WO2017119194A1 - Dispositif d'accumulation d'informations de correction et système d'accumulation d'informations de correction - Google Patents

Dispositif d'accumulation d'informations de correction et système d'accumulation d'informations de correction Download PDF

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Publication number
WO2017119194A1
WO2017119194A1 PCT/JP2016/083918 JP2016083918W WO2017119194A1 WO 2017119194 A1 WO2017119194 A1 WO 2017119194A1 JP 2016083918 W JP2016083918 W JP 2016083918W WO 2017119194 A1 WO2017119194 A1 WO 2017119194A1
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WIPO (PCT)
Prior art keywords
observation
correction
information
air vehicle
unmanned air
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Application number
PCT/JP2016/083918
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English (en)
Japanese (ja)
Inventor
邦夫 高木
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東京電力ホールディングス株式会社
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Publication of WO2017119194A1 publication Critical patent/WO2017119194A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0094—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
    • B64C13/02—Initiating means
    • B64C13/16—Initiating means actuated automatically, e.g. responsive to gust detectors
    • B64C13/20—Initiating means actuated automatically, e.g. responsive to gust detectors using radiated signals
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for ac mains or ac distribution networks

Definitions

  • the present invention relates to a correction information storage device and a correction information storage system.
  • the operator may forget to share the know-how as technical knowledge even if the worker observes the equipment and obtains the know-how. there were.
  • the level of proficiency of the worker when the worker extracts information about the equipment to be observed from the shared technical knowledge, the technical knowledge of the equipment different from the equipment to be observed is extracted. There was a case.
  • the level of proficiency of the worker when the level of proficiency of the worker is low, it is related to an observation method that is different from the method that should be observed when the worker extracts information on the observation method of the equipment from the information indicating the shared technical knowledge. In some cases, technical knowledge was extracted.
  • One aspect of the present invention has been made in view of the above points, and provides a correction information storage device that performs facility observation according to technical knowledge related to facility observation.
  • a correction information storage device comprising: an operation detection unit that detects a corresponding operation; and an output unit that outputs the operation detected by the operation detection unit as correction information indicating correction of the observation control information.
  • the operation is an operation indicating correction of an observation position where the unmanned air vehicle observes the equipment.
  • the operation is an operation indicating correction of an observation direction in which the unmanned air vehicle observes the equipment.
  • the observation result is an image obtained by imaging the equipment by an imaging unit included in the unmanned air vehicle, and the operation is a size of a field angle of the image. This is an operation to indicate the correction.
  • the observation result is an image obtained by imaging the equipment by an imaging unit included in the unmanned air vehicle, and the operation indicates correction of a color tone of the image. It is an operation.
  • the observation result is an image obtained by imaging the equipment by the imaging unit included in the unmanned air vehicle, and the operation is a spectrum of light reception sensitivity of the imaging unit. This is an operation indicating correction of characteristics.
  • the observation result is an image of the equipment captured by the imaging unit included in the unmanned air vehicle, and the operation is performed by a light source included in the unmanned air vehicle. This is an operation indicating correction of the irradiation direction of the light applied to the facility.
  • an acquisition unit that acquires the observation control information, and observation information that corrects the observation control information acquired by the acquisition unit based on the correction information output by the output unit And a correction unit.
  • One aspect of the present invention includes any of the above-described correction information storage device and an unmanned air vehicle, and the correction information storage device transmits the correction observation control information in which the observation information correction unit corrects the observation control information.
  • the unmanned air vehicle is a correction information storage system that receives the correction observation control information transmitted from the correction information storage device and updates the observation control information based on the received correction observation control information.
  • FIG. 1 is a schematic diagram illustrating an outline of observation of the power equipment according to the first embodiment.
  • the power supply company supplies power to the customer CS by laying the electric wire WR between a power supply source such as a substation and the customer CS receiving the power supply.
  • the electric wire WR is a power transmission line or a distribution line laid between the power supply source and the customer CS that receives the power supply.
  • the steel tower ST1 and the steel tower ST2 support the electric wire WR2.
  • the steel tower ST2 and the steel tower ST3 support the electric wire WR1.
  • the steel tower ST is, for example, a transmission line steel tower or a distribution pole.
  • the steel tower ST1 a facility that supplies power from the power supply source to the customer CS is referred to as a power facility E.
  • the power equipment E includes the above-described electric wire WR and the steel tower ST.
  • the unmanned air vehicle D is placed in a building BD such as a facility of a power supply company.
  • the unmanned air vehicle D flies from the building BD to the power equipment E to be observed, and observes the power equipment E.
  • the unmanned air vehicle D flies to the building BD after the observation of the power equipment E is completed.
  • the unmanned air vehicle D returns to the building BD after completing the observation of the power equipment E.
  • the unmanned air vehicle D is a flight used for controlling the flight of the unmanned air vehicle D from the building BD to the observation target power equipment E and the flight from the position where the observation of the power equipment E is completed to the building BD. Flight based on the control information FPG. Further, the unmanned air vehicle D observes the power equipment E based on the observation control information OPG used for controlling the operation of observation of the power equipment E.
  • the unmanned air vehicle D includes an imaging unit C as shown in FIG.
  • the imaging unit C includes, for example, a camera.
  • the unmanned air vehicle D flies based on the observation control information OPG, and observes the state of the power equipment E by imaging the power equipment E by the imaging unit C.
  • the flight control information FPG and the observation control information OPG are generated by the flying object control information generation device PGD.
  • FIG. 2 is a configuration diagram illustrating an example of a configuration of the flying object control information generation device PGD of the present embodiment.
  • an observation range specifying device OSD and an equipment information storage device EID are connected to the flying object control information generating device PGD.
  • the facility information storage device EID is a device that stores facility information EI.
  • FIG. 3 is a table showing an example of the facility information EI of the present embodiment.
  • the facility information EI is information indicating details of the power facility E that supplies power to the customer CS.
  • the facility information EI includes facility name information EN that is information related to the power facility E that supplies power to the customer CS, and facility position information EP.
  • Facility name information EN is information indicating the name of the power facility E. As shown in FIG. 3, in this example, the facility name information EN includes a tower ST1 (equipment name information EN1), a tower ST2 (equipment name information EN6), and a tower ST3 (equipment name information EN11) as the names of the facilities. included.
  • the facility name information EN includes a tower ST1 (equipment name information EN1), a tower ST2 (equipment name information EN6), and a tower ST3 (equipment name information EN11) as the names of the facilities. included.
  • a suspension clamp SC as a facility in which the steel tower ST supports the electric wire WR, a long insulator LI, and an arc horn AH are attached to each steel tower ST.
  • the facility name information EN includes a suspension clamp SC1 (equipment name information EN2), a long insulator LI1 (equipment name information EN3), and an arc horn AH1 (equipment name information) as the names of the power facilities E attached to the tower ST1. EN4).
  • the facility name information EN includes the suspension clamp SC2 (equipment name information EN7), the long insulator LI2 (equipment name information EN8), and the arc horn AH2 (equipment name) as the names of the power facilities E attached to the tower ST2.
  • the facility name information EN includes the suspension clamp SC3 (equipment name information EN12), the long insulator LI3 (equipment name information EN13), and the arc horn AH3 (equipment name) as the names of the power facilities E attached to the tower ST3.
  • Information EN14 includes an electric wire WR2 (equipment name information EN5) and an electric wire WR1 (equipment name information EN10) as names of the electric wires WR supported by the steel tower ST.
  • the facility position information EP is information indicating the position of the power facility E.
  • the equipment position information EP is indicated by coordinates.
  • the facility position information EP indicates coordinates for each power facility E indicated by the facility name information EN.
  • the coordinates indicating the position of the steel tower ST1 are facility position information EP1 (35.00,000, 135.000000).
  • the suspension clamp SC1, the long insulator LI1, and the arc horn AH1 are the power equipment E attached to the steel tower ST1, all are located at the same coordinates as the steel tower ST1. That is, the suspension clamp SC1, the long insulator LI1, and the arc horn AH1 are all located at the coordinates indicated by the facility position information EP1.
  • the coordinate which shows the position of steel tower ST2 is equipment position information EP3 (35.00200, 135.00200).
  • the suspension clamp SC2, the long insulator LI2, and the arc horn AH2 are the power equipment E attached to the steel tower ST2, all are located at the same coordinates as the steel tower ST2. That is, the suspension clamp SC2, the long insulator LI2, and the arc horn AH2 are all located at the coordinates indicated by the equipment position information EP3.
  • the coordinate which shows the position of steel tower ST3 is equipment position information EP5 (35.00400, 135.00400).
  • the suspension clamp SC3, the long insulator LI3, and the arc horn AH3 are the power equipment E attached to the steel tower ST3, all are located at the same coordinates as the steel tower ST3. That is, the suspension clamp SC3, the long insulator LI3, and the arc horn AH3 are all located at the coordinates indicated by the facility position information EP5.
  • the facility information EI includes facility position information EP of a support point that supports the electric wire WR among positions on the route where the electric wire WR is laid as the facility position information EP of the electric wire WR.
  • the electric wire WR is supported by two steel towers ST. That is, there are two support points for the electric wire WR.
  • the equipment position information EP of the electric wire WR is the coordinates of the steel tower ST that supports the electric wire WR.
  • the facility position information EP of the electric wire WR2 supported by the tower ST1 and the tower ST2 is the facility position information EP1 (35.00,000, 135.000000), and the coordinates are the facility position information EP3 (35.00200, 135.135). 00200).
  • the equipment position information EP of the electric wire WR1 supported by the steel tower ST2 and the steel tower ST3 has the coordinates of equipment position information EP3 (35.00200, 135.00200) and equipment position information EP5 (35.35). 00400, 135.00400).
  • the equipment information storage device EID supplies equipment information EI including equipment name information EN and equipment position information EP to the flying object control information generator PGD.
  • the observation range designation device OSD is a device that generates observation range information AI indicating the observation range of the power facility E of the unmanned air vehicle D by a known method.
  • the observation range designation device OSD supplies observation range information AI indicating the observation range of the power equipment E of the unmanned air vehicle D to the air vehicle control information generation device PGD.
  • the observation range information AI includes observation start position information AS that is information indicating a position where the unmanned air vehicle D starts observation of the power equipment E.
  • the observation range information AI includes observation end position information AE that is information indicating a position where the unmanned air vehicle D ends observation of the power equipment E.
  • the observation start position information AS and the observation end position information AE are indicated by coordinates.
  • the coordinates of the observation start position information AS are (35.000000, 135.000000).
  • the coordinates of the observation end position information AE are (35.00400, 135.00400).
  • the observation range designation device OSD supplies the observation range information AI including the observation start position information AS and the observation end position information AE to the flying object control information generation device PGD. That is, the observation range specifying device OSD supplies the observation range information AI including information indicating the position where the unmanned air vehicle D starts observation of the power equipment E and the position where the unmanned air vehicle D ends to the aircraft control information generation device PGD. To do.
  • observation range specifying device OSD and the facility information storage device EID are directly connected to the correction information storage device 1 .
  • present invention is not limited to this.
  • the observation range specifying device OSD and the facility information storage device EID may not be directly connected to the correction information storage device 1 but may be connected via a network capable of transmitting and receiving information.
  • the flying object control information generation device PGD includes a control unit 500.
  • the control unit 500 includes a CPU (Central Processing Unit), and includes an acquisition unit 510, a flight control information generation unit 530, an observation target selection unit 540, and an observation control information generation unit 550 as functional units.
  • CPU Central Processing Unit
  • the acquisition unit 510 acquires observation range information AI from the observation range specifying device OSD. In addition, the acquisition unit 510 acquires the facility information EI from the facility information storage device EID. Acquisition unit 510 supplies observation range information AI to flight control information generation unit 530. In addition, the acquisition unit 510 supplies the observation range information AI and the facility information EI to the observation target selection unit 540.
  • the flight control information generation unit 530 acquires the observation range information AI from the acquisition unit 510.
  • the flight control information generation unit 530 generates flight control information FPG used for controlling the flight of the unmanned air vehicle D autonomously based on the observation range information AI by a known method.
  • the flight control information FPG includes the route from the building BD where the unmanned air vehicle D is arranged to the position indicated by the observation start position information AS, and the route from the position indicated by the observation end position information AE to the building BD. Is information used for controlling the flight in which the unmanned air vehicle D autonomously flies.
  • the flight control information FPG is information used for controlling the flight of the unmanned air vehicle D in the route from the building BD to the observation start position information AS and the route from the observation end position information AE to the building BD.
  • the unmanned air vehicle D may be arranged at a place other than the building BD.
  • the flight control information generation unit 530 may generate the flight control information FPG by a known method based on the position of the place where the unmanned air vehicle D is arranged and the observation range information AI.
  • the observation target selection unit 540 acquires observation range information AI and facility information EI from the acquisition unit 510.
  • the observation target selection unit 540 selects the observation target facility OE that is the power facility E to be observed by the unmanned air vehicle D based on the observation range information AI and the facility information EI.
  • the observation target facility OE is a power facility E existing in a range observed by the unmanned air vehicle D.
  • the observation target selection unit 540 supplies the observation target selection information OES including the selected observation target facility OE to the observation control information generation unit 550.
  • the observation target equipment OE included in the observation target selection information OES and the power equipment E included in the equipment information EI illustrated in FIG. 3 are the same.
  • the observation target selection unit 540 supplies the selected observation target selection information OES to the observation control information generation unit 550.
  • the observation control information generation unit 550 acquires observation target selection information OES including the observation target facility OE selected by the observation target selection unit 540 from the observation target selection unit 540.
  • the observation control information generation unit 550 generates the observation control information OPG by a known method based on the acquired observation target selection information OES.
  • the observation control information OPG is information used for controlling the observation operation in which the unmanned air vehicle D observes the observation target equipment OE included in the observation target selection information OES.
  • the observation control information generation unit 550 generates observation control information OPG based on the observation range information AI and the equipment position information EP of the observation target equipment OE included in the observation target selection information OES.
  • the unmanned air vehicle D is hovered in the facility position information EP1 and observes the steel tower ST1 existing in the equipment position information EP1 and the power equipment E accompanying the steel tower ST1.
  • the unmanned air vehicle D observes the electric tower WR2 while flying to the equipment position information EP3 after observing the steel tower ST1 and the power equipment E accompanying the steel tower ST1 in the equipment position information EP1.
  • the unmanned air vehicle D hovers in the equipment position information EP3, and observes the steel tower ST2 present in the equipment position information EP3 and the power equipment E accompanying the steel tower ST2.
  • the unmanned air vehicle D observes the electric tower WR1 while flying to the equipment position information EP5 after observing the steel tower ST2 and the power equipment E accompanying the steel tower ST2 in the equipment position information EP3. Further, after moving to the equipment position information EP5, the unmanned air vehicle D hovers in the equipment position information EP5, and observes the steel tower ST3 present in the equipment position information EP5 and the power equipment E accompanying the steel tower ST3.
  • the observation control information OPG includes control of the operation in which the unmanned air vehicle D is hovering for the time for observing the observation target equipment OE at the coordinates indicated by the equipment position information EP1. Specifically, in the observation control information OPG, in the equipment position information EP1, the steel tower ST1, the suspension clamp SC1, which is the power equipment E attached to the steel tower ST1, the long insulator LI1, and the arc horn AH1 are observed. Control of the operation of the unmanned air vehicle D hovering only for the time is included.
  • the unmanned air vehicle D images the power equipment E, which is the observation target equipment OE, by the imaging unit C included in the unmanned air vehicle D, and generates an image P.
  • the image P is an image generated by imaging the power equipment E that is the observation target equipment OE by the imaging unit C included in the unmanned air vehicle D.
  • the unmanned air vehicle D images the steel tower ST1 and the power equipment E accompanying the steel tower ST1 in the equipment position information EP1 by the imaging unit C included in the unmanned air vehicle D, and generates an image P.
  • the image P is generated for each power equipment E included in the observation target selection information OES by the imaging unit C included in the unmanned air vehicle D.
  • the observation control information OPG includes control of an operation in which the unmanned air vehicle D observes the electric wire WR2 from the coordinates indicated by the equipment position information EP1 to the coordinates indicated by the equipment position information EP3. Thereby, the unmanned air vehicle D images the electric wire WR2 by the imaging unit C included in the unmanned air vehicle D, and generates the image P.
  • the observation control information OPG includes a control of an operation in which the unmanned air vehicle D hovers for the time for observing the observation target equipment OE at the coordinates indicated by the equipment position information EP3.
  • the observation control information OPG in the equipment position information EP3, the steel tower ST2, the suspension clamp SC2, which is the power equipment E attached to the steel tower ST2, the long insulator LI2, and the arc horn AH2 are observed.
  • Control of the operation of the unmanned air vehicle D hovering only for the time is included.
  • the unmanned air vehicle D images the steel tower ST2 and the power equipment E accompanying the steel tower ST2 in the equipment position information EP3 by the imaging unit C included in the unmanned air vehicle D, and generates an image P.
  • the observation control information OPG includes control of an operation in which the unmanned air vehicle D observes the electric wire WR1 from the coordinates indicated by the equipment position information EP3 to the coordinates indicated by the equipment position information EP5.
  • the unmanned aerial vehicle D images the electric wire WR1 by the imaging unit C included in the unmanned aerial vehicle D, and generates an image P.
  • the observation control information OPG includes a control of an operation in which the unmanned air vehicle D hovers for the time for observing the observation target equipment OE at the coordinates indicated by the equipment position information EP5.
  • the equipment position information EP5 in the equipment position information EP5, the steel tower ST3, the suspension clamp SC3 that is the power equipment E attached to the steel tower ST3, the long insulator LI3, and the arc horn AH3 are observed.
  • Control of the operation of the unmanned air vehicle D hovering only for the time is included.
  • the unmanned air vehicle D images the steel tower ST3 and the power equipment E accompanying the steel tower ST3 in the equipment position information EP5 by the imaging unit C included in the unmanned air vehicle D, and generates an image P.
  • the observation control information generation unit 550 generates the observation control information OPG based on the equipment position information EP of the observation target equipment OE included in the observation target selection information OES. Absent. For example, in the observation target equipment OE included in the observation target selection information OES, an observation method corresponding to the observation target equipment OE may be defined for each observation target equipment OE. That is, the observation control information generation unit 550 may generate the observation control information OPG for controlling the observation operation of the unmanned air vehicle D based on the observation method determined according to the observation target facility OE. For example, when the observation target facility OE is a steel tower ST, it is predetermined that the unmanned air vehicle D observes the entire steel tower ST.
  • the observation control information generation unit 550 may generate the observation control information OPG that controls the observation operation of the observation in which the imaging unit C included in the unmanned air vehicle D images the entire tower ST.
  • the observation target facility OE is a long insulator LI
  • the observation control information generation unit 550 may generate the observation control information OPG that controls the observation operation of the observation in which the imaging unit C included in the unmanned air vehicle D approaches the long trunk LI and images.
  • the unmanned air vehicle D flies based on the flight control information FPG and the observation control information OPG and observes the power equipment E.
  • the unmanned air vehicle D includes a storage area, and the image P observed by the power facility E by the unmanned air vehicle D is accumulated in the storage area of the unmanned air vehicle D by a known method.
  • the image P generated by the unmanned air vehicle D for each power equipment E by the imaging unit C is collectively referred to as an observation result ORT.
  • the observation result ORT is accumulated in a storage area included in the unmanned air vehicle D by a known method.
  • the accuracy of the observation may differ depending on the maturity of the worker to observe. Specifically, between a worker with a low proficiency level for observing the power equipment E and a worker with a high skill level, the power equipment E is better when a worker with a high skill level observes the power equipment E. Can be observed. This is because a worker with a high level of proficiency observes the power equipment E based on knowledge about the work of observing the power equipment E accumulated for many years.
  • a worker who has a high level of proficiency in observing the power equipment E is referred to as a skilled worker OP.
  • the knowledge which the skilled worker OP has, and the knowledge regarding the work of observation of the electric power equipment E is described as the technical knowledge TKH.
  • the correction information storage device 1 of the present embodiment is information for correcting the observation control information OPG used for controlling the observation operation of the unmanned air vehicle D for the purpose of the unmanned air vehicle D performing observation based on the technical knowledge TKH. Is output. As shown in FIG. 1, in this example, the correction information storage device 1 is provided in a building BD.
  • FIG. 5 is a schematic diagram showing an overview of the correction information storage device 1 of the present embodiment.
  • the building BD includes a correction information storage device 1 and a display device DP.
  • the display device DP displays the observation result ORT accumulated in the storage area of the unmanned air vehicle D.
  • the display device DP is, for example, a display that displays an observation result ORT obtained when the unmanned air vehicle D observes the power equipment E.
  • the observation result ORT is displayed on the display device DP by a known method.
  • the skilled worker OP modifies the observation control information OPG based on the technical knowledge TKH according to the observation result ORT displayed on the display device DP.
  • the observation result ORT accumulated in the storage area of the unmanned air vehicle D has been described as being displayed on the display device DP after the unmanned air vehicle D returns to the building BD. I can't.
  • the unmanned air vehicle D and the display device DP may be connected to each other via a network capable of transmitting and receiving information. Thereby, the unmanned air vehicle D may transmit the observation result ORT generated by the unmanned air vehicle D to the display device DP.
  • the display device DP may receive the observation result ORT transmitted by the unmanned air vehicle D and display the received observation result ORT.
  • an input device CNT is connected to the correction information storage device 1.
  • the skilled worker OP in accordance with the observation result ORT displayed on the display device DP, captures the image P as the observation result ORT, zooms up and zooms out, and captures the power equipment E captured in the image P.
  • An operation indicating correction of time or the like is input to the input device CNT.
  • the observation result ORT includes the image P for each power equipment E in which the unmanned air vehicle D observes the power equipment E.
  • the skilled worker OP confirms the image P that is the observation result ORT displayed on the display device DP, and when the observation of the power equipment E imaged in the image P is not based on the technical knowledge TKH, the input device CNT The operation indicating the correction of the observation control information OPG is input.
  • the unmanned air vehicle D observes the long insulator LI
  • the unmanned air vehicle D observes the long insulator LI based on the information indicating the control of the observation operation indicated in the observation control information OPG.
  • the observation control information OPG indicates control of the operation of the unmanned air vehicle D flying at a position where the imaging unit C included in the unmanned air vehicle D can image the entire trunk LI.
  • the imaging unit C included in the unmanned air vehicle D images the entire long insulator LI and generates the image P. Therefore, in this example, the image P of the long insulator LI included in the observation result ORT is an image P including the entire long insulator LI, and is an image P obtained by remotely imaging the long insulator LI. .
  • the skilled worker OP when the skilled worker OP observes the long insulator LI, the skilled worker OP confirms that the long insulator LI is not cracked and no dirt is attached based on the technical knowledge TKH. Observe the long trunk insulator LI. Therefore, the technical knowledge TKH when observing the long insulator LI is to observe the long insulator LI in close proximity.
  • the observation of the long insulator LI performed by the unmanned air vehicle D based on the observation control information OPG is different from the observation of the long insulator LI performed by the skilled worker OP based on the technical knowledge TKH.
  • the observation performed by the unmanned air vehicle D based on the observation control information OPG is performed by observing the long insulator LI remotely, and the observation performed by the skilled worker OP based on the technical knowledge TKH is performed by the long insulator LI. Observe closely.
  • the skilled worker OP performs, on the input device CNT, an operation indicating a correction that brings the position where the unmanned air vehicle D flies closer to the long insulator LI based on the observation result ORT displayed on the display device DP. input.
  • the observation result ORT displayed on the display device DP is the image P obtained by capturing the power equipment E at a position different from the position observed by the observation based on the technical knowledge TKH possessed by the skilled worker OP.
  • the skilled worker OP inputs, to the input device CNT, an operation indicating correction of the observation position where the unmanned air vehicle D observes the power equipment E in accordance with the observation result ORT displayed on the display device DP. .
  • the observation result ORT displayed on the display device DP may be an image P obtained by imaging the left part of the power equipment E, unlike the observation result based on the technical knowledge TKH.
  • the skilled worker OP inputs an operation indicating correction for turning the unmanned air vehicle D to the right on the input device CNT based on the observation result ORT displayed on the display device DP.
  • the observation result ORT displayed on the display device DP is the image P obtained by capturing the power equipment E in a direction different from the direction observed by the observation based on the technical knowledge TKH possessed by the skilled worker OP There is.
  • the skilled worker OP inputs, to the input device CNT, an operation indicating correction of the observation direction in which the unmanned air vehicle D observes the power equipment E in accordance with the observation result ORT displayed on the display device DP.
  • the observation direction of the unmanned air vehicle D includes the vertical and horizontal directions.
  • the operation input to the input device CNT is an operation indicating correction of the observation position where the unmanned air vehicle D observes the power equipment E and an operation indicating correction of the observation direction of the unmanned air vehicle D.
  • the observation operation of the power equipment E of the unmanned air vehicle D is controlled based on the observation control information OPG. Therefore, the observation position and the observation direction at which the unmanned air vehicle D associated with the observation operation observes the power equipment E is controlled based on the observation control information OPG.
  • the operation input by the skilled worker OP to the input device CNT is an operation corresponding to the observation result ORT displayed on the display device DP, and an operation indicating correction of the observation control information OPG based on the technical knowledge TKH. It is.
  • the operation input to the input device CNT is an operation indicating the correction of the observation position where the unmanned air vehicle D observes the power equipment E and the operation indicating the correction of the observation direction of the unmanned air vehicle D.
  • An operation indicating correction of the size of the angle of view of the image P that is the observation result ORT may be input to the input device CNT according to the observation result ORT displayed on the display device DP.
  • the observation result ORT displayed on the display device DP is an image P obtained by imaging the power equipment E in the vicinity unlike the observation based on the technical knowledge TKH
  • the angle of view of the image P is displayed on the input device CNT.
  • a widening operation may be input.
  • the input device CNT has a narrow angle of view of the image P. An operation to perform may be input.
  • FIG. 6 is a configuration diagram illustrating an example of the configuration of the correction information storage device 1 of the present embodiment.
  • an input device CNT is connected to the correction information storage device 1.
  • the input device CNT receives an operation corresponding to the observation result ORT displayed on the display device DP and indicating the correction of the observation control information OPG based on the technical knowledge TKH.
  • the correction information storage device 1 includes a control unit 100 and a storage unit 150.
  • the control unit 100 includes a CPU (Central Processing Unit), and includes an operation detection unit 110 and an output unit 120 as functional units.
  • FIG. 7 is a flowchart showing an example of the operation of the correction information storage apparatus 1 of the present embodiment.
  • the operation detection unit 110 detects an operation that is input to the input device CNT and indicates correction of the observation control information OPG based on the technical knowledge TKH.
  • the operation detection unit 110 supplies an operation indicating correction of the observation control information OPG based on the detected technical knowledge TKH to the output unit 120 as operation information OPT.
  • the operation detection unit 110 detects an operation input to the input device CNT (step S110). Further, the operation detection unit 110 detects an operation input to the input device CNT, and an operation indicating correction of the observation control information OPG based on the technical knowledge TKH as a detection result is output to the output unit 120 as operation information OPT. Supply (step S120).
  • the output unit 120 acquires operation information OPT that is an operation detected by the operation detection unit 110.
  • the output unit 120 outputs the acquired operation information OPT as correction information FI that is information indicating correction of the observation control information OPG.
  • the output unit 120 is the power information E observed by the control based on the observation control information OPG, and the correction information FI is set for each power equipment E that is the observation target equipment OE included in the observation target selection information OES. Is output. That is, the correction information FI is information indicating correction of the observation control information OPG used for observation for each power equipment E that is the observation target equipment OE.
  • the output unit 120 outputs the correction information FI to the storage unit 150. Thereby, the storage unit 150 stores the correction information FI output from the output unit 120.
  • the output unit 120 acquires the operation information OPT from the operation detection unit 110 (step S130). Further, the output unit 120 outputs the operation information OPT as the correction information FI to the storage unit 150 (Step S140).
  • the output unit 120 may output the correction information FI by voice, or may output the correction information FI by printing it on a paper medium or the like, and displays the correction information FI as character information on a display device such as a display. May be.
  • the input device CNT is connected to the correction information storage device 1 of the present embodiment.
  • the correction information storage device 1 of the present embodiment includes a control unit 100 and a storage unit 150.
  • the control unit 100 includes a CPU, and includes an operation detection unit 110 and an output unit 120 as functional units.
  • the operation detection unit 110 detects an operation input to the input device CNT in response to the observation result ORT observed by the unmanned air vehicle D being output to the display device DP.
  • the observation result ORT is the power equipment based on the observation control information OPG used for controlling the operation of the unmanned air vehicle D that observes the power equipment E, which is the equipment that supplies power to the customer CS. This is an image P in which E is observed.
  • the output unit 120 outputs the operation detected by the operation detection unit 110 to the storage unit 150 as correction information FI indicating correction of the observation control information OPG.
  • the storage unit 150 stores the correction information FI output from the output unit 120. Thereby, the correction information storage apparatus 1 of this embodiment can output the correction information FI according to the observation result ORT observed by the unmanned air vehicle D.
  • the skilled worker OP performs an operation indicating correction of the observation control information OPG on the input device CNT. input. That is, the operation indicating correction of the observation control information OPG input to the input device CNT is an operation based on the technical knowledge TKH.
  • the correction information storage device 1 generates the correction information FI indicating the correction of the observation control information OPG from the operation information OPT indicating the operation indicating the correction of the observation control information OPG input to the input device CNT. To do. That is, the correction information FI indicating the correction of the observation control information OPG is information indicating the technical knowledge TKH.
  • the technical knowledge TKH possessed by the skilled worker OP can be output as the correction information FI.
  • the skilled worker OP inputs the correction of the observation control information OPG based on the technical knowledge TKH on the spot according to the observation result ORT displayed on the display device DP. Can do.
  • the correction information storage device 1 can output the correction information FI indicating the technical knowledge TKH corresponding to the observation result ORT displayed on the display device DP without omission.
  • the correction information FI used for correcting the observation control information OPG can be output. For this reason, when the unmanned air vehicle D observes the power equipment E, it is sufficient to use the observation control information OPG to which the correction information FI is applied, thereby reducing the effort of extracting the technical knowledge TKH corresponding to the power equipment E to be observed. can do. That is, according to the correction information storage device 1 of the present embodiment, it is possible to reduce the effort of extracting the technical knowledge TKH corresponding to the power equipment E to be observed. Thereby, according to the correction information storage device 1 of the present embodiment, the technical knowledge TKH corresponding to the power equipment E to be observed is used for the observation of the power equipment E regardless of the skill level of the operator who observes the power equipment E. Can adapt.
  • the correction information FI used for correcting the observation control information OPG can be output.
  • the unmanned air vehicle D can control the power equipment E based on the technical knowledge TKH by being controlled based on the observation control information OPG to which the correction information FI output from the correction information storage device 1 is applied.
  • the unmanned air vehicle D performs observation of the power equipment E based on the observation control information OPG, it is possible to perform the observation of the power equipment E without omission. That is, according to the correction information storage device 1 of the present embodiment, it is possible to reduce the degree of omission of observation of the power equipment E based on the technical knowledge TKH.
  • the operation input to the input device CNT is, for example, an operation indicating correction of an observation position where the unmanned air vehicle D observes the power equipment E.
  • the correction information storage device 1 of this embodiment can output the correction information FI based on an operation indicating correction of the observation position input to the input device CNT.
  • the unmanned air vehicle D is controlled based on the observation control information OPG to which the correction information FI output from the correction information storage device 1 is applied, so that the power equipment E can be observed at a position based on the technical knowledge TKH. it can.
  • the operation input to the input device CNT is, for example, an operation indicating correction of the observation direction in which the unmanned air vehicle D observes the power equipment E.
  • the correction information storage device 1 of the present embodiment can output the correction information FI based on an operation indicating correction of the observation direction input to the input device CNT.
  • the unmanned air vehicle D is controlled based on the observation control information OPG to which the correction information FI output from the correction information storage device 1 is applied, thereby observing the power equipment E in the observation direction based on the technical knowledge TKH. Can do.
  • the observation result ORT is the image P obtained by imaging the power equipment E by the imaging unit C included in the unmanned air vehicle D
  • the image P that is the observation result ORT is displayed on the display device DP.
  • the operation input to the input device CNT is an operation indicating correction of the angle of view of the image P, for example.
  • the correction information storage device 1 of the present embodiment can output the correction information FI based on an operation indicating correction of the angle of view of the image P input to the input device CNT.
  • the unmanned air vehicle D is controlled based on the observation control information OPG to which the correction information FI output from the correction information storage device 1 is applied, so that the power plant E is captured at an angle of view based on the technical knowledge TKH. Can be generated. That is, the unmanned air vehicle D can observe the power equipment E based on the technical knowledge TKH.
  • the operation input to the input device CNT is described as a case where the observation direction of the unmanned air vehicle D, the observation position, and the angle of view of the image P are corrected.
  • an operation indicating correction of the setting of the imaging unit C when the imaging unit C images the observation target facility OE may be input to the input device CNT.
  • the setting of the imaging unit C is, for example, a setting of a camera included in the imaging unit C.
  • the setting of the imaging unit C is, for example, the setting of the color tone of the image P that is generated when the imaging unit C images the observation target facility OE. That is, an operation indicating correction of the color tone of the image P may be input to the input device CNT.
  • the skilled worker OP inputs an operation indicating a color tone correction suitable for the observation target equipment OE to the input device CNT.
  • the correction of the color tone based on the technical knowledge TKH is, for example, correction of the hue and brightness of the image P according to the color attached to the observation target equipment OE.
  • the correction information storage device 1 of the present embodiment can output the correction information FI based on an operation indicating correction of the color tone of the image P input to the input device CNT.
  • the unmanned air vehicle D is controlled based on the observation control information OPG to which the correction information FI output from the correction information storage device 1 is applied, so that the power equipment E is captured in the color tone based on the technical knowledge TKH and the image P is captured. Can be generated. That is, the unmanned air vehicle D can observe the power equipment E based on the technical knowledge TKH.
  • the setting of the imaging unit C is a setting of the spectral characteristic of the light receiving sensitivity when the imaging unit C images the observation target equipment OE.
  • the spectral characteristic of the light receiving sensitivity is a characteristic indicating a distribution of light receiving sensitivity for each wavelength of incident light incident on a light receiving element of a camera included in the imaging unit C.
  • an operation indicating correction of the spectral characteristics of the light receiving sensitivity of the imaging unit C may be input to the input device CNT.
  • the skilled worker OP inputs an operation indicating correction of the spectral characteristics of the light receiving sensitivity suitable for the observation target equipment OE to the input device CNT.
  • the correction of the spectral characteristic of the light receiving sensitivity based on the technical knowledge TKH is, for example, increasing the light receiving sensitivity of the color or wavelength after the deterioration discoloration of the observation target equipment OE in accordance with the deterioration and discoloration of the observation target equipment OE.
  • Etc. when the observation target facility OE is the electric wire WR, the electric wire WR may deteriorate and change its color from black to reddish brown.
  • the modification of the spectral characteristics of the light receiving sensitivity based on the technical knowledge TKH means that the light receiving sensitivity of the color or wavelength corresponding to the color after the deterioration and discoloration of the electric wire WR is increased according to the deterioration and discoloration of the electric wire WR.
  • This is a correction.
  • the correction of the spectral characteristic of the light receiving sensitivity based on the technical knowledge TKH is a correction such as increasing the light receiving sensitivity of the reddish brown color or wavelength that is the color after the deterioration discoloration of the electric wire WR.
  • the correction information storage device 1 of the present embodiment can output the correction information FI based on an operation indicating correction of the spectral characteristics of the light receiving sensitivity of the imaging unit C input to the input device CNT.
  • the unmanned air vehicle D is controlled based on the observation control information OPG to which the correction information FI output from the correction information storage device 1 is applied, thereby imaging the power equipment E in the spectral characteristics of the light receiving sensitivity based on the technical knowledge TKH.
  • the image P can be generated. That is, the unmanned air vehicle D can observe the power equipment E based on the technical knowledge TKH.
  • the unmanned air vehicle D may include a light source such as an illumination or a flashlight.
  • a light source such as an illumination or a flashlight.
  • the unmanned air vehicle D observes the observation target equipment OE at night, or when the imaging unit C images the observation target equipment OE, the unmanned air vehicle D emits light to the observation target equipment OE with a light source. It may be irradiated.
  • an operation indicating correction of the irradiation direction of the light irradiated to the observation target facility OE by the light source included in the unmanned air vehicle D may be input to the input device CNT.
  • the skilled worker OP inputs an operation indicating correction of the light irradiation direction suitable for observation of the observation target equipment OE to the input device CNT.
  • the correction of the light irradiation direction based on the technical knowledge TKH is, for example, a correction indicating the light irradiation direction in which the shadow does not fall on the observation target equipment OE.
  • the correction information storage device 1 of the present embodiment can output the correction information FI based on an operation indicating correction of the irradiation direction of light input to the input device CNT.
  • the unmanned air vehicle D is controlled based on the observation control information OPG to which the correction information FI output from the correction information storage device 1 is applied, thereby imaging the power equipment E according to the light irradiation direction based on the technical knowledge TKH.
  • An image P can be generated. That is, the unmanned air vehicle D can observe the power equipment E based on the technical knowledge TKH.
  • FIG. 8 is a configuration diagram illustrating an example of a configuration of the correction information storage device 2 according to the second embodiment.
  • symbol is attached
  • the correction information storage device 2 is connected to an input device CNT and an aircraft control information generation device PGD.
  • the flying object control information generation device PGD supplies the observation control information OPG generated by the above-described configuration to the correction information storage device 2.
  • the correction information storage device 2 of the present embodiment includes a control unit 200 and a storage unit 150.
  • the control unit 200 includes a CPU, and includes an operation detection unit 110, an output unit 120, an acquisition unit 210, and an observation information correction unit 220 as functional units.
  • the acquisition unit 210 acquires observation control information OPG from the flying object control information generation device PGD.
  • the acquisition unit 210 supplies the acquired observation control information OPG to the observation information correction unit 220.
  • the observation information correction unit 220 acquires the observation control information OPG from the acquisition unit 210. In addition, the observation information correction unit 220 acquires the correction information FI from the output unit 120. The observation information correction unit 220 corrects the observation control information OPG based on the correction information FI. In the following description, the corrected observation control information OPG corrected by the observation information correction unit 220 based on the correction information FI is referred to as corrected observation control information OPGF. That is, the corrected observation control information OPGF is observation control information OPG to which the correction information FI is applied.
  • the input device CNT and the flying object control information generation device PGD are connected to the correction information storage device 2 of the present embodiment.
  • the correction information storage device 2 of the present embodiment includes a control unit 200 and a storage unit 150.
  • the control unit 200 includes an operation detection unit 110, an output unit 120, an acquisition unit 210, and an observation information correction unit 220 as functional units.
  • the acquisition unit 210 acquires observation control information OPG from the flying object control information generation device PGD.
  • the observation information correction unit 220 corrects the observation control information OPG acquired by the acquisition unit 210 based on the correction information FI output by the output unit 120.
  • the observation control information OPG can be corrected based on the correction information FI, and the corrected observation control information OPGF can be generated.
  • the correction information FI is information indicating the technical knowledge TKH. That is, the unmanned air vehicle D can observe the power equipment E based on the technical knowledge TKH by observing the power equipment E based on the corrected observation control information OPGF.
  • the unmanned air vehicle D may include a sound collection unit, and the power equipment E may be observed by voice. Moreover, the unmanned air vehicle D may be provided with the temperature detection part, and may observe the electric power equipment E with temperature.
  • the unmanned air vehicle D flies from the building BD to the power equipment E, observes the power equipment E based on certain observation control information OPG until the observation of the power equipment E ends and returns to the building BD.
  • the present invention is not limited to this.
  • the unmanned air vehicle D and the display device DP may be a modified information storage system connected by a network capable of transmitting and receiving information.
  • the unmanned air vehicle D and the display device DP are connected to the network, the unmanned air vehicle D transmits the observation result ORT of the power equipment E currently observed to the display device DP. Further, the display device DP receives and displays the observation result ORT of the power equipment E that the unmanned air vehicle D is currently observing.
  • the skilled worker OP performs an operation indicating correction of the observation control information OPG based on the technical knowledge TKH according to the observation result ORT of the power equipment E currently observed by the unmanned air vehicle D displayed on the display device DP.
  • the correction information storage device 2 generates correction information FI based on the operation input to the input device CNT.
  • the correction information storage device 2 corrects the observation control information OPG based on the generated correction information FI, and generates corrected observation control information OPGF.
  • the unmanned air vehicle D and the correction information storage device 2 are connected by a network capable of transmitting and receiving information.
  • the correction information storage device 2 transmits the correction observation control information OPGF to the unmanned air vehicle D.
  • the unmanned air vehicle D receives the corrected observation control information OPGF from the correction information storage device 2, and updates the observation control information OPG based on the received corrected observation control information OPGF.
  • the unmanned air vehicle D observes the power equipment E based on the observation control information OPG updated from the correction information storage device 2.
  • the skilled worker OP is the observation result ORT displayed on the display device DP, and the observation control information OPG is transmitted to the input device CNT based on the observation result ORT of the power equipment E currently observed by the unmanned air vehicle D.
  • An operation indicating correction can be input.
  • the correction information storage device 2 of the present embodiment can generate the correction observation control information OPGF based on an operation input to the input device CNT. That is, the unmanned air vehicle D can observe the power equipment E based on the observation control information OPG in which the control of the observation operation of the power equipment E currently observed is updated.
  • each part with which the correction information storage device 1 and the correction information storage device 2 in each of the above embodiments are provided may be realized by dedicated hardware, or by a memory and a microprocessor. There may be.
  • each unit included in the correction information storage device 1 and the correction information storage device 2 includes a memory and a CPU (central processing unit), and realizes functions of the units included in the correction information storage device 1 and the correction information storage device 2. This function may be realized by loading the program into a memory and executing it.
  • a program for realizing the function of each unit included in the correction information storage device 1 and the correction information storage device 2 is recorded on a computer-readable recording medium, and the program recorded on the recording medium is read into a computer system.
  • the processing may be performed by executing.
  • the “computer system” includes an OS and hardware such as peripheral devices.
  • the “computer system” includes a homepage providing environment (or display environment) if a WWW system is used.
  • the “computer-readable recording medium” refers to a storage device such as a flexible medium, a magneto-optical disk, a portable medium such as a ROM or a CD-ROM, and a hard disk incorporated in a computer system.
  • the “computer-readable recording medium” dynamically holds a program for a short time like a communication line when transmitting a program via a network such as the Internet or a communication line such as a telephone line.
  • a volatile memory in a computer system serving as a server or a client in that case, and a program that holds a program for a certain period of time are also included.
  • the program may be a program for realizing a part of the functions described above, and may be a program capable of realizing the functions described above in combination with a program already recorded in a computer system.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Power Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)
  • Supply And Distribution Of Alternating Current (AREA)
  • Electric Cable Installation (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un dispositif d'accumulation d'informations de correction qui est doté : d'une unité de détection d'opération qui détecte une opération en fonction d'une sortie d'un résultat d'observation obtenu par observation sur la base d'informations de commande d'observation servant à commander une action d'un équipement d'observation au moyen d'un véhicule aérien sans pilote qui observe l'équipement alimentant en énergie un consommateur ; et d'une unité de sortie qui produit, en tant qu'informations de correction permettant d'indiquer des corrections des informations de commande d'observation, l'opération détectée par l'unité de détection d'opération.
PCT/JP2016/083918 2016-01-06 2016-11-16 Dispositif d'accumulation d'informations de correction et système d'accumulation d'informations de correction WO2017119194A1 (fr)

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JP2016-001184 2016-01-06
JP2016001184A JP2017123016A (ja) 2016-01-06 2016-01-06 修正情報蓄積装置および修正情報蓄積システム

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Cited By (1)

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Publication number Priority date Publication date Assignee Title
CN110963037A (zh) * 2019-12-27 2020-04-07 国网河北省电力有限公司衡水供电分公司 一种接力式无人机输配电线路巡视系统及方法

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JP2006027448A (ja) * 2004-07-16 2006-02-02 Chugoku Electric Power Co Inc:The 無人飛行体を利用した空撮方法及びその装置
JP2013157676A (ja) * 2012-01-26 2013-08-15 Canon Inc 撮影支援システム、撮影支援装置、撮影支援装置の制御方法、およびプログラム
JP2014236245A (ja) * 2013-05-30 2014-12-15 株式会社ニコン カメラ用リモート操作プログラム、およびリモコン装置

Patent Citations (3)

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Publication number Priority date Publication date Assignee Title
JP2006027448A (ja) * 2004-07-16 2006-02-02 Chugoku Electric Power Co Inc:The 無人飛行体を利用した空撮方法及びその装置
JP2013157676A (ja) * 2012-01-26 2013-08-15 Canon Inc 撮影支援システム、撮影支援装置、撮影支援装置の制御方法、およびプログラム
JP2014236245A (ja) * 2013-05-30 2014-12-15 株式会社ニコン カメラ用リモート操作プログラム、およびリモコン装置

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110963037A (zh) * 2019-12-27 2020-04-07 国网河北省电力有限公司衡水供电分公司 一种接力式无人机输配电线路巡视系统及方法

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