the danger area determination criterion (S160); Alarming the information on the determined flight risk to the pilot (S170); And according to the pilot's manipulation or analysis of the distance to the accumulated flight obstacle and the measurement information of the electromagnetic wave strength, it may include a step (S180) of adjusting the risk determination criteria.

The step of measuring the distance and electromagnetic wave intensity can be divided into a process of measuring the distance to an obstacle (S120) and a process of measuring the electromagnetic wave intensity at the flying position of the drone (S130). The process of measuring the distance to the obstacle ( S120 ) may be performed using a non-contact distance measuring sensor using electromagnetic waves such as ultrasonic waves, infrared rays, and microwaves as the sensor for measuring the separation distance.

For example, in the process (S120) of measuring the distance to the obstacle, more accurate triangulation using the magnitude and direction of the sensing signal measured by two or more non-contact distance measuring sensors disposed at both ends of the drone to be spaced apart from each other as long as possible. distance can be measured.

In another implementation, the process of measuring the distance to the obstacle (S120) is to analyze the image captured by the camera installed in the drone, and as an object recognized in the image, analyze the image to estimate the separation distance from the facility requiring attention can do. For example, with respect to an object of known size, such as a power transmission tower, the distance may be estimated from the size of the target object image in the captured image, and a power line connected thereto may be estimated again based on the estimated distance from the transmission tower (power line). is supported on the ground by two or more structures, so it is possible to estimate the location of the power line based on the estimated distance of these structures)

As the obstacle distance recognition means of a relatively expensive implementation, in the case of a drone equipped with a radar and/or lidar device, the process of measuring the distance to the obstacle is performed in a manner that reads the distance measurement value of the lidar. can

When the drone is equipped with a plurality of types of distance sensing means having different optimal measuring distances, the process of measuring the distance to the obstacle ( S120 ) is a distance obtained from a reference sensing means among the plurality of types of distance sensing and sensing means. Alternatively, based on a distance obtained as an average value of a plurality of sensing means, a sensing unit of the optimal type for distance measurement may be selected, and the distance measured by the selected sensing unit may be determined.

The process of measuring the electromagnetic wave strength (S130) is performed in a manner of detecting an induced voltage by alternating current having a power frequency (60 Hz), or is performed in a form similar to detection of a resonance signal in an antenna circuit resonating at a power frequency, or , may be performed in a similar manner to the wireless power harvesting process.

In the step of determining the flight risk (S160), the flight risk of the flight area is determined from the distance to the fixed object and the electromagnetic wave intensity according to a predetermined determination algorithm. In a simple implementation, the risk determination module is the fixed It is possible to determine only whether the distance to the object or the electromagnetic wave intensity exceeds its own predetermined risk standard, and based on the result, it is possible to determine the risk/safety binary. On the other hand, in the case of a complex implementation, it is possible to continuously determine the distance or the degree of risk.

Depending on the implementation, in the step of determining the risk of flight ( S160 ), depending on the location of the drone (ie, the installation location of the transmission line facility to be monitored), the criteria for determining the risk of flight may be applied differently. In particular, in the case of flight risk determination based on the electromagnetic wave strength, the magnitude of the induced voltage varies even at the same distance depending on the capacity of the power line. have.

In the alarming step (S170), the drone transmits the determination information determined in the risk determination step (S160) to the pilot device provided by the ground pilot through an RF type wireless communication channel such as Wi-Fi or LTE, and This can be done in such a way as to generate an alarm in a form that can be perceived by the pilot on a visual/audible output device.

The step of adjusting the risk determination criteria (S180) is performed by adjusting the risk determination standard based on the pilot's intuitive judgment and/or adjusting the risk determination standard based on the result of analyzing the accumulated operational data. can be In the former case, if the pilot issues a departure command or performs a maneuver that is presumed to be a maneuver to avoid the danger area without judging it as a dangerous area because the drone does not meet the risk determination standard, the risk determination standard for the location or facility will be lowered. can Conversely, if the drone is determined to be a dangerous area and the pilot device indicates that the pilot is in a safe area at the position where the alarm is issued, the risk determination standard can be increased.

In the latter case, with respect to the risk determination algorithm, parameters for determining risk according to machine learning using accumulated drone operation data are corrected during operation. For example, if the degree of inconsistency between the dangerous area determination based on the electromagnetic strength and the danger area determination based on the distance from the obstacle accumulates, the risk area determination is performed with a low frequency means (distance or electromagnetic strength) for the location or facility. ) can be lowered, and the risk judgment standard for means with low risk area judgment can be raised.

For example, if the pilot issues a departure command or performs a maneuver that is estimated to be a dangerous area avoidance maneuver without being judged as a dangerous area because it does not meet the risk determination standard, the risk determination standard may be lowered for the location or facility.

In determining the dangerous area, it is preferable to consider not only the risk of a direct collision with the target facility, but also the risk of inability to communicate with the manipulator device. In particular, the criterion for judging the dangerous area by the intensity of the electromagnetic wave may be to determine the dangerous area when it is difficult for the manipulator device to control the drone due to the electromagnetic wave emitted from the target power line even though the risk of collision with the target power line is low.

The communication failure risk may be reflected as an element of the aforementioned machine learning. If the frequency of occurrence of errors/retransmissions in transmission of the flight control signal is high at a location that is not determined as a hazardous area in the target facility area, this may be reflected in machine learning to lower the risk area determination criteria.

6 to 11 , there is provided a method of providing a transmission line facility condition check system using a drone, the method comprising: preparing a transmission line facility management system; installing the transmission line facility management system; and operating the transmission line facility management system.

Here, a unit is installed at the site around the power transmission line facility, and monitoring for the power transmission line facility management, access management to the surrounding site, accident management and situation management response is performed through the monitoring facility. The transmission line facility management system includes an obstacle distance recognition means for recognizing a distance to a fixed object that is an obstacle to flight; Electromagnetic wave recognition means for recognizing the electromagnetic wave intensity of the flight area; and a risk determination module for judging the flying risk of the flying area from the distance to the fixed object and the electromagnetic wave intensity.

The monitor equipment includes: a lower body unit (10') located in the field; a central monitoring unit (20') provided in the upper center of the lower body unit (10') to photograph the surroundings in a rotational manner; a first side monitoring unit 30' which is moved left and right in a sliding manner in the lower body unit 10', and is provided on one side of the central monitoring unit 20' to photograph the surroundings; and a second side monitoring unit 40' which is moved left and right in a sliding manner in the lower body unit 10', and is provided on the other side of the central monitoring unit 20' to photograph the surroundings.

The central monitoring unit 20' includes a drive module 21' installed in the lower body unit 10', a connecting rod module 22' installed above the drive module 21', and the A plate panel module 23' provided on an upper portion of the connecting rod module 22', a plurality of photographing modules 24' installed to be spaced apart from each other along the circumference of the plate panel module 23', and the plate panel module (23') and a lighting module 25' disposed between the photographing modules 24' along the periphery to provide illumination.

The photographing module 25' performs photographing in a state in which the plate panel module 23' is rotated by receiving the driving force provided by the driving module 21' through the connecting rod module 22'. .

The first side monitoring unit 30' is interlocked with one side of the plate panel module 23' to fix the plate panel module 23' or to detect a state in which the plate panel module 23' is rotated. stop

Here, the second side monitoring unit 40' is interlocked with the other side of the plate panel module 23' to fix the plate panel module 23', or to detect a state in which the plate panel module 23' is rotated. stop

The first side monitoring unit 30' includes a first side drive module 31' provided in the lower body unit 10', and a first side drive module 31' provided above the first side drive module 31'. A flange module 32', the first flange module 32', a second flange module 33' provided to face upward, and the first flange module 32' and the second flange module It includes a first side photographing module (34') provided between (33').

In addition, the second side monitoring unit 40' includes a second side driving module 41' provided in the lower body unit 10', and a second side driving module 41' provided on the second side driving module 41'. A third flange module 42', the second flange module 33', a fourth flange module 43' provided to face upward, and the third flange module 42' and the fourth flange It includes a second side photographing module 44' provided between the modules 43'.

The first flange module 32' of the first side monitoring unit 30' includes a first connection module 71' in contact with a lower portion of the plate panel module 23', and the plate panel module 23 ') a second connection module in contact with an upper portion is provided, and the second flange module 33' of the second side monitoring unit 40' is a third connection contacting a lower portion of the plate panel module 23'. A module and a fourth connection module contacting an upper portion of the plate panel module 23' are provided.

The first connection module 71 ′ is provided with a first upper connecting rod and a first magnetic fixing body provided on an upper portion of the first upper connecting rod, and the second connecting module includes a second lower connecting rod and the second connecting rod. A second magnetic fixing body provided under the lower connecting rod is provided, and the third connecting module is provided with a third upper connecting rod and a third magnetic fixing body provided as an upper portion of the third upper connecting rod.

The fourth connection module is provided with a fourth lower connecting rod and a fourth magnetic fixing body provided under the fourth lower connecting rod, and the first to fourth magnetic fixing members are the plate panel modules. In the rotational or non-rotating state of 23', the plate panel module 23' is primarily fixed by a magnetic suction method.

The first magnetically fixed body has a first interlocking body from the inside to the outside, the second magnetically fixed body has a second interlocking body from the inside to the outside, and the third magnetically fixed body is a third interlocking body from the inside to the outside. a body protrudes and protrudes, and a fourth interlocking body protrudes and protrudes from the inside of the fourth magnetic fixing body to the outside, and the first interlocking body to the fourth interlocking body are inserted and mounted into the plate panel module 23', respectively, and the plate The panel module 23' is secondarily fixed.

Here, the lower body unit 10' is positioned between the first side drive module 31' and the drive module 21', and the first side drive module 31' and the drive module 21' ), a first gap maintaining module for securing a gap between A second gap maintaining module for securing a gap between the module 41' and the driving module 21' is provided.

The first gap maintaining module includes a first upper body 81' installed above the lower body unit 10', and a first upper actuator 82 installed above the first upper body 81'. '), the first contact body 83' protruding from one side of the first upper driving body 82' and coming into contact with the first side driving module 31', and the first upper driving body 82'. and a second contact body 84' protruding to the other side and in contact with the driving module 21'.

The second gap maintaining module includes a second upper body 91' installed above the lower body unit 10', and a second upper drive 92' installed above the second upper body 91'. ) body, a third contact body 94' protruding from one side of the second upward driving module 41' and coming into contact with the second side driving module 41', and the second upward driving unit 92'. and a fourth contact body 95' protruding to the other side and in contact with the driving module 21'.

On the other hand, the first contact body 83' to the second contact body 84' are activated when the first side driving module 31' is moved toward the driving module 21'. The module 31' is in contact with the driving module 21', respectively, to cushion the shock according to the movement of the position, but the first contact body 83' to the second contact body 84' are the shock absorbers. In response to the impact caused by the movement of the first side driving module 31' toward the driving module 21' for buffering, a predetermined range flows into the first upper driving body 82'.

Here, the third contact body 94 ′ to the fourth contact body 95 ′ is activated when the second side driving module 41 ′ is moved toward the driving module 21 ′. The module 41' is in contact with the driving module 21', respectively, to cushion the shock according to the movement of the position, but the third contact body 94' to the fourth contact body 95' are the shock absorbers. In response to the impact caused by the movement of the second side drive module 41' toward the drive module 21' for buffering, a predetermined range flows into the second upper drive module 92'.

In addition, when the first side driving module 31 ′ and the second side driving module 41 ′ are moved outwardly from the driving module 21 ′, the first upper driving body ( 82') and the second upwardly driven body 92' through rotation of the body to assist in accelerating the movement of the position to the outside.

The lower body unit 10' is a first handling unit for performing a handling operation including fixing the first side monitoring unit 30' to the outside of the first side driving module 31' and adjusting the temperature. (50'), and a second handling unit (60') for performing handling operations including fixing and temperature control of the second side monitoring unit (40') to the outside of the second side driving module (41') this is provided

The first handling unit 50 ′ includes a first panel part 51 ′ installed upwardly on the lower body unit 10 ′, and positioned inside the first panel part 51 ′ to vertically A first movable body 52' which is movably provided and has a first battery module 53' therein, and the first side photographing module 34 installed as a front part of the first movable body 52' ') and supplying the power of the first battery module 53' to the first side photographing module 34' for emergency use, the first upper connection body 54', and the first movable body 52 '), the first lower part is installed in contact with the first side photographing module 34' and supplies the power of the first battery module 53' to the first side photographing module 34' for an emergency. A connecting body 55' is provided.

The second handling unit 60 ′ includes a second panel part 61 ′ installed upwardly on the lower body unit 10 ′, and positioned inside the second panel part 61 ′ to move vertically. A second movable body 62' provided as possible and having a second battery module therein, and installed as a front part of the second movable body 62' to contact the second side photographing module 44' A second upper connection body 64' for supplying the power of the second battery module to the second side photographing module 44' for an emergency, and a front part of the second movable body 62', installed as the first A second lower connection body 65' is provided in contact with the second side photographing module 44' and for supplying the power of the second battery module to the second side photographing module 44' for an emergency.

The first handling unit 50' is provided in the center of the first movable body 52' to handle a first fluid that sprays a fluid for heating or cooling toward the first side photographing module 34'. It further includes a part 56', is provided in the center of the second movable body 62' of the second handling unit 60', and is heated or cooled toward the second side photographing module 44'. It further includes a second fluid handling unit (66') for spraying the fluid for.

The first fluid handling unit 56' and the second fluid handling unit 66' are in contact with the first side photographing module 34' and the second side photographing module 44', respectively, and operate in the intake mode. to fix the first side photographing module 34' and the second side photographing module 44', and the first upper connector 54' and the first lower connector 55' The first flange module 32' and the second flange module 33' are pressed and fixed through an operation spaced apart from each other.

The second upper connector 64' and the second lower connector 65' are fixed by pressing the third flange module 42' and the fourth flange module 43' through an operation to be spaced apart from each other. make it

In the above-described driving method of the physical components described above, forward and backward flow and rotational movement are made based on a motor, an actuator, etc., and the shape and size of each component may be variously selected and provided according to the installation site and materials to be implemented. . Although the present invention has been described with reference to the embodiment shown in the drawings, which is merely exemplary, it will be understood by those skilled in the art that various modifications and equivalent other embodiments are possible therefrom. Accordingly, the true technical protection scope of the present invention should be defined by the technical spirit of the appended claims.

100: drone 110: facility monitoring unit
120: obstacle distance recognition means 130: electromagnetic wave recognition means
140: flight control module 160: risk determination module

Claims (2)

As a transmission line facility status check system using a drone,
A unit is installed at the site around the power transmission line facility and includes a monitoring facility that performs monitoring for the power transmission line facility management, access control to the surrounding site, accident management and situation management response,
The transmission line equipment condition check system,
an obstacle distance recognition means for recognizing a distance to a fixed object that becomes an obstacle to flight; Electromagnetic wave recognition means for recognizing the electromagnetic wave intensity of the flight area; A risk determination module for determining the flight risk of the flight area from the distance to the fixed object and the electromagnetic wave intensity,
The monitoring equipment is
a lower body unit (10') located in the field;
a central monitoring unit (20') provided in the upper center of the lower body unit (10') to photograph the surroundings in a rotational manner;
a first side monitoring unit 30' which is moved left and right in a sliding manner in the lower body unit 10', and is provided on one side of the central monitoring unit 20' to photograph the surroundings; and
A second side monitoring unit 40' which is moved left and right in a sliding manner in the lower body unit 10' and is provided on the other side of the central monitoring unit 20' to photograph the surroundings,
The central monitoring unit 20 'is,
a driving module 21' installed in the lower body unit 10';
a connecting rod module 22' installed on the upper part of the driving module 21';
a plate panel module 23' provided on the upper part of the connecting rod module 22';
A plurality of photographing modules 24' which are installed to be spaced apart from each other along the circumference of the plate panel module 23';
and a lighting module 25' disposed between the photographing modules 24' along the circumference of the plate panel module 23' to provide lighting,
The photographing module 24' performs photographing in a state in which the plate panel module 23' is rotated by receiving the driving force provided by the driving module 21' through the connecting rod module 22',
The first side monitoring unit 30' is interlocked with one side of the plate panel module 23' to fix the plate panel module 23' or stop the rotation of the plate panel module 23' make it,
The second side monitoring unit 40' is interlocked with the other side of the plate panel module 23' to fix the plate panel module 23' or stop the rotation of the plate panel module 23'. make it,
The first side monitoring unit 30',
A first side driving module 31 ′ provided in the lower body unit 10 ′, a first flange module 32 ′ provided on an upper portion of the first side driving module 31 ′, and the first flange A module 32', a second flange module 33' provided to face upward, and a first side shot provided between the first flange module 32' and the second flange module 33' a module 34';
The second side monitoring unit 40',
A second side drive module 41' provided in the lower body unit 10', a third flange module 42' provided on the second side drive module 41', and the second flange Module 33', a fourth flange module 43' provided to face upward, and a second side photographing provided between the third flange module 42' and the fourth flange module 43' a module 44';
The first flange module 32' of the first side monitoring unit 30',
A first connection module 71' contacting a lower portion of the plate panel module 23' and a second connection module contacting an upper portion of the plate panel module 23' are provided, and the second side monitoring unit 40' ), the second flange module 33' of the plate panel module 23' includes a third connection module contacting a lower portion and a fourth connection module contacting an upper portion of the plate panel module 23'. Transmission line facility status check system using drone delete

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