JP2005253189A - Distribution line patrol system and method - Google Patents

Distribution line patrol system and method Download PDF

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JP2005253189A
JP2005253189A JP2004059891A JP2004059891A JP2005253189A JP 2005253189 A JP2005253189 A JP 2005253189A JP 2004059891 A JP2004059891 A JP 2004059891A JP 2004059891 A JP2004059891 A JP 2004059891A JP 2005253189 A JP2005253189 A JP 2005253189A
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distribution line
video
information
patrol
flying
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JP4137817B2 (en
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Atsunori Kimoto
厚徳 木本
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Chugoku Electric Power Co Inc
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Chugoku Electric Power Co Inc
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Abstract

<P>PROBLEM TO BE SOLVED: To provide a distribution line patrol system that can control a flying means with high accuracy and with low possibility of erroneous operation, in the patrol of the distribution line from the sky, and a method. <P>SOLUTION: The distribution line patrol system comprises: a means 15 that stores electric pole discrimination information, the position information of the electric poles and distribution line block information divided by the electric poles by associating them with one another; a patrol path setting means 48 that sets a patrol path on the basis of a distribution line block; and an image input means 44 that inputs the image information of the distribution line sent from the flying means 2 with the upper part of the distribution line photographed; and an image analysis means 45 that detects the presence of the abnormality of the distribution line by using the image information, and specifies the abnormality position of the distribution line in the image information by the position information of the flying means. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

本発明は、ヘリコプター等の飛行手段によって撮影された映像情報を用いて配電線上部の異常の有無を検出する配電線巡視システムおよび方法に関する。   The present invention relates to a distribution line inspection system and method for detecting the presence or absence of an abnormality in an upper part of a distribution line using video information taken by a flying means such as a helicopter.

従来、飛行手段によって送電線等の監視を行う技術として、たとえば、特許文献１では、ヘリコプターから照射されるレーザによって送電線と樹木の枝との距離を監視する装置が提案されている。これは、ＧＰＳによってヘリコプターの位置を取得し、またＴＶカメラを通して、飛行状況をオペレータが監視するものである。
特開平７−４３１０９号公報 Conventionally, as a technique for monitoring power transmission lines and the like by flying means, for example, Patent Document 1 proposes an apparatus that monitors the distance between a power transmission line and a tree branch by a laser emitted from a helicopter. In this method, the position of the helicopter is acquired by GPS, and the flight status is monitored by the operator through a TV camera.
JP-A-7-43109

しかしながら、配電線のように人家、ビルディング、あるいは樹木の密集する地域で飛行手段によって映像を取得しようとしたとき、飛行手段の精度の高い制御が必要になる。また、配電線は分岐が多いため、操作ミスの可能性が低い巡視方法が望まれる。   However, when an image is acquired by a flying means in an area where people, buildings, or trees are dense like a distribution line, it is necessary to control the flying means with high accuracy. Moreover, since the distribution line has many branches, a patrol method with a low possibility of an operation error is desired.

本発明は、上述のかかる事情に鑑みてなされたものであり、飛行手段の精度の高い制御が可能であり、操作ミスの可能性が低い配電線巡視システムおよび方法を提供することを目的とする。   The present invention has been made in view of the above-described circumstances, and an object of the present invention is to provide a distribution line patrol system and method that can control the flying means with high accuracy and have a low possibility of an operation error. .

上記の目的を達成するため、本発明に係わる配電線巡視システムは、配電線の映像情報を解析して異常を検出する配電線巡視システムであって、電柱識別情報、該電柱の位置情報、および、電柱によって区分される配電線区間情報とを関連付けて記憶する手段と、前記配電線区間に基づいて巡視経路を設定する巡視経路設定手段と、配電線の映像情報を入力する映像入力手段と、当該映像情報を用いて配電線の異常の有無を検出する映像解析手段とを備えたことを特徴とする。   In order to achieve the above object, a distribution line patrol system according to the present invention is a distribution line patrol system that analyzes video information of a distribution line and detects an abnormality, and includes utility pole identification information, position information of the utility pole, and Means for associating and storing distribution line section information divided by power poles, inspection route setting means for setting a inspection route based on the distribution line sections, video input means for inputting video information of the distribution lines, Video analysis means for detecting the presence or absence of an abnormality in the distribution line using the video information is provided.

配電線区間によって巡視経路を設定することによって、複雑な配電系統の効率的な巡視が可能となる。また、設定された配電線区間については、配電線をパターン認識することにより自立的に飛行手段が飛行することによって、オペレータの負担を軽減することができる。   By setting a patrol route according to the distribution line section, it is possible to efficiently patrol a complicated distribution system. Moreover, about the set distribution line area, an operator's burden can be reduced by flying a flight means autonomously by recognizing a pattern of a distribution line.

さらに、本発明は、上記の配電線巡視システムに対して飛行手段の位置情報を取得する飛行手段位置情報受信手段を備え、さらに、前記配電線の映像情報は、飛行手段から送られてくる配電線上部を撮影した映像情報であって、前記映像解析手段は、前記飛行手段の位置情報によって、映像情報における配電線の位置を特定することを特徴とする。   The present invention further includes a flight means position information receiving means for acquiring position information of the flight means with respect to the distribution line patrol system, and the video information of the distribution lines is distributed from the flight means. It is video information which image | photographed the upper part of the line, Comprising: The said video analysis means specifies the position of the distribution line in video information by the positional information on the said flight means, It is characterized by the above-mentioned.

飛行手段から送られてくる配電線上部を撮影した映像と、飛行手段の位置とを連動させることによって、配電線の位置を特定可能にする。   The position of the distribution line can be specified by linking the image of the upper part of the distribution line sent from the flying means with the position of the flying means.

また、本発明に係わる配電線巡視方法は、電柱および配電線の認識手段を備えた飛行手段によって撮影された配電線上部の映像情報を無線回線を介して繋がるサーバへ送り、当該映像情報をもとに配電線の異常を検出する配電線巡視方法であって、前記サーバは、前記飛行手段へ巡視の基点となる電柱の位置情報を送信し、前記飛行手段は、前記サーバから送られてくる前記電柱の位置情報付近に存在する電柱を認識すると当該電柱の上空で停止すると共に電柱の映像を前記サーバへ送信し、その後、サーバから送られてくる配電線の巡視開始指令によって、特定された配電線の映像および飛行手段の位置情報を前記サーバへ送信し、前記サーバは、前記飛行手段から送られてくる映像情報および位置情報をもとに配電線の異常および異常位置を演算することを特徴とする。
飛行手段が電柱を自動認識することによって、安全な飛行制御が可能となる。 Further, the distribution line inspection method according to the present invention sends video information of the upper part of the distribution line taken by the flying means having the utility pole and the distribution line recognition means to a server connected via a wireless line, and also includes the video information. A distribution line patrol method for detecting an abnormality of the distribution line, wherein the server transmits position information of a power pole serving as a base point of the patrol to the flying means, and the flying means is sent from the server. When a power pole existing in the vicinity of the position information of the power pole is recognized, the power pole is stopped above the power pole and an image of the power pole is transmitted to the server, and then specified by a distribution line inspection start command sent from the server. The distribution line image and the position information of the flight means are transmitted to the server, and the server sends an abnormality and an abnormal position of the distribution line based on the video information and position information sent from the flight means. Characterized by calculating a.
When the flight means automatically recognizes the utility pole, safe flight control becomes possible.

本発明によれば、飛行手段の精度の高い制御が可能であり、操作ミスの可能性を低減することが可能となる。   According to the present invention, it is possible to control the flying means with high accuracy, and it is possible to reduce the possibility of an operation error.

以下、本発明の実施の形態を説明する。図１は本発明の実施の形態に係わる
配電線巡視システム１および飛行手段２の機能ブロック図である。図１において、飛行手段２は、無線通信３を介して配電線巡視システム１と繋がっている。
ここで、配電線巡視システム１は配電線管理サービスを提供する事業者により管理運営される。以下、この事業者をサービス提供事業者という。飛行手段２は配電線巡視システム１を通して、配電線の巡視を行うヘリコプターや飛行船などの飛行手段である。 Embodiments of the present invention will be described below. FIG. 1 is a functional block diagram of a distribution line inspection system 1 and flying means 2 according to an embodiment of the present invention. In FIG. 1, the flying means 2 is connected to the distribution line patrol system 1 via the wireless communication 3.
Here, the distribution line inspection system 1 is managed and operated by an operator that provides a distribution line management service. Hereinafter, this company is referred to as a service provider. The flying means 2 is a flying means such as a helicopter or an airship that patrols the distribution line through the distribution line patrol system 1.

配電線巡視システム１は、無線通信３を介してデータの送受信を行うための送受信部１３、送受信部１３から受け取ったデータの処理を行う中央演算処理部１４、データを記憶するための記憶部１５、および、中央演算処理部１４との間でデータの入出力を行う入力部１１と表示部１２から構成されている。   The distribution line patrol system 1 includes a transmission / reception unit 13 for transmitting / receiving data via the wireless communication 3, a central processing unit 14 for processing data received from the transmission / reception unit 13, and a storage unit 15 for storing data. And an input unit 11 for inputting / outputting data to / from the central processing unit 14 and a display unit 12.

さらに、中央演算処理部１４は、送受信部１３との間でデータの受け渡しを行う送受信処理手段（機能）４１、入力部１１あるいは表示部１２とデータの受け渡しを行う入出力処理手段（機能）４２、入力部１１を介して入力された基本情報を入力する設備情報登録手段（機能）４３、送受信部１３を介して受信された配電線の映像を登録する映像入力手段（機能）４４、映像を解析する映像解析手段（機能）４５、飛行手段の位置情報を登録する飛行手段位置情報入力手段（機能）４６、映像の解析結果を出力する解析結果出力手段（機能）４７、飛行手段による配電線の巡視経路を設定する巡視経路設定手段（機能）４８、から構成される。   Further, the central processing unit 14 is a transmission / reception processing means (function) 41 that exchanges data with the transmission / reception unit 13, and an input / output processing means (function) 42 that exchanges data with the input unit 11 or the display unit 12. , Equipment information registration means (function) 43 for inputting basic information input via the input unit 11, video input means (function) 44 for registering video of distribution lines received via the transmission / reception unit 13, and video Image analysis means (function) 45 for analyzing, flight means position information input means (function) 46 for registering the position information of the flight means, analysis result output means (function) 47 for outputting the analysis result of the video, distribution line by the flight means The patrol route setting means (function) 48 for setting the patrol route.

また、記憶部１５は、電柱に関する情報を保存する電柱データベース（ＤＢ）５１、配電線情報に関する情報を保存する配電線データベース（ＤＢ）５２、映像に関する情報を保存する映像データベース（ＤＢ）５３、巡視路に関する情報を保存する巡視路データベース（ＤＢ）５４を有している   In addition, the storage unit 15 includes a power pole database (DB) 51 that stores information about power poles, a distribution line database (DB) 52 that stores information about distribution line information, a video database (DB) 53 that stores information about video, and a patrol. It has a patrol road database (DB) 54 for storing information on roads.

一方、飛行手段２は、無線通信３を介してデータの送受信を行うための送受信部２４、送受信部２４からのデータの処理を行う中央演算処理部２３、中央演算処理部２３との間でデータの受・発信を行う発信部２１および受信部２２から構成されている。   On the other hand, the flying means 2 transmits / receives data between the transmission / reception unit 24 for transmitting / receiving data via the wireless communication 3, the central processing unit 23 for processing data from the transmission / reception unit 24, and the central processing unit 23. It is comprised from the transmission part 21 and the receiving part 22 which receive / transmit.

次に、図２を用いて配電線巡視システム１の動作を説明する。
［情報登録段階］
<１−１．設備情報登録処理>
まず、配電線の巡視経路の設定を行う上で必要な電柱情報、配電線情報は入力部１１を介して入力され、入出力処理手段４２を通して設備情報登録手段４３により記憶部１５の電柱ＤＢ５１、配電線ＤＢ５２へ登録される（Ｓ１０１、Ｓ１０２）。 Next, operation | movement of the distribution line patrol system 1 is demonstrated using FIG.
[Information registration stage]
<1-1. Equipment information registration process>
First, the utility pole information and the distribution line information necessary for setting the inspection route of the distribution line are input via the input unit 11, and the utility pole DB 51 of the storage unit 15 is installed by the facility information registration unit 43 through the input / output processing unit 42. It is registered in the distribution line DB 52 (S101, S102).

図３は、電柱情報ＤＢ５１のデータ構成例である。この図において、電柱ＤＢ５１は、電柱ごとに付されたＩＤ（識別番号）と、その電柱の位置情報が記憶されている。   FIG. 3 is a data configuration example of the utility pole information DB 51. In this figure, the utility pole DB 51 stores an ID (identification number) assigned to each utility pole and position information of the utility pole.

図４は、配電線ＤＢ５２のデータ構成例である。この図において、配電線ＤＢ５２は、配電線ごとに付されたＩＤ（識別番号）とその配電線における不具合発生地点、不具合の状態が記憶されている。   FIG. 4 is a data configuration example of the distribution line DB 52. In this figure, the distribution line DB 52 stores an ID (identification number) assigned to each distribution line, a defect occurrence point in the distribution line, and a defect state.

<１−２．巡視経路設定処理>
次に配電線巡視システム１の表示部１２に表示された配電線図上の電柱および電柱間（区間）を入力部１１より入力することで飛行手段２による配電線の巡視経路を設定する（Ｓ１０３）。 <1-2. Patrol route setting process>
Next, the distribution line inspection route by the flying means 2 is set by inputting the utility poles on the distribution line diagram displayed on the display unit 12 of the distribution line inspection system 1 and between the utility poles (section) from the input unit 11 (S103). ).

図７は配電線図である。この図において巡視路の設定は巡視の始点となる電柱ＩＤと終点となる電柱ＩＤをポインタで指定することにより設定される。また、巡視を行う区間をポインタにより指定することにより設定することも可能である。   FIG. 7 is a distribution line diagram. In this figure, the patrol path is set by designating the utility pole ID as the patrol start point and the utility pole ID as the end point with the pointer. It is also possible to set a section for patrol by designating with a pointer.

ここでは区間１と区間２が点線で表示されており、巡視経路として区間１と区間２が選択されたことを表している。
設定された巡視経路は巡視経路設定手段４８により記憶部１５の巡視路ＤＢ５４に保存される。同時に送受信処理手段４１、送受信部１３を経て飛行手段２へ送信される（Ｓ１０４）。 Here, section 1 and section 2 are displayed with dotted lines, indicating that section 1 and section 2 have been selected as the patrol route.
The set inspection route is stored in the inspection route DB 54 of the storage unit 15 by the inspection route setting means 48. Simultaneously, it is transmitted to the flying means 2 through the transmission / reception processing means 41 and the transmission / reception unit 13 (S104).

図６は巡視路ＤＢ５４のデータ構成例である。この図において巡視路ＤＢ５４は、巡視路ごとに付されたコード（識別番号）と巡視を行う一または二以上の区間、その区間の始点と終点に設置されている電柱ＩＤ、区間内に設置されている配電線ＩＤ、巡視時にたとえば１ｍごとにその間を撮影した映像で異常があった場合の映像コード、異常の有無および状態、異常の発生地点が記憶されている。なお、この撮影は、静止画でなくてもストリーミング配信で配電線巡視システム（サーバ）へ送信するようにしても良い。   FIG. 6 is a data configuration example of the inspection route DB 54. In this figure, the inspection path DB 54 is installed in the section, the code (identification number) assigned to each inspection path, one or more sections for performing the inspection, the power pole IDs installed at the start and end points of the sections. The distribution line ID, the video code when there is an abnormality in the video taken for every 1 m during patrol, the presence / absence and state of the abnormality, and the occurrence point of the abnormality are stored. Note that this shooting may be transmitted to the distribution line patrol system (server) by streaming delivery even if it is not a still image.

［情報収集段階］
<２−１．映像収集処理>
配電線巡視システム１から送信された巡視経路は、飛行手段２の送受信部２４、中央演算処理部２３で受信処理される（Ｓ１０５）。 [Information gathering stage]
<2-1. Video collection processing>
The inspection route transmitted from the distribution line inspection system 1 is received and processed by the transmission / reception unit 24 and the central processing unit 23 of the flying means 2 (S105).

飛行手段２は巡視経路で起点として指定された電柱の位置へ移動する。飛行手段２は入力部２１に設置されているＧＰＳにより位置情報を測定しながら巡視経路を飛行する。なお、ＧＰＳによる位置情報の測定では誤差が生じる。この誤差を解消するために飛行手段２の入力部２１に設置されているセンサによって配電線を感知し、飛行の補正を行う。   The flying means 2 moves to the position of the utility pole specified as the starting point on the patrol route. The flying means 2 flies along the patrol route while measuring position information with the GPS installed in the input unit 21. An error occurs in measurement of position information by GPS. In order to eliminate this error, the distribution line is detected by a sensor installed in the input unit 21 of the flying means 2 and the flight is corrected.

飛行手段２は飛行を行いながら、入力部２１に設置されているカメラにより配電線の撮影を行う（Ｓ１０７）。撮影された配電線の映像は１ｍごとに飛行手段２の送受信部２４から配電線巡視システム１へ送信される（Ｓ１０８）。飛行手段２は入力部２１に設置されているＧＰＳによって巡視路の終点を検出するまで飛行を行い巡視を終了する。   The flying means 2 takes a picture of the distribution line with a camera installed in the input unit 21 while flying (S107). The taken video of the distribution line is transmitted from the transmission / reception unit 24 of the flying means 2 to the distribution line inspection system 1 every 1 m (S108). The flying means 2 flies until the end point of the patrol path is detected by the GPS installed in the input unit 21 and ends the patrol.

配電線、撮影時の飛行手段の飛行方向は電柱の上を一定速度で次の電柱に向け飛行しながら、同時に電柱を中心として、飛行手段の進行方向一番左の電線の真上まで移動する。その電線の上空で飛行手段に備え付けられているカメラを動かし飛行手段の真下に張られている配電線から中央に張られている配電線までを撮影する。一番左に張られている配電線から中央に張られている配電線までの撮影を一区切りとする。 そして飛行手段は中心にある電柱までもどり、飛行手段の進行方向一番右の配電線の真上まで移動し、その電線の上空で飛行手段に備え付けられているカメラにより一番右に張られている配電線から中央にある配電線までを撮影する。このような飛行パターンを繰り返すことにより、複数の配電線をもれなく撮影させることができる。もしくは、電柱と電柱との間を1区間ごとに飛行手段を往復させて配電線を撮影させるようにしても良い。この場合、飛行手段の位置情報はＧＰＳのみでは正確な位置情報の取得は困難になるため電柱ＩＤもしくは配電線ＩＤを緯度、経度情報に置き換えて電柱および配電線の上空を飛行することにより位置情報を取得することとしてもよい。   The direction of flight of the distribution means and the flight means at the time of shooting moves on the power pole at a constant speed toward the next power pole, and at the same time, moves around the power pole and directly above the leftmost wire in the traveling direction of the flight means. . The camera attached to the flight means is moved over the electric wire to photograph from the distribution line stretched directly under the flight means to the distribution line stretched in the center. Shooting from the leftmost distribution line to the central distribution line is considered as one segment. The flying means returns to the power pole in the center, moves to the position immediately above the rightmost distribution line in the traveling direction of the flying means, and is stretched to the right by the camera installed in the flying means above the electric wire. Take a picture from the distribution line to the central distribution line. By repeating such a flight pattern, a plurality of distribution lines can be photographed without any exception. Alternatively, the distribution line may be photographed by reciprocating the flying means for each section between the utility poles. In this case, since it is difficult to obtain accurate position information only by GPS, the position information of the flight means is replaced by replacing the utility pole ID or distribution line ID with latitude and longitude information and flying over the utility pole and distribution line. It is good also as acquiring.

また、映像の撮影、配信にはＭＰＥＧ４（Moving Picture Experts Group phase 4）を用い動画の中で静止画情報（位置情報）を１ｍごとに記録させ電線の位置関係と電線全体の画像を特定し、画像解析時に撮影位置の判別が容易にできるようにする。   In addition, MPEG4 (Moving Picture Experts Group phase 4) is used to shoot and distribute the video, and still image information (position information) is recorded every 1 m in the video, and the positional relationship of the wires and the image of the entire wire are specified. It is possible to easily determine the shooting position during image analysis.

<２−２．映像解析処理>
上記、ステップＳ１０８で飛行手段２から送信された映像は無線通信３を介して配電線巡視システム１の送受信部１３、送受信処理手段４１で受信される（Ｓ１０９）。このとき、飛行手段２から送信されてくる映像ごとに映像コードが付され、映像入力手段４４により映像ＤＢ５３に保存される。同時に、飛行手段２から送信されている飛行手段の位置情報も飛行手段位置情報受信手段４６により映像ＤＢ５３の映像と同じ領域に保存される。映像ＤＢ５３に保存された映像情報は映像解析手段４５により映像解析が行われる（Ｓ１１０）。 <2-2. Video analysis processing>
The video transmitted from the flying means 2 in step S108 is received by the transmission / reception unit 13 and the transmission / reception processing means 41 of the distribution line inspection system 1 via the wireless communication 3 (S109). At this time, a video code is attached to each video transmitted from the flying means 2 and stored in the video DB 53 by the video input means 44. At the same time, the position information of the flying means transmitted from the flying means 2 is also stored in the same area as the image of the image DB 53 by the flying means position information receiving means 46. The video information stored in the video DB 53 is analyzed by the video analysis means 45 (S110).

次に図８を用いて映像解析手段の動作を詳述する。まず、映像解析手段は映像ＤＢ内の映像の映像の配電線部分を細分化し（Ｓ２０１）、この細分化した配電線の映像を２値化する（Ｓ２０２）。そして、細分化した画像の大きさは一定の範囲内かの判定を行い（Ｓ２０３）、異常がない場合は終了する。判定を行った結果、細分化した画像に異常があった場合、表示部へ「１次検査異常あり」の警告表示を出力する（Ｓ２０４）。ステップＳ２０４で表示部へ表示した映像について入力部から異常があるかの判定を行い、異常である旨の入力がない場合は終了する（Ｓ２０５）。
異常である旨の入力がある場合、異常箇所の位置、画像を巡視路ＤＢヘ出力して終了する（Ｓ２０６）。異常がなければ何も出力せずに終了する。 Next, the operation of the video analysis means will be described in detail with reference to FIG. First, the video analysis means subdivides the distribution line portion of the video image in the video DB (S201), and binarizes the subdivided distribution line video (S202). Then, it is determined whether the size of the subdivided image is within a certain range (S203). If there is no abnormality, the process ends. If there is an abnormality in the subdivided image as a result of the determination, a warning display “abnormal primary inspection” is output to the display unit (S204). It is determined whether there is an abnormality in the video displayed on the display unit in step S204 from the input unit. If there is no input indicating that there is an abnormality, the process ends (S205).
When there is an input indicating that there is an abnormality, the position and image of the abnormal part are output to the inspection path DB, and the process ends (S206). If there is no error, exit without outputting anything.

図５は、映像ＤＢ５３のデータ構成例である。この図において、映像ＤＢ５３は、映像ごとに付されたＩＤ（識別番号）とその映像、映像撮影の行われた日時、位置情報が記憶されている。   FIG. 5 is a data configuration example of the video DB 53. In this figure, the video DB 53 stores an ID (identification number) assigned to each video, its video, the date and time of video shooting, and position information.

［異常箇所出力段階］
<３−１．異常箇所出力処理>
上述の映像解析手段４５による映像解析の結果、異常があった場合は映像解析手段４５により表示部１２へ警告が発せられ、同時に異常箇所の映像が表示される（Ｓ１１１）。異常箇所の出力によりシステム管理者による目視による検査が行われる。その結果は映像解析手段４５によって巡視路ＤＢ５４へ保存される（Ｓ１１２）とともに解析結果出力手段４７により表示部１２へ表示される。 [Abnormal point output stage]
<3-1. Abnormal point output processing>
If there is an abnormality as a result of the video analysis by the video analysis unit 45 described above, the video analysis unit 45 issues a warning to the display unit 12 and simultaneously displays the video of the abnormal part (S111). A visual inspection by the system administrator is performed based on the output of the abnormal part. The result is stored in the inspection route DB 54 by the video analysis unit 45 (S112) and displayed on the display unit 12 by the analysis result output unit 47.

本実施の形態によれば、電柱ＩＤと配電線ＩＤで観測区間および観測対象を特定するので複雑な配電系統の効率的な巡視が可能となる。   According to the present embodiment, since the observation section and the observation target are specified by the utility pole ID and the distribution line ID, an efficient inspection of a complicated distribution system is possible.

また、飛行手段は、まず、電柱を起点として配電線を認識しながら飛行するので、精度の高い制御が可能であり、操作ミスの可能性を低減することができる。   In addition, since the flying means first flies while recognizing the distribution line from the power pole as a starting point, highly accurate control is possible, and the possibility of an operation error can be reduced.

なお、上記の説明では、飛行手段２は入力部２１に設置されているＧＰＳにより位置情報を測定しながら巡視経路を飛行するとしたが、飛行手段に電柱認識手段を設けて、指定位置付近の電柱をまず認識して、そこから配電線認識手段によって、たとえばレーザの反射光により配電線の位置を認識しながら飛行するようにしても良い。電柱認識の一例としては、電柱上部に貼付された電柱識別用ＱＲコードによって、上空から電柱を認識させるという方法がある。   In the above description, the flying means 2 flies on the patrol route while measuring the position information with the GPS installed in the input unit 21. However, the flying means 2 is provided with the electric pole recognition means, and the electric pole near the designated position is provided. May first be recognized and then fly by the distribution line recognition means, for example, while recognizing the position of the distribution line by the reflected light of the laser. As an example of the utility pole recognition, there is a method of recognizing a utility pole from the sky with a utility pole identification QR code attached to the upper part of the utility pole.

本発明は上述した実施形態に限定されるものではなく、その要旨を逸脱しない範囲内において、種々変形して実施することができる。たとえば、飛行手段は配電線に沿ってそのまま飛ばすのではなく、一定の範囲でジグザグに飛ばしたり、所定の角度（たとえば、配電線の垂直方向から１０度）ずれた位置で飛ばして、巡視区間を往復することによって、配電線上部を左右から監視するようにすれば単に上空から撮影したのでは重なってしまうような複数の配電線の異常を確実に発見することができる。   The present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the scope of the invention. For example, the flying means does not fly along the distribution line as it is, but flies in a zigzag within a certain range or at a position shifted by a predetermined angle (for example, 10 degrees from the vertical direction of the distribution line) to By reciprocating, if the upper part of the distribution line is monitored from the left and right, abnormalities of a plurality of distribution lines that can be overlapped if taken simply from the sky can be reliably detected.

本発明の実施の形態における配電線巡視システムの構成図である。It is a lineblock diagram of a distribution line patrol system in an embodiment of the invention. 図１の飛行手段と送電線巡視システムのデータの流れを示すフローチャ-トである。2 is a flowchart showing a data flow of the flight means and the power line patrol system of FIG. 図１の電柱情報ＤＢの例を示す図である。It is a figure which shows the example of telephone pole information DB of FIG. 図１の配電線ＤＢの例を示す図である。It is a figure which shows the example of the distribution line DB of FIG. 図１の映像ＤＢの例を示す図である。It is a figure which shows the example of image | video DB of FIG. 図１の巡視路ＤＢの例を示す図である。It is a figure which shows the example of the patrol path DB of FIG. 図１の配電線図の例を示す図である。It is a figure which shows the example of the distribution line figure of FIG. 図１の映像解析手段の処理手順を示すフローチャートである。It is a flowchart which shows the process sequence of the image | video analysis means of FIG.

符号の説明Explanation of symbols

１ 配電線巡視システム
２ 飛行手段
３ 無線通信
１１ ２１ 入力部
１２ 表示部
１３ ２４ 送受信部
１４ ２３ 中央演算処理部
１５ 記憶部
４１ 送受信処理手段
４２ 入出力処理手段
４３ 設備情報登録手段
４４ 映像入力手段
４５ 映像解析手段
４６ 飛行手段位置情報入力手段
４７ 解析結果出力手段
４８ 巡視経路設定手段
５１ 電柱ＤＢ
５２ 配電線ＤＢ
５３ 映像ＤＢ
５４ 巡視路ＤＢ DESCRIPTION OF SYMBOLS 1 Distribution line patrol system 2 Flight means 3 Wireless communication 11 21 Input part 12 Display part 13 24 Transmission / reception part 14 23 Central processing part 15 Storage part 41 Transmission / reception processing means 42 Input / output processing means 43 Facility information registration means 44 Image | video input means 45 Image analysis means 46 Flight means Position information input means 47 Analysis result output means 48 Patrol route setting means 51 Utility pole DB
52 Distribution Line DB
53 Video DB
54 Patrol Route DB

Claims (3)

配電線の映像情報を解析して異常を検出する配電線巡視システムであって、
電柱識別情報、該電柱の位置情報、および、電柱によって区分される配電線区間情報とを関連付けて記憶する手段と、
前記配電線区間に基づいて巡視経路を設定する巡視経路設定手段と、
配電線の映像情報を入力する映像入力手段と、
当該映像情報を用いて配電線の異常の有無を検出する映像解析手段と、
を備えたことを特徴とする配電線巡視システム。 A distribution line patrol system that detects abnormalities by analyzing video information of distribution lines,
Means for associating and storing utility pole identification information, position information of the utility pole, and distribution line section information divided by the utility pole;
Patrol route setting means for setting a patrol route based on the distribution line section;
Video input means for inputting video information of distribution lines;
Video analysis means for detecting the presence or absence of an abnormality in the distribution line using the video information;
A distribution line inspection system characterized by comprising: 飛行手段の位置情報を取得する飛行手段位置情報受信手段を備え、
前記配電線の映像情報は、飛行手段から送られてくる配電線上部を撮影した映像情報であって、
前記映像解析手段は、前記飛行手段の位置情報によって、映像情報における配電線の位置を特定することを特徴とする請求項１記載の配電線巡視システム。 A flight means position information receiving means for acquiring position information of the flight means;
The video information of the distribution line is video information obtained by photographing the upper part of the distribution line sent from the flight means,
2. The distribution line patrol system according to claim 1, wherein the video analysis unit specifies a position of the distribution line in the video information based on position information of the flying unit. 電柱および配電線の認識手段を備えた飛行手段によって撮影された配電線上部の映像情報を無線回線を介して繋がるサーバへ送り、当該映像情報をもとに配電線の異常を検出する配電線巡視方法であって、
前記サーバは、前記飛行手段へ巡視の基点となる電柱の位置情報を送信し、
前記飛行手段は、前記サーバから送られてくる前記電柱の位置情報付近に存在する電柱を認識すると当該電柱の上空で停止すると共に電柱の映像を前記サーバへ送信し、その後、サーバから送られてくる配電線の巡視開始指令によって、特定された配電線の映像および飛行手段の位置情報を前記サーバへ送信し、
前記サーバは、前記飛行手段から送られてくる映像情報および位置情報をもとに配電線の異常および異常位置を演算することを特徴とする配電線巡視方法。 Distribution line inspection to send video information of the upper part of the distribution line taken by the flight means equipped with the utility pole and distribution line recognition means to the server connected via the wireless line and detect distribution line abnormality based on the video information A method,
The server transmits the position information of the power pole as a base point of patrol to the flying means,
When the flying means recognizes a power pole existing in the vicinity of the position information of the power pole sent from the server, the flying means stops above the power pole and transmits a video of the power pole to the server, and then sent from the server. In response to an inspection start command for the incoming distribution line, the video of the specified distribution line and the position information of the flight means are transmitted to the server,
The distribution line inspection method, wherein the server calculates an abnormality and an abnormal position of the distribution line based on video information and position information sent from the flying means.
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