KR102662332B1 - A drone for detecting target woods and the method of it - Google Patents

Abstract

The present invention relates to a problem tree identification drone and method, and more specifically, to a problem tree identification drone and method for detecting problem trees that have violated the safety distance from an overhead line using a drone. (120) A method of checking problem trees around a support tower, comprising: setting a flight value of the drone so that the drone is located directly under the overhead wire (120); Using the first camera (C1) of the drone in flight, measure the distance to the shooting target point of the overhead wire 120 with respect to the front and calculate the first separation distance between the drone and the overhead wire 120. A driving distance calculation step; A traveling distance correction step of measuring a second distance between the drone and the overhead wire 120 and correcting the first distance using the drone and the second distance; A problem tree determination step of determining whether a problem tree is located within a safe distance among trees located directly below or in front of the drone and transmitting information about the problem tree; By providing a method of identifying problem trees using drones, the advantage of blocking overhead transmission line accidents at the source is that problem trees that have violated the safety distance from overhead lines can be detected easily, simply, quickly, and accurately using drones. It works.

Description

Problem tree identification drone and method {A drone for detecting target woods and the method of it}

The present invention relates to a problem tree identification drone and method, and more specifically, to a problem tree identification drone and method for detecting problem trees that have violated the safety distance from an overhead line using a drone.

Steel towers play a role in supporting and guiding overhead transmission lines.

Meanwhile, many of the areas where steel towers are installed are mountainous areas, and due to environmental factors such as trees growing here, the safety distance between overhead transmission lines and trees is a problem.

In other words, if the trees growing between the steel towers exceed the predetermined ground clearance, the problem trees must be removed because the safety distance from the overhead transmission line is broken.

Previously, whether a tree was a problem was determined by visual measurement after a worker climbed on a steel tower, so there was a limitation in that it was not clear whether or not it was a problem tree.

In addition, as in the past, having workers individually climb on a steel tower and visually measure the distance between a problem tree and an overhead transmission line had the problem of causing significant worker fatigue and compromising worker safety.

Nevertheless, in the past, there was a limitation in that there was virtually no method to accurately measure the ground height of the problem tree in a realistically stable and accurate manner.

KR 2281164 B2

The purpose of the present invention to overcome the above problems of the prior art is to provide a problem tree confirmation drone that can extract problem trees more simply, easily, quickly, and accurately using a drone.

A method of checking problem trees around a pylon supporting an overhead electric wire (120) using a drone, comprising: setting a flight value of the drone so that the drone is positioned directly below the overhead electric wire (120); Using the first camera (C1) of the drone in flight, measure the distance to the shooting target point of the overhead wire 120 with respect to the front and calculate the first separation distance between the drone and the overhead wire 120. A driving distance calculation step; A traveling distance correction step of measuring a second distance between the drone and the overhead wire 120 and correcting the first distance using the drone and the second distance; A problem tree determination step of determining problem trees that are within a preset safe distance value and problem trees located in front of the flight path among trees located directly below the drone and transmitting information about the problem trees; It includes a method of identifying problem trees using a drone, including:

In addition, a method of identifying a problem tree using a drone is included, wherein the virtual line connecting the first camera C1 and the shooting target point has an inclination of 15 degrees with respect to the flight path.

In addition, when the drone recognizes the problem tree, it transmits information about the problem tree, and when it recognizes a problem tree located in front of the flight path, it transmits information about the problem tree and returns to the initial flight point. It includes a method of identifying problem trees using a drone, which is characterized by:

In addition, the steel towers are a pair of steel towers adjacent to each other, and the overhead wire 120 includes a first overhead wire 121 and a second overhead wire 122 supported at a predetermined distance apart from the pair of steel towers. It includes a method of identifying a problem tree using a drone, wherein the return of the drone is performed within an area formed by the pair of steel towers and the first overhead wire 121 and the second overhead wire 122. do.

In addition, the drone flying directly under the first overhead wire 121 returns to the initial flight point after recognizing the problem tree in front of the flight path, and flies in front while flying directly under the second overhead wire 122. The flight path after recognizing the problem tree includes a method of confirming the problem tree using a drone, wherein the flight path is a path directly below other overhead wires excluding the overhead wire in the sky at the time of recognizing the problem tree.

In addition, the overhead wire 120 includes a method of identifying problem trees using a drone, wherein the overhead wire 120 is located at the lowest height among the plurality of overhead wires passing through the steel tower.

In addition, in the drone for identifying problem trees, a first camera (C1) measures the distance to the shooting target point of the overhead wire 120 with respect to the front; A third sensor provided on the top of the drone to measure the direct distance between the drone and the overhead wire 120; A first sensor provided at the bottom of the drone to measure the separation distance between the drone and the ground; a second sensor provided at the bottom of the drone to measure the shortest distance between the drone and the tree; a fourth sensor provided in front of the drone to measure the separation distance between the drone and the problem tree; Calculating the direct separation distance between the drone and the overhead wire 120 measured by the third sensor and correcting the direct separation distance between the drone and the overhead wire 120 measured by the first camera (C1) a data processing device that controls the drone to fly safely and measures the distance to a tree located in front of the drone to determine whether the tree is a problem tree that interferes with flight; Includes a drone for checking problem trees, including.

In addition, it includes a drone for checking problem trees, which stores the problem tree information in a data storage device provided in the drone in conjunction with the data processing device and simultaneously transmits the information to a base station or worker terminal.

In addition, the first sensor is a laser sensor, and the second sensor, the third sensor, and the fourth sensor are ultrasonic sensors.

In addition, the first camera C1 includes a drone for checking problem trees, which is characterized as a TOF camera.

According to the present invention as described above, the following effects are achieved.

First, since drones can be used to easily, simply, quickly, and accurately detect problem trees that have violated the safety distance from overhead lines, the advantage of blocking overhead transmission line accidents at the source is demonstrated.

Second, because problem trees can be identified using drones, problem trees can be quickly and accurately detected without workers climbing on steel towers, providing the advantage of ensuring worker safety.

1 is a side view of a drone according to a preferred embodiment of the present invention.
Figure 2 is a bottom view of a drone according to a preferred embodiment of the present invention.
Figure 3 is a top view of a drone according to a preferred embodiment of the present invention.
Figure 4 is a conceptual diagram of the measurement principle according to a preferred embodiment of the present invention.
Figure 5 shows the return state of the drone according to a preferred embodiment of the present invention.
Figure 6 is a flow chart according to a preferred embodiment of the present invention

The present invention can make various changes and have various embodiments, and specific embodiments will be illustrated in the drawings and described in detail in the detailed description. However, this is not intended to limit the present invention to specific embodiments, and should be understood to include all changes, equivalents, and substitutes included in the spirit and technical scope of the present invention.

When describing each drawing, similar reference numerals are used for similar components.

Terms such as first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The above terms are used only for the purpose of distinguishing one component from another.

For example, a first component may be named a second component without departing from the scope of the present invention, and similarly, the second component may also be named a first component. The term “and/or” includes any of a plurality of related stated items or a combination of a plurality of related stated items.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as generally understood by a person of ordinary skill in the technical field to which the present invention pertains.

Terms defined in commonly used dictionaries should be interpreted as having meanings consistent with the meanings they have in the context of the related technology, and unless clearly defined in the present application, should not be interpreted in an ideal or excessively formal sense. It shouldn't be.

First, the terms used in this explanation will be summarized.

Problem trees refer to trees subject to removal when the difference between the height of the tip of the tree from the ground and the height of the overhead wire from the ground is within the minimum safety distance from the overhead wire.

In other words, problem trees include cases where the difference between the height from the ground to the overhead power line and the height from the ground to the tip of the tree is equal to the minimum safety distance from the overhead power line, and the height difference is within the safety distance from the overhead power line. It can include up to.

Meanwhile, in measuring the height of a tree, the “top area of the tree” refers to a group of a certain area of a plurality of branches or leaves, which may be an object that violates the safety distance from overhead power lines. For convenience, it is described below. I will call it “the top of the tree” or “the top of the tree.”

“Directly below” refers to what is placed below the object on a vertical line connecting the object and the ground. For example, “directly below” the overhead wire 120 may mean raised below the overhead wire 120 on a vertical line vertically connecting the overhead wire 120 and the ground.

1 is a side view of a drone according to a preferred embodiment of the present invention.

The drone (D) is provided with a first camera (C1) and a second camera (C2) on the front.

More specifically, the first camera C1 is provided on the front upper side of the drone D and is capable of taking pictures 15 degrees upward with respect to the front (horizontal plane).

At this time, it can be seen that the initial driving separation distance (h3) is a sin15 degree value of the measured distance from the shooting target point captured by the first camera (C1).

In other words, the initial driving distance (h3) = sin15 degrees × TOF sensor measurement distance (d4) is established.

Meanwhile, the second camera C2 is provided at the front lower side of the drone D to capture the front image.

Meanwhile, the shortest distance (d1) between the drone and the target tree is the shortest distance to the top of the tree below the drone (D).

In other words, a tree may include irregular and plural branches and leaves that grow upward from the ground, where the shortest distance (d1) between the drone and the target tree is the shortest distance between the drone (D) and the top of the tree.

The distance between the target tree and the processing wire (h2) is the sum of the shortest distance between the drone and the target tree (d1) and the separation distance between the drone and the target processing wire (120) (d2).

The ground clearance of the target tree (h1) is the difference between the distance between the drone and the ground (d0) and the shortest distance between the drone and the target tree (d1).

Meanwhile, the distance between the drone and the tree in front (d3) is the shortest distance between the drone (D) and the tree in front.

More strictly, the distance between the drone and the tree in front (d3) is the minimum maintenance distance to prevent a collision with the tree in front of the drone (D).

The shortest distance (d2) between the drone and the overhead wire is the shortest distance between the drone (D) and the overhead wire (120), and is intended to ensure the minimum flight safety distance between the drone (D) and the overhead wire (120).

Figure 2 is a bottom view of a drone according to a preferred embodiment of the present invention.

At the lower front of the drone (D), there is a first transmission sensor unit (S1-1) and a first reception sensor unit (S1-2), and a second transmission sensor unit (S2-1) and a second reception sensor unit (S2- 2) are prepared to be spaced a predetermined distance apart from each other.

Meanwhile, a fourth transmission sensor unit (S4-1) and a fourth reception sensor unit (S4-2) are provided in front of the drone (D).

Figure 3 is a top view of a drone according to a preferred embodiment of the present invention.

The drone (D) may be equipped with a GPS sensor based on GPS location.

Additionally, the drone D may be equipped with a data processing device and a data storage device, respectively.

Meanwhile, a third transmitting sensor unit (S3-1) and a third receiving sensor unit (S3-2) may be provided at the upper front of the drone (D) spaced apart from each other by a predetermined distance.

Additionally, a first camera (C1) may be provided in front of the drone (D), and the first camera (C1) may have a built-in TOF sensor and may be capable of capturing images by aiming 15 degrees upward toward the front.

Figure 4 is a conceptual diagram of the measurement principle according to a preferred embodiment of the present invention.

The steel tower is prepared with a first steel tower 111 and a second steel tower 112 spaced apart from each other by a predetermined distance, and an overhead wire 120 is installed between the first steel tower 111 and the second steel tower 112.

Meanwhile, a plurality of trees 130 exist on the ground in the area between the first pylon 111 and the second pylon 112.

In other words, the tree 130 may exist including the first tree 131, the second tree 132, the third tree 133, and the fourth tree 134.

The first tree 131, the second tree 132, the third tree 133, and the fourth tree 134 described here may include problem trees.

In FIG. 4, the fourth tree 134 is a serious problem tree that must be removed as it is located in front of the flight path and can cause a drone collision, and the second tree 132 is the distance between the drone and the overhead wire 120 (d2) and the drone and the tree ( 132) If the sum of the shortest distances (d1) is within the minimum safe distance, it is recognized as a problem tree to be removed, and the operation of the drone (D) to confirm it as a problem tree is as follows.

The drone (D) flies at a predetermined separation distance (d2) between the first pylon 111 and the second pylon 112 while flying at the first tree 131, the second tree 132, the third tree 133, and The shortest inter-tree distance (d1) of the fourth tree 134 is detected.

The separation distance (d0) between the drone and the ground can be measured using the first transmitting sensor unit (S1-1) and the first receiving sensor unit (S1-2).

In other words, the first transmitting sensor unit (S1-1) and the first receiving sensor unit (S1-2) are first sensors and may be laser sensors.

Meanwhile, sensors other than the first sensor may be ultrasonic sensors.

The shortest distance (d1) between the drone and the target tree can be measured through the second transmitting sensor unit (S2-1) and the second receiving sensor unit (S2-2).

The distance (d3) between the drone and the tree in front can be measured using the fourth transmitting sensor unit (S4-1) and the fourth receiving sensor unit (S4-2).

More specifically, the fourth transmitting sensor unit (S4-1) and the fourth receiving sensor unit (S4-2) are fourth sensors and may be ultrasonic sensors.

At this time, the drone (D) simultaneously measures the initial driving distance (h3).

The initial driving distance (h3) can be obtained by calculating the distance to the shooting target point using the first camera (C1) as a sin15 degree value.

Here, the shooting target point may be any part of the overhead wire 120, and this can be calculated to ensure a safe distance between the drone D and the overhead wire 120.

Meanwhile, at the same time, the drone (D) uses the third transmitting sensor unit (S3-1) and the third receiving sensor unit (S3-2) to establish a safety distance (d2) between the drone (D) and the overhead wire 120. You can check .

At the same time, the drone D is measuring the distance d1 between the top of the second tree 132 and at the same time, looking forward, measuring the distance d3 between the drone and the tree in front.

The measurement of the distance (d3) between the drone and the tree ahead means that it has been confirmed that there is a serious problem tree ahead.

Therefore, the drone (D) uses a data processing device to identify problem trees within the minimum safety distance directly below overhead power lines and problem trees located in front, and simultaneously stores the identified problem tree information in a data storage device and operates a base station (not shown). Alternatively, information can be transmitted to a worker terminal (not shown).

The worker can use the problem tree information received from the drone (D) to obtain the GPS location information and height value of the problem tree and remove the problem tree.

The drone (D) checks the problem tree, transmits the information to the base station (not shown) or the worker terminal (not shown), then continues measuring the tree separation distance, and returns safely to the path it flew when measuring the problem tree ahead.

With reference to Figure 5, the safe return of the drone (D) is described in detail as follows.

Figure 5 shows the return state of the drone (D) according to a preferred embodiment of the present invention.

The drone (D) is a first overhead wire (121) supported at a certain distance (W) between the first tower (111), the second tower (112), and the first tower (111) and the second tower (112). And return flight is possible within the area formed by the second overhead wire 122.

First, using the above-mentioned sensors, the shortest distance between the drone and the target tree (d1), the shortest distance between the drone and the overhead wire (d2), the distance between the drone and the tree in front (d3), and the initial driving separation distance (h3) are calculated, respectively. do.

At this time, the return flight is flown directly below the first overhead wire 121 along the longitudinal direction of the first overhead wire 121, but changes direction to the second overhead wire 122 to move to the second overhead wire 122. After being located directly below, it returns while flying along the longitudinal direction of the second overhead wire 122.

Meanwhile, when a problem tree is discovered, the direction is changed so that the measured distance between the drone and the tree in front (d3) does not decrease, but the shortest distance between the drone and the target tree (d1), the shortest distance between the drone and the overhead wire (d2), and the first run You can return to the initial flight start point or initial departure point (not shown) while measuring the separation distance (h3).

Additionally, the flight after changing direction may be a straight flight when viewed from above, even if the difference in altitude is visible.

Additionally, the direction change may be made along a straight line connecting the first overhead wire 121 and the second overhead wire 122 in the shortest distance.

To summarize, the method for identifying problem trees using a drone according to a preferred embodiment of the present invention is

Setting the separation distance between the wire and the drone (input), setting the limit distance between the drone and the trees (input), setting the separation distance between the trees in front (input), setting the GPS coordinates of the end point (input), and setting the horizontal movement distance of the end point (input). There can be steps.

At this time, the distance between power lines and trees is equal to the distance between power lines and drones plus the distance between drones and trees. On the other hand, it may be desirable to stop flying and return to the drone when it is within the distance from the tree in front.

In other words, if it is determined that there is an obstacle ahead, it may be desirable to stop the flight and return.

Next, the second step can be performed to set the initial flight path and separation distance by taking off the drone directly from the power line at the viewpoint and recognizing the power line route using the TOF sensor.

At this time, the role of the TOF sensor is similar to the lane-keeping function of a vehicle, and is used for route setting by recognizing the alignment of power lines.

Next, the third step can be performed by measuring the distance between trees while driving directly under the power line while maintaining the distance between wires, measuring the distance between wires using an upper ultrasonic sensor, and correcting and maintaining the distance according to the results.

Next, it may be desirable to store location information when a measurement point occurs within the limit distance between trees so that it can be used when cutting down trees, while stopping the drone's flight and returning when it is within the separation distance from the trees in front.

In other words, if it is determined that there is an obstacle ahead, it may be desirable to stop the flight and return.

Next, the fourth step can be performed by moving horizontally to the opposite front line after reaching the end point, then returning, and repeating the measurement using the same method during the return.

Next, if the situation occurs within the distance between the trees in front during the turnaround, the fifth step can be performed by moving horizontally to the opposite front line and then returning.

Next, a sixth step may be performed to acquire location information on locations within the tree separation distance, including locations within the tree separation distance in front.

111: 1st iron tower
112: Second pylon
120: overhead wire
121: 1st overhead wire
122: 2nd overhead wire
130: trees
131: 1st tree
132: Second tree
133: Third tree
134: 4th tree
d0: Separation distance between drone and ground
d1: Shortest distance between drone and target tree
d2: Shortest distance between drone and overhead wire
d3: Distance between drone and tree in front
d4: TOF sensor measurement distance
h1: Ground clearance of target tree
h2: Distance between target tree and overhead wire
h3: Initial driving distance
C1: first camera
C2: Second camera
S1-1: First transmission sensor
S1-2: First receiving sensor
S2-1: Second transmission sensor
S2-2: Second receiving sensor
S3-1: Third transmission sensor
S3-2: Third receiving sensor
S4-1: Fourth transmission sensor
S4-2: Fourth receiving sensor

Claims (10)

A method of checking problem trees around a pylon supporting an overhead wire 120 using a drone, wherein the pylon includes a first pylon 111 and a second pylon 112 provided adjacent to each other and spaced a predetermined distance apart, and the processing The wire 120 is a problem tree consisting of a first overhead wire 121 and a second overhead wire 122 supported at a certain distance (W) between the first pylon 111 and the second pylon 112. In the confirmation method,
A flight value setting step of setting the flight value of the drone so that the drone is positioned directly below the first overhead wire 121 and the second overhead wire 122;
Using the first camera (C1) of the drone in flight, measure the distance to the shooting target point of the first overhead wire 121 and the second overhead wire 122 with respect to the front, and measure the distance between the drone and the first overhead wire 122. A traveling distance calculation step of calculating a first separation distance between the overhead wire 121 and the second overhead wire 122;
A driving distance that measures the second distance between the drone and the first overhead wire 121 and the second overhead wire 122 and corrects the first distance using the drone and the second distance. Correction step;
A problem tree determination step of determining problem trees that are within a preset safe distance value and problem trees located in front of the flight path among the trees located directly below the drone and transmitting information about the problem trees; Includes,
The drone flying directly under the first overhead wire 121 returns to the initial flight point after recognizing the problem tree in front of the flight path, and while flying directly under the second overhead wire 122, there is a problem tree in front. The flight path after recognizing the problem tree is a problem using a drone, characterized in that it is a path directly below other overhead wires excluding the first overhead wire 121 and the second overhead wire 122 in the sky at the time of recognizing the problem tree. How to check trees.
According to paragraph 1,
The virtual line connecting the first camera (C1) and the shooting target point is characterized in that it has an inclination of 15 degrees with respect to the flight path.
How to check problem trees using a drone.
According to paragraph 1,
When the drone recognizes the problem tree, it transmits information about the problem tree, and when it recognizes a problem tree located in front of the flight path, it transmits information about the problem tree and returns to the initial flight point. to,
How to check problem trees using a drone.
According to paragraph 3,
The return of the drone is characterized in that it takes place within the area formed by the first pylon 111, the second pylon 112, the first overhead wire 121, and the second overhead wire 122,
How to check problem trees using a drone.
delete According to paragraph 1,
The first overhead wire 121 and the second overhead wire 122 are characterized in that they are located at the lowest height among the plurality of overhead wires passing through the first pylon 111 and the second pylon 112. ,
How to check problem trees using a drone.
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