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WO2018138942A1 - Dispositif de surveillance d'installation de transmission de puissance, unité de surveillance d'installation de transmission de puissance et système de surveillance d'installation de transmission de puissance - Google Patents

Dispositif de surveillance d'installation de transmission de puissance, unité de surveillance d'installation de transmission de puissance et système de surveillance d'installation de transmission de puissance Download PDF

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Publication number
WO2018138942A1
WO2018138942A1 PCT/JP2017/018641 JP2017018641W WO2018138942A1 WO 2018138942 A1 WO2018138942 A1 WO 2018138942A1 JP 2017018641 W JP2017018641 W JP 2017018641W WO 2018138942 A1 WO2018138942 A1 WO 2018138942A1
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WO
WIPO (PCT)
Prior art keywords
power transmission
electromagnetic wave
unit
information
transmission facility
Prior art date
Application number
PCT/JP2017/018641
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English (en)
Japanese (ja)
Inventor
星野　俊弘
崇文 飯島
広明 長
田中　元史
Original Assignee
株式会社東芝
東芝エネルギーシステムズ株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社東芝, 東芝エネルギーシステムズ株式会社 filed Critical 株式会社東芝
Priority to JP2018541230A priority Critical patent/JPWO2018138942A1/ja
Publication of WO2018138942A1 publication Critical patent/WO2018138942A1/fr

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
    • H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables

Definitions

  • Embodiments of the present invention relate to a power transmission facility monitoring device, a power transmission facility monitoring unit, and a power transmission facility monitoring system.
  • an inspection method in which an unmanned air vehicle flies in the vicinity of a transmission line and an image of the transmission line is taken to inspect the transmission line.
  • an image of the transmission line is taken to inspect the transmission line.
  • the problem to be solved by the present invention is to provide a power transmission equipment monitoring device and a power transmission equipment monitoring unit capable of providing a mechanism for acquiring information about power transmission equipment.
  • the power transmission facility monitoring apparatus of the embodiment includes an imaging unit, an electromagnetic wave detection unit, a transmission unit, an instruction information acquisition unit, and a flight control unit. Moreover, the power transmission equipment monitoring apparatus of the embodiment is mounted on an unmanned aerial vehicle.
  • the imaging unit images the power transmission facility.
  • the electromagnetic wave detection unit detects an electromagnetic wave generated by the power transmission facility.
  • the transmission unit transmits at least one of image information based on the image captured by the imaging unit and electromagnetic wave information based on the electromagnetic wave detected by the electromagnetic wave detection unit to another device.
  • the instruction information acquisition unit acquires instruction information for instructing the flight of the unmanned air vehicle from a terminal of a driver who controls the unmanned air vehicle.
  • the flight control unit controls the flight of the unmanned air vehicle based on the instruction information acquired by the instruction information acquisition unit.
  • the power transmission monitoring device of the embodiment is a device that supports monitoring of electric wires and power transmission equipment.
  • the power transmission monitoring device is mounted on an unmanned air vehicle flying in the vicinity of an electric wire or power transmission equipment, and collects information on the electric wire or power transmission equipment.
  • the information on the electric wire and the power transmission facility is, for example, information on an electromagnetic wave generated by the electric wire or the power transmission facility, or information indicating an image generated by imaging the electric wire or the power transmission facility.
  • FIG. 1 is a diagram illustrating a use environment of an unmanned air vehicle 11 on which the power transmission facility monitoring device 1 according to the first embodiment is mounted.
  • the unmanned air vehicle 11 is used in the vicinity of a power transmission facility including a tower 51, an electric wire 52, a transformer, a lightning arrester, a switchgear, and the like (not shown).
  • the unmanned air vehicle 11 is, for example, a drone.
  • the power transmission facility monitoring apparatus 1 acquires information (hereinafter referred to as instruction information) instructing flight from the terminal 30 of the operator who controls the unmanned air vehicle 11, and controls the flight of the unmanned air vehicle 11 based on the acquired instruction information. To do.
  • the pilot maneuvers the unmanned air vehicle 11 so that the unmanned air vehicle 11 flies in the vicinity of the electric wire 52, and the terminal 30 transmits the instruction information of the unmanned air vehicle 11 according to the maneuvering to the power transmission equipment monitoring device 1.
  • the instruction information is information indicating an instruction for moving the unmanned air vehicle 11 in the vertical direction, the front-rear direction, and the left-right direction, for example.
  • the power transmission facility monitoring apparatus 1 acquires various types of information related to the power transmission facility as the unmanned air vehicle 11 flies near the electric wire 52.
  • the power transmission facility monitoring device 1 transmits the acquired various types of information to another device that collects information (hereinafter, the collection device 32).
  • the terminal 30 has a function as the collection device 32. Transmission / reception of information between the terminal 30 and the power transmission facility monitoring apparatus 1 is performed by wireless communication.
  • FIG. 2 is a diagram illustrating an outline of the power transmission facility monitoring apparatus 1 according to the first embodiment.
  • the power transmission facility monitoring device 1 is a device mounted on the unmanned air vehicle 11, and includes, for example, an imaging unit 12, an electromagnetic wave detection unit 13, and a control device 14.
  • the imaging unit 12 images the power transmission facility and generates an image.
  • the imaging unit 12 includes, for example, an ultraviolet imaging unit 12-1 and a visible light imaging unit 12-2.
  • the ultraviolet imaging unit 12-1 generates an image by receiving light in the ultraviolet region.
  • the visible light imaging unit 12-2 generates an image by receiving light in the visible light region.
  • the image captured by the visible light imaging unit 12-2 is sent to the operator, and is used, for example, for confirming the positional relationship between the unmanned air vehicle 11 and the power transmission equipment by visual observation.
  • the imaging unit 12 and the control device 14 are connected so that information can be transmitted and received.
  • the imaging unit 12 supplies information (image information) indicating the captured image to the control device 14 at all times or at a predetermined interval.
  • the imaging unit 12 has information indicating the ultraviolet image generated by the ultraviolet imaging unit 12-1 (hereinafter referred to as ultraviolet image information 72-1) and information indicating the visible light image generated by the visible light imaging unit 12-2.
  • the visible light image information 72-2) may be voluntarily supplied to the control device 14, or may be supplied in response to a request from the control device 14.
  • the electromagnetic wave detection unit 13 and the control device 14 are connected so that information can be transmitted and received.
  • the electromagnetic wave detection unit 13 detects an electromagnetic wave emitted by the power transmission facility.
  • the electromagnetic wave detection unit 13 is, for example, an electromagnetic field sensor. Specifically, the electromagnetic wave detection unit 13 detects the magnetic field strength for each frequency in a predetermined band of the electromagnetic waves emitted by the power transmission equipment.
  • the predetermined band is preferably a band corresponding to the frequency of electromagnetic waves emitted from the power transmission equipment.
  • the electromagnetic wave detection unit 13 supplies electromagnetic wave information based on the detected electromagnetic wave to the control device 14.
  • the unmanned aerial vehicle 11 includes, for example, a casing 111, a drive unit 112, and a rotary wing 113.
  • the casing 111 supports the drive unit 112 and the rotary blade 113.
  • the drive unit 112 rotates the rotor blade 113.
  • the unmanned aerial vehicle 11 flies by rotating the rotor blade 113 and generating lift.
  • the rotor blade 113 is preferably formed of a non-metallic material. This is because, when the rotor blade 113 is formed of a metal material, the power transmission facility monitoring device 1 mounted on the unmanned air vehicle 11 affects the electromagnetic field distribution when detecting the electromagnetic waves generated by the electric wires 52 and the power transmission facilities. This is because it is difficult to detect with high accuracy.
  • the flight of the unmanned air vehicle 11 is controlled by the control device 14.
  • the unmanned air vehicle 11 and the control device 14 are connected so that information can be transmitted and received.
  • FIG. 3 is a diagram illustrating an example of a configuration of the power transmission facility monitoring apparatus 1 according to the first embodiment.
  • the control device 14 includes an instruction information acquisition unit 40 and a control unit 41.
  • the instruction information acquisition unit 40 acquires instruction information 71 from the terminal 30 via wireless communication.
  • the instruction information acquisition unit 40 supplies the acquired instruction information 71 to the control unit 41.
  • the control unit 41 includes, for example, an image information acquisition unit 411, an electromagnetic wave information acquisition unit 412, a discharge determination unit 413, a transmission unit 414, and a flight control unit 415 as functional units.
  • Each functional unit included in the control unit 41 is realized, for example, when a processor such as a CPU (Central Processing Unit) executes a program stored in a storage unit (not shown). These functional units may be realized by hardware such as LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), or by cooperation of software and hardware. May be. These functional units may be distributed among a plurality of devices.
  • the image information acquisition unit 411 acquires image information 72 (ultraviolet image information 72-1 or visible light image information 72-2) from the imaging unit 12.
  • the image information acquisition unit 411 supplies the acquired image information 72 to the transmission unit 414 and the flight control unit 415.
  • the electromagnetic wave information acquisition unit 412 acquires the electromagnetic wave information 73 from the electromagnetic wave detection unit 13.
  • the electromagnetic wave information acquisition unit 412 supplies the acquired electromagnetic wave information 73 to the discharge determination unit 413, the transmission unit 414, and the flight control unit 415.
  • the discharge determination unit 413 acquires the electromagnetic wave information 73 from the electromagnetic wave information acquisition unit 412.
  • the discharge determination unit 413 determines whether the electric wire 52 or the power transmission facility is discharged based on the acquired electromagnetic wave information 73. For example, when the magnetic field intensity of the frequency of the electromagnetic wave generated when the electric wire 52 or the power transmission facility is discharged among the magnetic field intensity for each frequency indicated in the electromagnetic wave information 73, the discharge determination unit 413 is higher than a predetermined threshold value. It is determined that the power transmission equipment is discharged.
  • the discharge determination unit 413 supplies the determination result 74 to the imaging unit 12. As described above, the imaging unit 12 supplies the ultraviolet image information 72-1 or the visible light image information 72-2 to the control device 14 based on the control of the control device 14.
  • the imaging unit 12 supplies the ultraviolet image information 72-1 to the control device 14 when the determination result 74 indicates that the electric wire 52 or the power transmission facility is discharged. Further, when the determination result 74 indicates that the electric wire 52 or the power transmission facility is not discharged, the imaging unit 12 supplies the visible light image information 72-2 to the control device 14.
  • the control unit 41 may be configured not to include the discharge determination unit 413.
  • the imaging unit 12 supplies image information 72 (ultraviolet image information 72-1 and visible light image information 72-2) to the control device 14 at all times or at predetermined intervals.
  • the transmission unit 414 acquires the image information 72 from the image information acquisition unit 411. In addition, the transmission unit 414 acquires the electromagnetic wave information 73 from the electromagnetic wave information acquisition unit 412. The transmission unit 414 transmits one or both of the acquired image information 72 and electromagnetic wave information 73 to the collection device 32 by wireless communication.
  • Flight control unit 415 acquires instruction information 71 from instruction information acquisition unit 40.
  • the flight control unit 415 controls the flight of the unmanned air vehicle 11 based on the instruction information 71. Specifically, the flight control unit 415 performs control for causing the unmanned air vehicle 11 to fly in the vertical direction, the front-rear direction, and the left-right direction of the unmanned air vehicle 11 indicated by the instruction information 71.
  • the flight control unit 415 acquires the image information 72 from the image information acquisition unit 411.
  • the flight control unit 415 controls the flight of the unmanned air vehicle 11 based on the acquired image information 72.
  • the flight control unit 415 recognizes the visible light image based on the visible light image information 72-2, thereby performing unmanned flight so as to fly along the electric wire 52 captured in the visible light image. Control the flight of the body 11.
  • the unmanned aerial vehicle 11 can capture a visible light image that clearly shows the electric wire 52 and the power transmission facility.
  • the flight control unit 415 controls the flight of the unmanned air vehicle 11 so as to fly in the direction of the light generated as the electric wire 52 or the power transmission equipment is discharged based on the ultraviolet image information 72-1.
  • the unmanned aerial vehicle 11 can capture an ultraviolet image that clearly shows light generated when the electric wire 52 or the power transmission facility is discharged.
  • the flight control unit 415 acquires the electromagnetic wave information 73 from the electromagnetic wave information acquisition unit 412.
  • the flight control unit 415 controls the flight of the unmanned air vehicle 11 based on the acquired electromagnetic wave information 73. Specifically, the flight control unit 415 controls the flight of the unmanned air vehicle 11 so as to fly in the direction of the electromagnetic wave generated from the electric wire 52 among the electromagnetic waves indicated by the electromagnetic wave information 73. More specifically, the flight control unit 415 controls the flight of the unmanned air vehicle 11 so as to fly based on an electromagnetic wave that matches the characteristics of the electromagnetic wave generated from the electric wire 52 among the electromagnetic waves indicated by the electromagnetic wave information 73. Thereby, the unmanned air vehicle 11 can acquire the electromagnetic waves of the electric wire 52 and the power transmission equipment in detail.
  • the power transmission facility monitoring apparatus 1 switches one or both of the above modes to control the flight of the unmanned air vehicle 11, and the unmanned air vehicle 11 controls the power transmission facility monitoring device 1. Based on this, it is possible to fly by each mode.
  • FIG. 4 is a flowchart illustrating an example of the flight control operation of the unmanned air vehicle 11 according to the first embodiment.
  • the process shown in FIG. 4 is repeatedly executed periodically, for example.
  • the flight control unit 415 of the unmanned air vehicle 11 performs the flight of the unmanned air vehicle 11 based on the manual operation of the pilot (instruction information 71) until the electromagnetic wave detection unit 13 detects the electromagnetic wave generated by the electric wire 52 or the power transmission facility. Is controlled (steps S310 and S320).
  • the electromagnetic wave detection unit 13 detects an electromagnetic wave emitted by the electric wire 52 or the power transmission facility, a display for inquiring of the operator whether or not the unmanned air vehicle 11 is to fly automatically is displayed on the display unit included in the terminal 30.
  • the flight control unit 415 controls the flight of the unmanned air vehicle 11 based on the manual operation of the operator (step S320).
  • the power transmission facility monitoring apparatus 1 starts imaging of the electric wire 52 and the power transmission facility by the ultraviolet imaging unit 12-1 (step S340).
  • the flight control unit 415 causes the unmanned air vehicle 11 to fly around the electric wire 52 and the power transmission equipment so that the intensity of the electromagnetic wave indicated by the electromagnetic wave information 73 becomes a predetermined intensity (step S350).
  • the flight control unit 415 performs the process of step S350 until the ultraviolet image captured and generated by the ultraviolet imaging unit 12-1 indicates that the electric wire 52 and the power transmission facility are discharged (step S360).
  • the flight control unit 415 when the ultraviolet image captured by the ultraviolet imaging unit 12-1 and the generated ultraviolet image indicates that the electric wire 52 and the power transmission facility are discharged, the electric wire 52 and the power transmission facility are discharged based on the ultraviolet image.
  • the unmanned aerial vehicle 11 is caused to fly in a direction approaching the spot that is being operated (step S370).
  • the flight control unit 415 causes the unmanned air vehicle 11 to fly such that the discharge location maintains a position where the imaging unit 12 can capture an image (step S380).
  • the flight control unit 415 extracts an area indicating discharge from the ultraviolet image, and causes the unmanned air vehicle 11 to fly such that the area is within a predetermined range and is located at the center of the image.
  • a region indicating discharge can be extracted based on a luminance difference in the ultraviolet image.
  • the flight control unit 415 moves forward with respect to the optical axis direction of the imaging unit 12 when the size of the region is less than a predetermined range, and light of the imaging unit 12 when the size of the region exceeds the predetermined range.
  • a flight operation is realized such that if the region is moved to the left in the image, it is moved horizontally to the left, and if the region is moved to the right in the image, it is moved to the right.
  • the flight control unit 415 may cause the unmanned air vehicle 11 to automatically fly based on the visible light image information 72-2.
  • the flight control unit 415 recognizes the image of the electric wire 52 shown in the visible light image, and controls the flight of the unmanned air vehicle 11 so as to fly along the electric wire 52.
  • the flight control unit 415 recognizes an image of the electric wire 52 and causes the unmanned air vehicle 11 to fly so as to maintain a position where the electric wire 52 is imaged to a predetermined size (thickness) by the imaging unit 12. .
  • FIG. 5 is a flowchart illustrating an example of the operation of the power transmission facility monitoring apparatus 1 according to the first embodiment.
  • the imaging unit 12 images the electric wire 52 and supplies the generated image information 72 to the image information acquisition unit 411 (step S510).
  • the electromagnetic wave detection unit 13 detects the electromagnetic wave generated from the electric wire 52 and supplies it to the electromagnetic wave information acquisition unit 412 (step S520).
  • the instruction information acquisition unit 40 acquires the instruction information 71 from the terminal 30 and supplies the instruction information 71 to the flight control unit 415 (step S530).
  • the image information acquisition unit 411 acquires the image information 72 from the imaging unit 12, and supplies the image information 72 to the transmission unit 414 and the flight control unit 415 (step S540).
  • the electromagnetic wave information acquisition part 412 acquires the electromagnetic wave information 73 from the electromagnetic wave detection part 13, and supplies it to the discharge determination part 413, the transmission part 414, and the flight control part 415 (step S550).
  • the discharge determination unit 413 acquires the electromagnetic wave information 73 from the electromagnetic wave information acquisition unit 412 and determines whether or not the electric wire 52 or the power transmission facility is discharged (step S413).
  • the imaging unit 12 operates according to the determination of the discharge determination unit 413.
  • the transmission unit 414 transmits the acquired image information 72 and electromagnetic wave information 73 to the collection device 32 (terminal 30) (step S570).
  • the flight control unit 415 generates control information 75 indicating control of the flight of the unmanned air vehicle 11 based on at least one of the acquired instruction information 71, image information 72, and electromagnetic wave information 73. (Step S580).
  • the unmanned air vehicle 11 flies based on the acquired control information 75 (step S590).
  • the power transmission facility monitoring apparatus 1 includes the unmanned air vehicle 11, the imaging unit 12, the electromagnetic wave detection unit 13, and the control device 14.
  • the power transmission facility monitoring device 1 flies in the vicinity of the electric wire 52 and transmits information related to the power transmission facility (in this example, image information 72 and electromagnetic wave information 73) to the collection device 32.
  • the collection device 32 may include a display device and may have a function of displaying the image information 72 and the electromagnetic wave information 73 on the display device.
  • a person who confirms the collection device 32 hereinafter referred to as an inspector
  • the image information 72 is visible light image information 72-2.
  • the visible light image indicated by the visible light image information 72-2 is an image captured so that the electric wire 52 and the power transmission facility can be visually recognized.
  • the inspector can refer to the visible light image information 72-2 by using the collection device 32 and can confirm whether there is any abnormality in the color and shape of the power transmission equipment.
  • the image information 72 is the ultraviolet image information 72-1.
  • the ultraviolet image indicated by the ultraviolet image information 72-1 is an image obtained by capturing light (ultraviolet rays) generated when the electric wire 52 or the power transmission equipment is discharged. The inspector can check the ultraviolet image information 72-1 by the collection device 32, so that the location where the electric discharge is generated in the electric wire 52 and the power transmission facility can be grasped in detail.
  • the power transmission facility monitoring apparatus 1 of the first embodiment includes an ultraviolet imaging unit 12-1 and a visible light imaging unit 12-2 as the imaging unit 12.
  • the inspector can confirm the state of the electric wire 52 and the power transmission equipment in more detail by confirming the ultraviolet image information 72-1 and the visible light image information 72-2 with the collecting device 32.
  • the power transmission facility monitoring apparatus 1 may have a function of generating a composite image in which the ultraviolet image information 72-1 and the visible light image information 72-2 are superimposed.
  • the power transmission facility monitoring device 1 transmits the composite image from the transmission unit 414 to the collection device 32. The inspector can easily confirm the color and shape of the electric wire 52 and the location where the electric discharge is generated in the electric wire 52 by referring to the composite image by the collecting device 32.
  • the power transmission equipment monitoring apparatus 1 of the first embodiment includes a discharge determination unit 413. Further, when the determination result 74 of the discharge determination unit 413 indicates that the electric wire 52 and the power transmission facility are not discharged, the imaging unit 12 images the electric wire 52 and the power transmission facility with the visible light imaging unit 12-2, and the determination result 74 Indicates that the electric wire 52 and the power transmission equipment are discharged, the electric wire 52 and the power transmission equipment are imaged by the ultraviolet image information 72-1.
  • the ultraviolet image indicated by the ultraviolet image information 72-1 and the visible light image indicated by the visible light image information 72-2 the ultraviolet image can more easily grasp the location where the electric wire 52 and the power transmission equipment are discharged. can do.
  • the visible light image can easily grasp the color and shape of the electric wire 52 and the power transmission equipment. Can do. Therefore, it is preferable for the inspector to check the state of the electric wire 52 and the power transmission facility by a visible light image when the electric wire 52 and the power transmission facility are not discharged. It is preferable to check the state of the power transmission equipment. According to the power transmission equipment monitoring device 1 of the present embodiment, it is possible to provide information that can be easily confirmed by an inspector according to the state of the electric wire 52 and the power transmission equipment.
  • the flight control unit 415 is based on the electromagnetic wave information 73 when the determination result 74 of the discharge determination unit 413 indicates that the electric wire 52 or the power transmission equipment is not discharged.
  • the flight of the unmanned air vehicle 11 is controlled based on the visible light image information 72-2.
  • the inspection of the electric wire 52 and the power transmission equipment using the power transmission equipment monitoring device 1 may be performed at night. In this case, it may be difficult for the flight control unit 415 to control the flight of the unmanned air vehicle 11 based on the visible light image indicated by the visible light image information 72-2.
  • the determination result 74 of the discharge determination unit 413 indicates that the electric wire 52 or the power transmission facility is discharged, among the electromagnetic wave information 73, the ultraviolet image, and the visible light image, the ultraviolet image is more easily discharged.
  • the location may be grasped.
  • the power transmission equipment monitoring apparatus 1 controls the flight of the unmanned air vehicle 11 based on the electromagnetic wave information 73 or the visible light image information 72-2 when the discharge is not generated, and the discharge is generated. In this case, the flight of the unmanned air vehicle 11 is controlled based on the ultraviolet image information 72-1.
  • information in this example, the image information 72 and the electromagnetic wave information 73
  • Flight methods that can be acquired in more detail can be applied.
  • the rotor blade 113 of the unmanned air vehicle 11 provided in the power transmission facility monitoring device 1 of the first embodiment is formed of a non-metallic material.
  • the electromagnetic wave detection unit 13 of the unmanned air vehicle 11 is formed of a metal material, it may be difficult to accurately measure the electromagnetic wave by the electromagnetic wave detection unit 13. According to the power transmission equipment monitoring device 1 of the present embodiment, it is possible to measure electromagnetic waves with high accuracy.
  • FIG. 6 is a diagram illustrating an example of the configuration of the power transmission facility monitoring apparatus 1 according to the first modification.
  • the power transmission facility monitoring device 1 transmits the image information 72 and the electromagnetic wave information 73 to the collection device 32 has been described.
  • the power transmission facility monitoring apparatus 1 further transmits information indicating the position of the power transmission facility monitoring apparatus 1 to the collection device 32 will be described.
  • symbol is attached
  • the control device 14 included in the power transmission equipment monitoring device 1 includes a control unit 41.
  • the control unit 41 includes an image information acquisition unit 411, an electromagnetic wave information acquisition unit 412, a discharge determination unit 413, a transmission unit 414, a flight control unit 415, and a position detection unit 416 as functional units.
  • the position detection unit 416 detects the position of the power transmission equipment monitoring device 1 and supplies position information 80 indicating the detected position to the transmission unit 414.
  • the position detection unit 416 is, for example, a method using a global navigation satellite system (Global Navigation Satellite System (s): GNSS) such as GPS (Global Positioning System) or a quasi-zenith satellite (quasi-zenith satellite):
  • GNSS global navigation satellite system
  • the position of the power transmission equipment monitoring device 1 is detected by a method using a regional satellite positioning system (RNSS) such as QZS.
  • RNSS regional satellite positioning system
  • the position detection unit 416 may have a function of complementing the position of the power transmission equipment monitoring device 1 detected by a method using GNSS or a method using RNSS with an inertial device (Inertial Navigation System: INS). Good.
  • the position information 80 includes information indicating the altitude of the power transmission equipment monitoring device 1.
  • the position detection unit 416 may acquire the altitude of the power transmission equipment monitoring device 1 using an atmospheric pressure sensor.
  • the position detection unit 416 recognizes the imaging target included in the visible light image based on the visible light image generated by the visible light imaging unit 12-2, for example, thereby increasing the altitude of the power transmission facility monitoring apparatus 1. It may be calculated.
  • the position information 80 includes information indicating the date and time when the position of the power transmission equipment monitoring device 1 is detected.
  • the power transmission equipment monitoring device 1 of the first modification includes the position detection unit 416.
  • the position detection unit 416 detects the position and height of the power transmission equipment monitoring device 1.
  • the transmission unit 414 transmits position information 80 indicating the position detected by the position detection unit 416 to the collection device 32.
  • the collection device 32 includes a storage unit, and the image information 72, the electromagnetic wave information 73, and the position information 80 acquired from the power transmission facility monitoring device 1 may be stored in association with each other.
  • the inspector checks the result of the inspection of the electric wire 52 and the power transmission facility by the power transmission facility monitoring apparatus 1 (in this example, the image information 72 and the electromagnetic wave information 73), and then the power transmission facility from which the result has been acquired.
  • the position of the monitoring device 1 can be grasped. Therefore, according to the power transmission equipment monitoring apparatus 1 of the first modification, it is possible to grasp in detail the location where the electric discharge is generated in the electric wire 52 and the power transmission equipment.
  • FIG. 7 is a diagram illustrating an example of the configuration of the power transmission facility monitoring device 1 according to the second modification.
  • the power transmission facility monitoring apparatus 1 includes a detection unit (hereinafter, sound detection unit 15) that detects the sound of the electric wires 52 and the power transmission facility, and a detection unit (hereinafter, heat detection unit 16) that detects heat.
  • sound detection unit 15 that detects the sound of the electric wires 52 and the power transmission facility
  • heat detection unit 16 that detects heat.
  • the power transmission equipment monitoring device 1 of Modification 2 includes an unmanned air vehicle 11, an imaging unit 12, an electromagnetic wave detection unit 13, a control device 14, a sound detection unit 15, and a heat detection unit 16.
  • the sound detection unit 15 collects a composite sound of a sound generated from the electric wire 52 or the power transmission facility and an environmental sound around the electric wire 52 or the power transmission facility, and sends sound information 76 indicating the collected sound to the control device 14. Supply.
  • the sound detection unit 15 is, for example, a microphone.
  • the electric wire 52 or the power transmission facility generates sound along with the discharge.
  • the sound detection unit 15 may be configured to have high directivity with respect to the frequency band corresponding to the sound generated from the electric wire 52 or the power transmission facility when the discharge is generated.
  • the heat detection unit 16 detects the temperature of the electric wire 52 and the power transmission equipment, and supplies the heat information 77 indicating the detected temperature to the control device 14.
  • the control device 14 of Modification 2 includes a control unit 41.
  • the control unit 41 includes an image information acquisition unit 411, an electromagnetic wave information acquisition unit 412, a discharge determination unit 413, a transmission unit 414, a position detection unit 416, a sound information acquisition unit 417, and a thermal information acquisition unit 418. It is provided as a functional part.
  • the sound information acquisition unit 417 acquires the sound information 76 from the sound detection unit 15.
  • the sound information acquisition unit 417 supplies the acquired sound information 76 to the transmission unit 414.
  • the thermal information acquisition unit 418 acquires the thermal information 77 from the heat detection unit 16.
  • the thermal information acquisition unit 418 supplies the acquired thermal information 77 to the transmission unit 414.
  • the transmission unit 414 transmits the acquired sound information 76, heat information 77, image information 72, electromagnetic wave information 73, and position information 80 described above to the collection device 32.
  • the power transmission equipment monitoring device 1 according to the second modification further includes the sound detection unit 15 and the heat detection unit 16.
  • the sound detection unit 15 detects sound generated from the electric wire 52 and the power transmission equipment, and supplies sound information 76 indicating the detected sound to the control device 14.
  • the heat detection unit 16 detects the temperatures of the electric wires 52 and the power transmission equipment, and supplies heat information 77 indicating the detected temperatures to the control device 14.
  • the power transmission facility monitoring device 1 according to the second modification includes a control device 14.
  • the control device 14 includes a control unit 41, and includes a sound information acquisition unit 417 and a heat information acquisition unit 418 as functional units.
  • the transmission unit 414 transmits the sound information 76 acquired by the sound information acquisition unit 417 and the heat information 77 acquired by the heat information acquisition unit 418 to the collection device 32.
  • the electric wire 52 or the power transmission facility when a discharge is generated in the electric wire 52 or the power transmission facility, the electric wire 52 or the power transmission facility generates a sound along with the discharge.
  • the inspector can confirm whether or not a discharge has occurred in the electric wire 52 or the power transmission facility by confirming the sound information 76 received by the collection device 32.
  • the inspector can confirm whether or not a discharge has occurred in the electric wire 52 or the power transmission facility by confirming the heat information 77 received by the collection device 32. Therefore, according to the power transmission equipment monitoring device 1 of the second modification, the state of the electric wire 52 and the power transmission equipment can be grasped in detail.
  • FIG. 8 is a diagram illustrating an example of the configuration of the power transmission facility monitoring device 2 according to the second embodiment.
  • the modification 1, and the modification 2 the case where the electromagnetic wave information 73 which the power transmission equipment monitoring apparatus 1 detected was transmitted to the collection apparatus 32 was demonstrated.
  • the electromagnetic wave information 73 detected by the power transmission facility monitoring device 2 is compared with the electromagnetic wave information 73 detected in the past, and the degree of deterioration of the electric wire 52 and the power transmission facility is determined.
  • the case of transmitting to the collection device 32 will be described.
  • symbol is attached
  • the power transmission equipment monitoring device 2 includes an unmanned air vehicle 11, an imaging unit 12, an electromagnetic wave detection unit 13, a sound detection unit 15, a heat detection unit 16, and a control device 17.
  • the control device 17 includes an instruction information acquisition unit 40, a control unit 42, and a storage unit 43.
  • the control unit 42 includes a CPU, and includes an image information acquisition unit 411, an electromagnetic wave information acquisition unit 412, a discharge determination unit 413, a transmission unit 414, a flight control unit 415, a position detection unit 416, and sound information.
  • the acquisition part 417, the thermal information acquisition part 418, the calculation part 419, and the deterioration determination part 420 are provided as the function part.
  • Each functional unit of the control unit 42 is realized by executing a program stored in the storage unit 43.
  • These functional units may be realized by hardware such as LSI, ASIC, FPGA, or may be realized by cooperation of software and hardware. These functional units may be distributed among a plurality of devices.
  • the storage unit 43 is realized by, for example, a ROM, a flash memory, a HDD (Hard Disk Drive) SD card, a RAM, a register, and the like.
  • the storage unit 43 may be a storage device such as a NAS (Network Attached Storage) that can be accessed by the collection device 32 via the network NW.
  • NAS Network Attached Storage
  • the calculation unit 419 acquires the electromagnetic wave information 73 from the electromagnetic wave information acquisition unit 412, and based on the acquired electromagnetic wave information 73, the discharge charge that is the amount of charge released when a discharge occurs in the electric wire 52 or the power transmission facility. Calculate the amount. For example, the calculation unit 419 calculates the discharge charge amount based on the magnetic field strength of the electromagnetic wave indicated by the electromagnetic wave information 73 and the distance to the electric wire 52 or the power transmission facility that generates the electromagnetic wave. The calculation unit 419 supplies charge amount information 78 indicating the calculated discharge charge amount to the transmission unit 414. The transmission unit 414 transmits the charge amount information 78 acquired from the calculation unit 419 to the collection device 32.
  • FIG. 9 is a table illustrating an example of the detection information 81 according to the second embodiment.
  • position information 80 detected by the position detection unit 416 image information 72 acquired by the image information acquisition unit 411 (in this example, ultraviolet image information 72-1 and visible light image information 72-2), and electromagnetic waves
  • image information 72 acquired by the image information acquisition unit 411 in this example, ultraviolet image information 72-1 and visible light image information 72-2
  • electromagnetic waves The electromagnetic wave information 73 acquired by the information acquisition unit 412 and the charge amount information 78 calculated by the calculation unit 419 are stored in the storage unit 43 as detection information 81 in association with each other.
  • the storage unit 43 stores detection information 81 (hereinafter referred to as first detection information 81-1) at a certain timing (hereinafter referred to as first timing) and past timing (hereinafter referred to as first timing) before the first timing. 2) detection information 81 (hereinafter, second detection information 81-2) is stored.
  • the deterioration determination unit 420 is based on the first detection information 81-1 and the second detection information 81-2 out of the detection information 81 stored in the storage unit 43, and the electric wire 52 and the power transmission equipment. Determine the degree of degradation. For example, the deterioration determination unit 420 generates detection information 81 in which the position indicated by the position information 80 included in the first detection information 81-1 matches the position indicated by the position information 80 included in the second detection information 81-2. The degree of deterioration is determined by comparison. Here, when a discharge occurs in the electric wire 52 or the power transmission equipment, and the amount of discharge charge released along with the discharge is large, the degree of deterioration of the electric wire 52 or the power transmission equipment may be advanced.
  • the deterioration determination unit 420 increases the discharge charge amount indicated by the charge amount information 78 included in the first detection information 81-1 from the discharge charge amount indicated by the charge amount information 78 included in the second detection information 81-2. When it does, it determines with the electric wire 52 and power transmission equipment having deteriorated.
  • the deterioration determination unit 420 supplies deterioration determination result information 79 indicating the determination result to the transmission unit 414.
  • the transmission unit 414 transmits the deterioration determination result information 79 acquired from the deterioration determination unit 420 to the collection device 32.
  • the detection information 81 may be configured to include at least the charge amount information 78.
  • the deterioration determination unit 420 can determine the degree of deterioration of the electric wire 52 and the power transmission equipment based on the first detection information 81-1 and the second detection information 81-2, the charge Information other than the quantity information 78 may not be included.
  • the deterioration determination unit 420 compares the first detection information 81-1 acquired at the first timing with the second detection information 81-2 acquired at the second timing. However, it is not limited to this.
  • the deterioration determination unit 420 compares the first detection information 81-1 acquired at the first timing with a reference determined based on the detection information 81 acquired in the past from the first timing, The structure which determines the grade of deterioration of the electric wire 52 or power transmission equipment may be sufficient. This reference may be an average of the charge amount information 78 included in the detection information 81 acquired in the past.
  • the power transmission equipment monitoring device 2 includes the storage unit 43, the calculation unit 419, and the deterioration determination unit 420 has been described, but the present invention is not limited thereto.
  • the collection device 32 may include a storage unit 43, a calculation unit 419, and a deterioration determination unit 420.
  • the amount of discharge charge released along with the discharge of the electric wire 52 or the power transmission facility is calculated, and the charge included in the first detection information 81-1 is calculated.
  • the degree of deterioration of the power transmission equipment such as the electric wire 52 is determined. Thereby, the inspector can refer to information (for example, deterioration determination result information 79) indicating the degree of deterioration of the power transmission equipment such as the electric wire 52 and grasp the state of the power transmission equipment such as the electric wire 52 in detail.
  • FIG. 10 is a diagram illustrating an outline of the power transmission facility monitoring device 3 according to the third embodiment.
  • the power transmission equipment monitoring apparatus 3 detects the arrival direction of electromagnetic waves, and makes the unmanned air vehicle 11 fly based further on the detected arrival direction.
  • symbol is attached
  • the power transmission facility monitoring device 3 is a device mounted on the unmanned air vehicle 11.
  • the imaging unit 12, a directional antenna (electromagnetic wave detection unit) 13 ⁇ / b> A, a sound detection unit 15, The heat detection part 16, the rotation drive part 18, and the control apparatus 19 are provided.
  • the rotation drive unit 18 rotates the electromagnetic wave detection unit 13 based on the control of the control device 19.
  • the rotation drive unit 18 is, for example, a motor.
  • the directional antenna 13 ⁇ / b> A includes a main shaft that is supported vertically downward by the rotation driving unit 18, and a subshaft that generates a directional direction corresponding to a direction in which the main shaft is bent and extends.
  • the main shaft of the directional antenna 13A and the wiring provided in the rotation drive unit 18 are connected by a slip ring.
  • FIG. 11 is a diagram illustrating an example of a configuration of the power transmission facility monitoring device 3 according to the third embodiment.
  • the control device 19 includes, for example, an instruction information acquisition unit 40, a storage unit 43, and a control unit 44.
  • the control unit 44 includes an image information acquisition unit 411, an electromagnetic wave information acquisition unit 412, a discharge determination unit 413, a transmission unit 414, a flight control unit 415, a position detection unit 416, a sound information acquisition unit 417, and a heat.
  • the information acquisition part 418, the calculation part 419, the deterioration determination part 420, the drive control part 421, and the arrival direction detection part 422 are provided.
  • the drive control unit 421 controls the operation of the rotation drive unit 18. For example, the drive control unit 421 rotates the directional antenna 13 ⁇ / b> A when the unmanned air vehicle 11 starts flying around the power transmission facility.
  • the arrival direction detection unit 422 acquires electromagnetic wave information 73 (hereinafter, including a reception signal) from the electromagnetic wave detection unit 13, and detects the arrival direction of the electromagnetic wave generated from the power transmission equipment.
  • the arrival direction detection unit 422 supplies direction information 82 indicating the detected direction to the flight control unit 415.
  • the arrival direction detection unit 422 acquires, for example, the electromagnetic wave information 73 in each direction when the rotation driving unit 18 rotates the electromagnetic wave detection unit 13 and the electromagnetic wave detection unit 13 is directed in different directions.
  • the arrival direction detection unit 422 is the direction of the electromagnetic wave detection unit 13 when acquiring the electromagnetic wave information 73 having the strongest intensity of the electromagnetic wave generated from the power transmission facility among the electromagnetic wave information 73 in each direction, that is, the electromagnetic wave generated from the power transmission facility. Detect the direction of arrival.
  • the arrival direction detection unit 422 supplies the detected arrival direction to the flight control unit 415 as direction information 82.
  • the flight control unit 415 further controls the flight of the unmanned air vehicle 11 based on the acquired direction information 82. For example, the flight control unit 415 causes the unmanned air vehicle 11 to fly in the arrival direction of the electromagnetic wave indicated by the direction information 82 and moves the unmanned air vehicle 11 in the vicinity of the power transmission equipment. Since the subsequent configuration is the same as that of the above-described embodiment and modification, the description thereof is omitted.
  • the power transmission facility monitoring device 3 of the third embodiment includes the rotation drive unit 18, the drive control unit 421, and the arrival direction detection unit 422.
  • the rotation drive unit 18 rotates the electromagnetic wave detection unit 13 based on the control of the drive control unit 421.
  • the arrival direction detection unit 422 detects the arrival direction of the electromagnetic wave generated from the power transmission facility based on the detected electromagnetic wave information 73.
  • the flight control unit 415 causes the unmanned air vehicle 11 to fly in the arrival direction detected by the arrival direction detection unit 422. Therefore, according to the power transmission facility monitoring device 3 of the present embodiment, the unmanned air vehicle 11 can be moved to the vicinity of the power transmission facility even when the operator does not control the unmanned air vehicle 11.
  • FIG. 12 is a diagram illustrating an example of an outline of the power transmission facility monitoring device 3 according to the fourth embodiment.
  • the power transmission equipment monitoring device 3 includes a patch antenna (electromagnetic wave detection unit) 13B, and the patch antenna 13B is disposed on the rotor blade 113.
  • symbol is attached
  • the patch antenna 13 ⁇ / b> B included in the power transmission facility monitoring device 3 of the fourth embodiment is disposed on the rotor blade 113.
  • the patch antenna 13B is rotated as the rotating blade 113 rotates.
  • the wiring connected to the patch antenna 13B is connected to a slip ring provided in the vicinity of the rotating shaft of the rotor blade 113.
  • a slip ring and the electrical equipment monitoring apparatus 3 main body are connected by wiring.
  • the arrival direction detection unit 422 acquires the electromagnetic wave information 73 in each direction when the rotary wing 113 rotates the patch antenna 13B and the patch antenna 13B is directed in different directions.
  • the arrival direction detection unit 422 is the direction of the patch antenna 13B when acquiring the electromagnetic wave information 73 having the strongest intensity of the electromagnetic wave generated from the power transmission facility among the electromagnetic wave information 73 in each direction, that is, the electromagnetic wave generated from the power transmission facility.
  • the direction of arrival is detected.
  • the directivity of the patch antenna 13B is assumed to be in the normal direction with respect to the surface of the patch antenna 13B.
  • the arrival direction detection unit 422 supplies the detected arrival direction to the flight control unit 415 as direction information 82.
  • the power transmission equipment monitoring apparatus 3 of 4th Embodiment does not need to be provided with the rotation drive part 18 and the drive control part 421. FIG. Since the subsequent description is the same as that of the above-described embodiment, the description is omitted.
  • the patch antenna 13B included in the power transmission facility monitoring device 3 of the fourth embodiment is disposed on the rotor blade 113.
  • the arrival direction detection unit 422 detects the arrival direction of the electromagnetic wave generated from the power transmission facility based on the electromagnetic wave information 73 detected by the patch antenna 13B rotated with the rotation of the rotary blade 113. Therefore, according to the power transmission equipment monitoring device 3 of the fourth embodiment, the unmanned air vehicle 11 can be moved to the vicinity of the power transmission equipment even when the operator does not control the unmanned air vehicle 11.
  • FIG. 13 is a diagram illustrating an example of an outline of the power transmission facility monitoring device 3 according to the fifth embodiment.
  • the power transmission facility monitoring device 3 includes a plurality of patch antennas.
  • symbol is attached
  • the power transmission facility monitoring apparatus 3 of the fifth embodiment includes two patch antennas 13B-1 and B-2.
  • the patch antenna 13B-2 is arranged with an interval that causes a significant difference in the phase of the electromagnetic wave to be detected.
  • the patch antenna 13B is arranged at a position away from the top surface of the casing 111 or in the vertical direction.
  • the patch antenna 13B-1 and the patch antenna 13B-2 are arranged in the surface direction of the top plate surface of the casing 111.
  • the arrival direction detection unit 422 acquires the electromagnetic wave information 73 from each of the plurality of patch antennas 13B.
  • the arrival direction detection unit 422 estimates the arrival direction of the electromagnetic wave generated from the power transmission facility based on the phase difference between the electromagnetic wave information 73. Since the subsequent configuration is the same as that of the above-described embodiment and modification, the description thereof is omitted.
  • the power transmission equipment monitoring device 3 of the fifth embodiment includes the plurality of patch antennas 13B and the arrival direction detection unit 422.
  • the plurality of patch antennas 13B are arranged at positions where differences occur in the detection results of the electromagnetic waves (in this example, positions separated in the surface direction of the top plate surface), and the arrival direction detection unit 422 is configured to detect the electromagnetic waves detected by the patch antenna 13B. Based on the information 73, the arrival direction of the electromagnetic wave generated from the power transmission facility is detected. Therefore, according to the power transmission equipment monitoring device 3 of the modification 3, the unmanned air vehicle 11 can be moved to the vicinity of the power transmission equipment even when the operator does not control the unmanned air vehicle 11.
  • FIG. 14 is a diagram illustrating an example of an outline of the power transmission facility monitoring device 3 according to the sixth embodiment.
  • the power transmission equipment monitoring device 3 includes three or more patch antennas 13B, and detects the arrival directions of electromagnetic waves generated from the power transmission equipment with two or more directions of accuracy.
  • the power transmission equipment monitoring apparatus 3 includes, for example, eight patch antennas 13B-3 to 13B-10.
  • the patch antenna 13B-3 to patch antenna 13B-10 are arranged on the back surface or side surface of the casing 111.
  • the patch antenna 13B-3 to the patch antenna 13B-6 are arranged with an interval that causes a significant difference in the phase of the electromagnetic wave to be detected.
  • the patch antenna 13B-3 to patch antenna 13B-10 are arranged in an array with two rows on the top and bottom.
  • the arrival direction detection unit 422 acquires the electromagnetic wave information 73 from each of the plurality of patch antennas 13B.
  • the arrival direction detection unit 422 estimates the arrival direction of the electromagnetic wave based on the phase difference between the electromagnetic wave information 73 from the adjacent patch antennas 13 ⁇ / b> B in the electromagnetic wave information 73.
  • the power transmission equipment monitoring apparatus 3 can detect the arrival direction of the electromagnetic waves generated from the power transmission equipment with higher accuracy based on the electromagnetic wave information 73 detected by the patch antenna 13B. Since the subsequent configuration is the same as that of the above-described embodiment and modification, the description thereof is omitted.
  • the directional antenna 13A may be, for example, an omnidirectional antenna (for example, a dipole antenna, a monopole antenna, and a rod antenna).
  • the power transmission facility monitoring device 3 may include a telescopic drive unit that expands and contracts the directional antenna 13A, for example.
  • the drive control unit 421 controls the operation of the telescopic drive unit. For example, when the unmanned air vehicle 11 starts to fly around the power transmission facility, the drive control unit 421 expands and contracts the directional antenna 13A to a length corresponding to the electromagnetic wave generated from the power transmission facility. Thereby, the power transmission equipment monitoring device 3 can efficiently detect electromagnetic waves generated from the power transmission equipment.
  • the power transmission facility monitoring device 3 rotates or expands or contracts the directional antenna 13A or the patch antenna 13B, or includes a plurality of patch antennas 13B is described, but the present invention is not limited thereto.
  • the power transmission facility monitoring device 3 turns the unmanned air vehicle 11 when the unmanned air vehicle 11 flies around the power transmission facility when the directivity of the antenna is limited (for example, the directivity of the patch antenna is about).
  • the directivity of the patch antenna is about
  • the direction of arrival of electromagnetic waves may be searched.
  • FIG. 15 is a diagram illustrating an example of a configuration of the terminal 30 according to the seventh embodiment.
  • various types of information detected by the power transmission equipment monitoring device are presented in a form that is easy for the operator of the unmanned air vehicle 11 to recognize.
  • symbol is attached
  • the terminal 30 of the present embodiment includes a control unit 44 and a display unit 45 in addition to the configuration described above.
  • the control unit 44 includes a CPU, and includes a reception unit 441, an image generation unit 442, and a display control unit 443 as functional units.
  • the receiving unit 441 receives the ultraviolet image information 72-1 and the visible light image from any one of the power transmission facility monitoring device 1, the power transmission facility monitoring device 2, and the power transmission facility monitoring device 3 (hereinafter simply referred to as a power transmission facility monitoring device). Information 72-2 is received.
  • the image generation unit 442 generates a discharge location image indicating a location where a power transmission facility has a discharge based on the ultraviolet image information 72-1 and the visible light image information 72-2.
  • the ultraviolet image and the visible light image are images captured in the same direction and the same angle of view, for example. Therefore, the position of the power transmission facility captured in the ultraviolet image and the position of the power transmission facility captured in the visible light image correspond to each other. Otherwise, the images may be aligned with reference to information associating the positions between the images.
  • the image generation unit 442 superimposes an image (hereinafter, discharge location image 84) that clearly indicates the location of the discharge in the visible light image information 72-2.
  • An image is generated as a composite image.
  • the display control unit 443 acquires information indicating the composite image generated by the image generation unit 442 (hereinafter, composite image information 83) and displays the information on the display unit 45.
  • the display unit 45 displays a composite image based on the control of the display control unit 443.
  • the display unit 45 may be, for example, a wearable display device such as a VR (Virtual Reality) goggle in addition to a general LCD or an organic EL display device.
  • the discharge location image includes four discharge location images 84 (discharge location image 84-1 to discharge location image 84-4 shown in the drawing) according to the location of the discharge of the power transmission equipment captured in the ultraviolet image. It is an image superimposed on a visible light image.
  • the display control unit 443 refers to the display information stored in advance in a storage unit (not shown) and superimposes it on the visible light image.
  • the display information is, for example, information in which a predetermined pixel value is assigned to pixels around the pixel that is the center position to be emphasized.
  • FIG. 16 is a diagram illustrating an example of a composite image according to the seventh embodiment. As shown in FIG.
  • a composite image is shown in which a highlighted display of an X mark is superimposed on a visible light image.
  • the highlighted display is not limited to the x mark, but may be a rectangle, a circle, an arrow, a mark for alerting, or the like.
  • superimposing may be realized by replacing the original pixel value with the highlighted pixel value, or may be realized by adding. Further, it may be realized by inverting the pixel value of a portion to be highlighted.
  • the terminal 30 includes the image generation unit 442, and identifies the location where the power transmission facility has a discharge based on the ultraviolet image information 72-1 and the visible light image information 72-2.
  • a composite image is generated by superimposing the highlighted display shown on the visible light image. The operator of the unmanned air vehicle 11 can easily grasp the discharge generated in the power transmission facility with reference to the composite image generated by the terminal 30.
  • the image generation unit 442 may be configured to generate a composite image that brightens or enlarges the highlight display when the discharge amount of the power transmission facility indicated by the ultraviolet image information 72-1 is large. Further, the image generation unit 442 may be configured to generate a composite image that darkens or reduces the highlighting when the discharge amount of the power transmission line indicated by the ultraviolet image information 72-1 is small.
  • the display control unit 443 may be configured to display a composite image by AR (Augmented Reality) technology.
  • AR Augmented Reality
  • the display control unit 443 acquires the position and orientation of the inspector with a GPS or a direction sensor built in the AR glass, and generates a three-dimensional space model centered on the inspector.
  • the display control unit 443 applies the captured image (visible light image information 72-2) to the three-dimensional space model, and converts the portion to be highlighted from two-dimensional to three-dimensional.
  • the display control unit 443 highlights a portion to be emphasized in the power transmission line visually recognized through the AR glass.

Landscapes

  • Electric Cable Installation (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

Un dispositif de surveillance d'installation de transmission de puissance selon un mode de réalisation comprend : une unité de capture d'image ; une unité de détection d'onde électromagnétique ; une unité de transmission ; une unité d'acquisition d'informations de direction ; et une unité de commande de vol. Le dispositif de surveillance d'installation de transmission de puissance selon le mode de réalisation est monté dans un objet volant sans pilote. L'unité de capture d'image capture une image d'une installation de transmission de puissance. L'unité de détection d'onde électromagnétique détecte des ondes électromagnétiques émises par l'installation de transmission de puissance. L'unité de transmission transmet des informations d'image sur la base d'une image capturée par l'unité de capture d'image et/ou des informations d'onde électromagnétique sur la base des ondes électromagnétiques détectées par l'unité de détection d'onde électromagnétique à un autre dispositif. L'unité d'acquisition d'informations de direction acquiert des informations de direction qui dirigent l'objet volant sans pilote afin qu'il vole à partir d'un terminal d'un opérateur qui fait fonctionner l'objet volant. L'unité de commande de vol commande le vol de l'objet volant sans pilote sur la base des informations de direction acquises par l'unité d'acquisition d'informations de direction.
PCT/JP2017/018641 2017-01-25 2017-05-18 Dispositif de surveillance d'installation de transmission de puissance, unité de surveillance d'installation de transmission de puissance et système de surveillance d'installation de transmission de puissance WO2018138942A1 (fr)

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JP2019073096A (ja) * 2017-10-13 2019-05-16 アルパイン株式会社 架線撮影システム及び架線撮影方法
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JP2020078209A (ja) * 2018-11-09 2020-05-21 中国電力株式会社 点検システム、点検支援方法および点検支援プログラム
WO2020195336A1 (fr) * 2019-03-28 2020-10-01 パナソニック株式会社 Dispositif de mesure d'environnement d'ondes radio
JP7136327B2 (ja) 2019-03-28 2022-09-13 パナソニックホールディングス株式会社 電波環境測定装置
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CN109936080B (zh) * 2019-03-28 2020-05-22 郑州大学 一种无人机巡检输电线路的方法
JPWO2020195336A1 (ja) * 2019-03-28 2021-12-23 パナソニック株式会社 電波環境測定装置
CN110887462A (zh) * 2019-11-28 2020-03-17 深圳供电局有限公司 一种无人机巡检方法及系统、输电线路巡检方法及系统
WO2021181578A1 (fr) * 2020-03-11 2021-09-16 日本電気株式会社 Dispositif de commande d'affichage, procédé de commande d'affichage et programme
JP7537178B2 (ja) 2020-08-24 2024-08-21 住友電気工業株式会社 設備点検システムおよび設備点検方法
CN112650098B (zh) * 2020-11-26 2022-01-28 国网河北省电力有限公司武安市供电分公司 无人机飞行监测电网施工系统
CN112650098A (zh) * 2020-11-26 2021-04-13 国网河北省电力有限公司武安市供电分公司 无人机飞行监测电网施工系统
CN112436432B (zh) * 2020-12-01 2022-11-01 国网安徽省电力有限公司池州供电公司 一种超高空高压电缆的维护方法
CN112436432A (zh) * 2020-12-01 2021-03-02 湖南宇尚电力建设有限公司 一种超高空高压电缆的维护方法
WO2022202030A1 (fr) * 2021-03-22 2022-09-29 パナソニックＩｐマネジメント株式会社 Dispositif de détection d'état d'alimentation et procédé de détection d'état d'alimentation
JP7539004B2 (ja) 2021-03-22 2024-08-23 パナソニックＩｐマネジメント株式会社 通電状態検出装置および通電状態検出方法
WO2024004162A1 (fr) * 2022-06-30 2024-01-04 株式会社Acsl Engin volant sans pilote embarqué
WO2024171279A1 (fr) * 2023-02-14 2024-08-22 日本電信電話株式会社 Petit avion sans pilote, procédé de commande de vol, et programme de commande de vol

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