JP6436049B2 - Status detection device and status detection program - Google Patents

Description

  The present invention relates to a state detection device and a state detection program.

  2. Description of the Related Art Conventionally, a technique for inspecting a power transmission line using an image captured from the vicinity of the power transmission line when an unmanned air vehicle (eg, a drone) flies autonomously and flies to the inspection location of the power transmission line is known.

JP 2001-39397 A

  However, the unmanned aerial vehicle as described in Patent Document 1 flies in the vicinity of the transmission line, and flies along a curve (hereinafter referred to as a catenary curve) formed by an electric wire suspended from an electric wire support point. It is not a thing. That is, when detecting the temperature of the electric wire and the state of the electric wire such as corona discharge generated from the electric wire, the position where the unmanned air vehicle flies is different every time, and the state of the electric wire may not be detected accurately. This invention is made | formed in view of said point, and provides the state detection apparatus which detects the state of an electric wire more accurately, when an unmanned air vehicle flies along a catenary curve.

  One aspect of the present invention is an imaging unit that captures a landscape image in which a landscape around an unmanned air vehicle is captured, images of a plurality of structures included in the landscape image captured by the imaging unit, and the plurality of the plurality of structures A catenary calculation unit that calculates a catenary curve of the electric wire based on an image of the electric wire suspended between structures, and a flight path of the unmanned air vehicle along the catenary curve of the electric wire calculated by the catenary calculation unit. Based on the flight path calculation unit to be calculated, the flight control unit that controls the flight of the unmanned air vehicle based on the flight path calculated by the flight path calculation unit, and the catenary curve calculated by the catenary calculation unit When an unmanned air vehicle is flying along the flight path, the cable is suspended between the catenary curve calculation target wires or the plurality of structures that suspend the calculation target wires. And a state detection unit for detecting the state of the other wire, a state detecting device to be mounted on an unmanned air vehicle.

  In the state detection device of one embodiment of the present invention, the state detection unit detects at least one of the temperature of the electric wire and the corona discharge generated from the electric wire.

  In the state detection device according to one aspect of the present invention, the flight path calculation unit calculates a flight path that is a predetermined distance away from the catenary curve of the wire calculated by the catenary calculation unit.

  Moreover, the state detection device according to an aspect of the present invention is based on facility information including information indicating the position of the structure, own weight of the wire, and information indicating the tension of the wire. The apparatus further includes a catenary estimation unit that estimates a catenary curve, and the flight path calculation unit calculates a flight path based on a calculation result of the catenary calculation unit and an estimation result of the catenary estimation unit.

  According to one embodiment of the present invention, an imaging step of capturing a landscape image in which a landscape around an unmanned air vehicle is imaged in a computer, images of a plurality of structures included in the landscape image captured by the imaging step, and A catenary calculating step of calculating a catenary curve of the electric wire based on an image of the electric wire suspended between the plurality of structures, and an unmanned air vehicle along the catenary curve of the electric wire calculated by the catenary calculating step A flight path calculation step for calculating the flight path, a flight control step for controlling the flight of the unmanned air vehicle based on the flight path calculated by the flight path calculation step, and the catenary curve calculated by the catenary calculation step When an unmanned air vehicle is flying along the flight path calculated based on the Line, or a status detection program for executing the status detection step of detecting a state of the other wire to be suspended between the plurality of structures for suspending the calculation target of the wire.

  According to the present invention, the state of an electric wire can be detected with high accuracy.

It is a schematic diagram which shows an example of the external appearance of the unmanned air vehicle which mounts the state detection apparatus which concerns on 1st Embodiment of this invention. It is a schematic diagram which shows an example of the flight of the unmanned air vehicle which mounts the state detection apparatus of 1st Embodiment. It is a block diagram which shows an example of a structure of the state detection apparatus of 1st Embodiment. It is a schematic diagram which shows an example of the landscape image which the imaging part of 1st Embodiment images. It is a schematic diagram which shows an example of the flight path | route of the unmanned air vehicle of 1st Embodiment. It is a flowchart which shows an example of operation | movement of the control part of 1st Embodiment. It is a block diagram which shows an example of a structure of the state detection apparatus of 2nd Embodiment. It is a flowchart which shows an example of operation | movement of the control part of 2nd Embodiment.

[First Embodiment]
Hereinafter, a first embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a schematic diagram showing an example of the appearance of an unmanned air vehicle D equipped with a state detection device 1 according to the first embodiment of the present invention. Here, a case where the unmanned air vehicle D is a drone will be described as an example. In this example, the unmanned air vehicle D flies by autonomous control. As shown in FIG. 1, the unmanned air vehicle D includes a plurality of rotors, and flies in various directions by adjusting the number of rotations of the rotors.
In addition, although the drone as a specific example of the unmanned air vehicle D is demonstrated here, the unmanned air vehicle D is not restricted to this.

Next, the flight of the unmanned air vehicle D will be described with reference to FIG. FIG. 2 is a schematic diagram showing an example of the flight of the unmanned air vehicle D equipped with the state detection device 1 according to the first embodiment of the present invention. As shown in FIG. 2, the unmanned air vehicle D flies near the electric wire WR supported by the steel tower ST. More specifically, the unmanned air vehicle D flies along the electric wire WR supported by the steel tower ST. Here, the steel tower ST is, for example, a power transmission line steel tower. Moreover, the electric wire WR is, for example, a power transmission line.
The flight of the unmanned air vehicle D is controlled by the state detection device 1.

  Returning to FIG. 1, the state detection device 1 mounted on the unmanned air vehicle D includes a control unit 10, an imaging unit 20, and a state detection unit 30. A more specific configuration of the state detection device 1 will be described with reference to FIG.

FIG. 3 is a configuration diagram illustrating an example of a configuration of the state detection device 1 according to the first embodiment.
The imaging unit 20 includes a camera and images a landscape around the unmanned air vehicle D. Specifically, the imaging unit 20 captures a landscape image P that is a landscape image. More specifically, the imaging unit 20 captures a landscape image P in the traveling direction in which the unmanned air vehicle D flies.

  Next, the landscape image P will be described with reference to FIG. FIG. 4 is a schematic diagram illustrating an example of a landscape image P captured by the imaging unit 20 of the first embodiment. Here, the coordinate system of the landscape image P is defined. In this example, the landscape image P is a rectangular image. The coordinates of the pixels of the landscape image P are indicated by an orthogonal image coordinate system (Xp, Yp). The horizontal direction of the landscape image P is the axis Xp, and the vertical direction of the landscape image P orthogonal to the axis Xp is the axis Yp. The coordinates of the landscape included in the landscape image P are indicated by a three-dimensional orthogonal coordinate system (Xg, Yg, Zg). The vertical upward direction of the landscape included in the landscape image P is the axis Zg, and the directions orthogonal to the axis Zg are the axis Xg and the axis Yg, respectively.

  In this example, the imaging unit 20 images a part of the electric wire WR. The landscape image P includes an image of the steel tower ST and an image of the electric wire WR. This steel tower ST is an example of a structure. In this example, the electric wire WR is suspended between the two steel towers ST, that is, the steel tower ST1 and the steel tower ST2. The landscape image P includes a background image BG such as a tree, the ground, and the sky.

Returning to FIG. 3, the imaging unit 20 supplies the captured landscape image P to the control unit 10.
The control unit 10 includes a CPU (Central Processing Unit), and includes an image extraction unit 110, a catenary calculation unit 120, a route calculation unit 130, and a flight control unit 140 as functional units.
The image extraction unit 110 acquires the landscape image P from the imaging unit 20. The image extraction unit 110 extracts the span information SP indicating the distance between the structures from the landscape image P by a known image processing technique.

  As shown in FIG. 4, the span information SP is information indicating the lengths of the chords CD connecting the vertices of the two steel towers ST, that is, the points P1 and P2.

Returning to FIG. 3, the image extraction unit 110 supplies the extracted span information SP to the catenary calculation unit 120.
The catenary calculation unit 120 calculates the route calculation formula FC based on the acquired span information SP. The route calculation formula FC is a derivation formula for the catenary curve C formed by the electric wire WR. Specifically, the catenary calculating unit 120 determines the parameters of the derivation formula for the catenary curve C based on the acquired span information SP. Hereinafter, the determination of the parameter of the derivation formula indicating the catenary curve C based on the span information SP by the catenary calculation unit 120 is also referred to as calculating the catenary curve C. The derivation formula for the catenary curve C is formula (1).

In this example, the case where the linear density ω and the tension T are predetermined magnitudes will be described.
Here, the line density ω is the weight per unit length of the electric wire WR. Further, the tension T is a tension related to the electric wire WR when the electric wire WR is supported by the steel tower ST.
The catenary calculation unit 120 calculates the route calculation formula FC based on the formula (1) and the span information SP.
That is, the catenary calculating unit 120 calculates the catenary curve C formed by the electric wire WR based on the image of the structure included in the landscape image P captured by the imaging unit 20 and the image of the electric wire WR suspended from the structure. To do.
The catenary calculation unit 120 supplies information indicating the calculated route calculation formula FC to the route calculation unit 130.

In this example, although the case where the route calculation formula FC is calculated based on the span information SP acquired by the catenary calculation unit 120 has been described, the present invention is not limited thereto. The catenary calculation unit 120 may calculate the route calculation formula FC even if it is information other than the span information SP.
For example, the image extraction unit 110 may extract the coordinates of two points having a catenary curve C formed by the electric wire WR by a known image processing technique. The catenary calculation unit 120 may calculate the route calculation formula FC based on the coordinates of the three points of the catenary curve C formed by a certain electric wire WR extracted by the image extraction unit 110.

The route calculation unit 130 acquires information indicating the route calculation formula FC calculated by the catenary calculation unit 120. The route calculation unit 130 calculates the flight route FL on which the unmanned air vehicle D flies based on the acquired route calculation formula FC.
In this example, a case where the unmanned air vehicle D flies upward from the electric wire WR by the separation distance OD will be described. The separation distance OD is a distance from the electric wire WR on which the unmanned air vehicle D flies to the unmanned air vehicle D. The upper direction is the positive direction of the axis Zg.

Next, an example of the flight path FL will be described with reference to FIG. FIG. 5 is a schematic diagram illustrating an example of a flight path FL of the unmanned air vehicle D according to the first embodiment.
As shown in FIG. 5, the flight path FL is a path that is above the electric wire WR by the separation distance OD and has the same shape as the catenary curve C formed by the electric wire WR. That is, the flight path FL is a path along the electric wire WR.
That is, the route calculation unit 130 calculates a flight route FL that is a predetermined distance away from the route calculation formula FC calculated by the catenary calculation unit 120. Specifically, the route calculation unit 130 calculates the flight route FL of the unmanned air vehicle D along the shape of the catenary curve C formed by the electric wire WR.

  In this example, the case where the flight path FL is above the electric wire WR has been described, but the present invention is not limited to this. As long as the flight path FL is calculated based on the shape of the catenary curve C formed by the electric wire WR, the flight path FL may be in the left-right direction of the electric wire WR or may be below.

Returning to FIG. 3, the route calculation unit 130 supplies information indicating the flight route FL to the flight control unit 140.
The flight control unit 140 controls the flight of the unmanned air vehicle D based on the flight path FL acquired from the path calculation unit 130. Specifically, the flight control unit 140 controls the rotational speed of the rotor of the unmanned air vehicle D so that the unmanned air vehicle D flies along the flight path FL. That is, the flight control unit 140 controls the flight of the unmanned air vehicle based on the flight path FL calculated by the path calculation unit 130.
Thereby, the unmanned air vehicle D can fly along the electric wire WR.
The flight control unit 140 detects the flight position information H indicating the height information indicating the height from the ground surface to the position where the unmanned air vehicle D flies and the position information indicating the coordinates where the unmanned air vehicle D flies. To the unit 30.

The state detection unit 30 includes a heat detection unit 310 and a corona detection unit 320.
The heat detector 310 detects the temperature of the electric wire WR that the unmanned air vehicle D flies along. Specifically, the heat detection unit 310 detects the temperature generated in the electric wire WR along which the unmanned air vehicle D flies. Thereby, the heat detection unit 310 detects the degree of heat loss due to breakage or deterioration of the electric wire WR. The heat detection unit 310 is, for example, an infrared sensor.
The corona detector 320 detects a corona discharge of the electric wire WR that the unmanned air vehicle D flies along. Specifically, the corona detector 320 detects a corona discharge that occurs in the electric wire WR along which the unmanned air vehicle D flies. Thereby, the corona detector 320 detects the degree of corona discharge due to the breakage or deterioration of the electric wire WR. The corona detection unit 320 is, for example, an acoustic sensor.

That is, the state detection unit 30 is in the state of the electric wire WR to be calculated for the catenary curve C when the unmanned air vehicle D is flying on the flight path FL calculated based on the catenary curve C calculated by the catenary calculation unit 120. Is detected. In this example, the state of the electric wire WR is indicated by the temperature of the electric wire WR and the corona discharge of the electric wire WR.
Here, the state detection unit 30 determines whether or not the unmanned air vehicle D is flying. The state detection unit 30 detects the state of the electric wire WR when it is determined that the unmanned air vehicle D is flying. Specifically, the state detection unit 30 acquires the flight position information H from the control unit 10. The state detection unit 30 determines that the unmanned air vehicle D is flying when the acquired flight position information H indicates a predetermined value. Specifically, the state detection unit 30 is a case where the height information indicating the height from the ground surface to the position where the unmanned air vehicle D flies is larger than a predetermined value, and the unmanned air vehicle D flies. When the information indicating the coordinates indicates the position of the electric wire WR whose state is to be determined, it is determined that the unmanned air vehicle D is flying. When it is determined that the unmanned air vehicle D is flying, the state detection unit 30 detects the state of the electric wire WR using the heat detection unit 310 and the corona detection unit 320. More specifically, when the predetermined value is a value indicating the height from the ground surface to the top of the steel tower ST, and the information indicating the coordinates indicates the position of the electric wire WR for determining the state, The state detection unit 30 detects the state of the electric wire WR when the unmanned air vehicle D flies above the steel tower ST.
The state detection unit 30 causes the storage unit 40 to store the detected state of the electric wire WR.

  In this example, the case where the state detection unit 30 includes the heat detection unit 310 and the corona detection unit 320 has been described as an example, but the present invention is not limited thereto. The state detection unit 30 may include any one of the heat detection unit 310 and the corona detection unit 320.

  Moreover, although this example demonstrated the case where the state detection part 30 memorize | stores the state of the electric wire WR in the memory | storage part 40, it is not restricted to this. The state detection device 1 may include a communication unit that communicates with a monitoring device that centrally monitors the state of the electric wire WR, and may sequentially supply the state of the electric wire WR detected by the state detection unit 30 to the monitoring device.

Further, in this example, the case where the state detection unit 30 detects the state of the electric wire WR that is the electric wire WR captured in the landscape image P and the catenary calculation unit 120 calculates the catenary curve C has been described. However, it is not limited to this.
The state detection unit 30 may detect the state of another electric wire WR supported by the same steel tower ST as the electric wire WR.

Next, the control of the flight of the unmanned air vehicle D along the electric wire WR by the control unit 10 will be described with reference to FIG. FIG. 6 is a flowchart illustrating an example of the operation of the control unit 10 according to the first embodiment.
The image extraction unit 110 acquires the landscape image P from the imaging unit 20 (step S100). The image extraction unit 110 extracts the span information SP from the landscape image P (step S110). The image extraction unit 110 supplies the span information SP to the catenary calculation unit 120 (step S120).

  The catenary calculation unit 120 acquires the span information SP from the image extraction unit 110 (step S130). The catenary calculation unit 120 calculates a route calculation formula FC that is a derivation formula of the catenary curve C formed by the electric wire WR based on the acquired span information SP (step S140). The catenary calculation unit 120 supplies information indicating the calculated route calculation formula FC to the route calculation unit 130 (step S150).

  The route calculation unit 130 acquires information indicating the route calculation formula FC from the catenary calculation unit 120 (step S160). The route calculation unit 130 calculates the flight route FL on which the unmanned air vehicle D flies based on the acquired route calculation formula FC (step S170). The route calculation unit 130 supplies information indicating the calculated flight route FL to the flight control unit 140 (step S180).

  The flight control unit 140 acquires information indicating the flight route FL from the route calculation unit 130 (step S190). The flight control unit 140 controls the flight of the unmanned air vehicle D based on the acquired flight path FL (step S200).

  As described above, the state detection unit 30 detects at least one of the temperature of the electric wire WR and the corona discharge generated from the electric wire WR. Thereby, the state detection unit 30 detects the degree of heat loss due to breakage or deterioration of the electric wire WR, or the degree of corona discharge. That is, according to the state detection unit 30 of the present embodiment, the state of the electric wire WR can be detected.

Further, the route calculation unit 130 calculates a flight route FL that is a predetermined distance away from the catenary curve C formed by the electric wire WR based on the route calculation formula FC calculated by the catenary calculation unit 120.
Here, when the state detection unit 30 detects the state of the electric wire WR, if the positions of the state detection unit 30 and the electric wire WR are different, the accuracy of the detection result may be different. That is, when the state of the electric wire WR is accurately detected by the state detection unit 30, it is required that the positions of the unmanned air vehicle D and the electric wire WR are sequentially the same.

Here, in the conventional technique, the unmanned air vehicle D that detects the state of the power transmission line flies in the vicinity of the power transmission line and flies along the catenary curve C formed by the electric wire suspended from the electric wire support point. There was a case not to do. For example, in the conventional technology, the unmanned air vehicle D flies away from the electric wire WR when approaching the electric wire WR by a predetermined distance or more. Further, in the conventional technique, the unmanned air vehicle D flies in a direction approaching the electric wire WR when it is separated from the electric wire WR by a predetermined distance or more. In the conventional technique, the unmanned air vehicle D may have realized the flight in the vicinity of the electric wire WR by repeating this operation.
That is, in the conventional technique, the flight direction of the unmanned air vehicle D is successively feedback controlled based on the current flight position of the unmanned air vehicle D and the position of the electric wire WR. Thereby, the flight of the unmanned air vehicle D is controlled. That is, in the conventional technique, a control delay occurs in the control of the flight direction of the unmanned air vehicle D.
That is, when the unmanned air vehicle D flies according to the conventional technique, the distance from the electric wire WR of the unmanned air vehicle D may not be stabilized due to the control delay described above, and thus the state of the electric wire WR can be detected with high accuracy. There were cases where it was not possible.

According to the state detection device 1 of the present embodiment, the unmanned air vehicle D flies at a position away from the electric wire WR by a predetermined distance by the unmanned air vehicle D flying on the flight route FL calculated by the route calculation unit 130. can do. Specifically, the state detection device 1 of the present embodiment estimates the flight direction of the unmanned air vehicle D based on the current position of the unmanned air vehicle D and the flight path FL. That is, according to the state detection device 1 of the present embodiment, the flight direction of the unmanned air vehicle D is estimated in advance by the flight path FL.
Here, the electric wire WR has a shape indicated by the catenary curve C. Further, the flight path FL is calculated based on the catenary curve C as described above. Therefore, according to the state detection device 1 of the present embodiment, the flight path FL of the unmanned air vehicle D is along the electric wire WR. That is, according to the state detection device 1 of the present embodiment, the unmanned air vehicle D can fly with high accuracy along the electric wire WR. That is, according to the state detection device 1 of the present embodiment, the state of the electric wire WR can be detected with high accuracy.

Further, the state detection device 1 includes a control unit 10, an imaging unit 20, and a state detection unit 30.
The imaging unit 20 captures a landscape image P in which a landscape around the unmanned air vehicle D is captured.
The control unit 10 includes an image extraction unit 110, a catenary calculation unit 120, a route calculation unit 130, and a flight control unit 140 as functional units. The catenary calculation unit 120 is based on the image of the plurality of structures included in the landscape image P captured by the imaging unit 20 and the image of the wire WR suspended between the plurality of structures, and calculates the route of the wire WR. Calculate FC. The route calculation unit 130 calculates the flight route FL of the unmanned air vehicle D along the catenary curve C of the electric wire WR calculated by the catenary calculation unit 120. The flight control unit 140 controls the flight of the unmanned air vehicle D based on the flight path FL calculated by the path calculation unit 130.

  When the unmanned air vehicle D is flying on the flight path FL calculated based on the catenary curve C calculated by the catenary calculation unit 120, the state detection unit 30 calculates the electric wire WR or the calculation target of the catenary curve C. The state of the other electric wire WR supported by the same steel tower ST as the electric wire WR is detected.

That is, the state detection device 1 of the present embodiment can control the flight of the unmanned air vehicle D along the electric wire WR based on the landscape image P captured by the imaging unit 20.
As described above, when the unmanned air vehicle D flies according to the conventional technique, the position of the unmanned air vehicle D from the electric wire WR is sequentially different, and thus the state of the electric wire WR may not be detected accurately.
According to the present invention, the state detection device 1 controls the flight of the unmanned air vehicle D, so that the unmanned air vehicle D can fly along the electric wire WR. Thereby, the state detection apparatus 1 of this embodiment can detect the state of the electric wire WR accurately.

[Second Embodiment]
The second embodiment of the present invention will be described below with reference to the drawings. FIG. 7 is a configuration diagram illustrating an example of a configuration of the state detection device 2 according to the second embodiment. In addition, about the structure and operation | movement similar to 1st Embodiment mentioned above, the same code | symbol is attached | subjected and the description is abbreviate | omitted.
As shown in FIG. 7, the control unit 11 included in the state detection device 2 according to the present embodiment further includes a facility information storage unit 150 and a catenary estimation unit 160 in addition to each unit of the control unit 10 included in the state detection device 1. Prepare.

  The facility information storage unit 150 stores facility information EI in advance. The facility information EI includes at least information indicating the position of the structure, the line density ω of the electric wire WR, and the tension T of the electric wire WR. The information indicating the position of the structure is information indicating the position of the steel tower ST, for example. The information indicating the position of the steel tower ST is information indicating the coordinates of the position of the steel tower ST, for example.

  The catenary estimation unit 160 reads the facility information EI from the facility information storage unit 150. The catenary estimation unit 160 estimates the estimated path equation EC based on the information indicating the position of the structure stored in the facility information EI, the line density ω of the electric wire WR, and the tension T of the electric wire WR. The estimated route formula EC is a derivation formula of the catenary curve C formed by the electric wire WR estimated by the catenary estimation unit 160. Specifically, the catenary estimation unit 160 determines a parameter of a derivation formula for the catenary curve C based on the read facility information EI. Hereinafter, the determination of the parameters of the catenary curve C by the catenary estimation unit 160 is also referred to as estimating the catenary curve C. The catenary estimation unit 160 supplies information indicating the estimated route equation EC estimated to the route calculation unit 130.

  The route calculation unit 130 calculates the flight route FL based on the route calculation formula FC acquired from the catenary calculation unit 120 and the estimated route formula EC acquired from the catenary estimation unit 160. In this example, the route calculation unit 130 calculates the average of the route calculation formula FC and the estimated route formula EC as the flight route FL.

  Here, although the case where the route calculation unit 130 calculates the flight route FL based on the average of the route calculation formula FC and the estimated route formula EC has been described, the present invention is not limited to this. The route calculation unit 130 may calculate the flight route FL by any method as long as the flight route FL is calculated based on the route calculation formula FC and the estimated route formula EC.

  For example, the span information SP may not be acquired from the landscape image P captured by the imaging unit 20 due to dense fog or the like. In this case, the route calculation formula FC calculated by the catenary calculation unit 120 based on the landscape image P and the shape of the catenary curve C formed by the electric wire WR deviate from each other. The route calculation unit 130 may calculate the flight route FL based on the estimated route equation EC when the route calculation equation FC deviates from a predetermined value.

  Further, the catenary estimation unit 160 may estimate the estimated route equation EC of the position corresponding to the position of the electric wire WR for which the catenary calculation unit 120 calculates the route calculation equation FC based on the facility information EI. For example, the unmanned air vehicle D may be equipped with GPS (Global Positioning System), and the position where the unmanned air vehicle D is flying may be detected by GPS. In this case, the catenary estimation unit 160 may estimate the shape of the catenary curve C formed by the electric wire WR at a position based on the flight position detected by the GPS. The route calculation unit 130 may calculate the flight route FL based on the route calculation formula FC calculated by the catenary calculation unit 120 and the estimated route formula EC of the position corresponding to the route calculation formula FC.

  Moreover, although the catenary estimation part 160 demonstrated the case where the estimated path type | formula EC was estimated based on the line density (omega) contained in the installation information EI, and the tension | tensile_strength T of the electric wire WR, it is not restricted to this. The facility information EI may include an elongation rate of the electric wire WR according to the ambient temperature of the electric wire WR. Thus, the catenary estimation unit 160 causes the wire WR to expand according to the ambient temperature of the electrical wire WR detected by the state detection unit 30 as the unmanned air vehicle D flies along the flight path FL and the ambient temperature of the electrical wire WR. The estimated path equation EC may be estimated based on the rate.

  Next, the control of the flight of the unmanned air vehicle D along the electric wire WR by the control unit 11 will be described with reference to FIG. FIG. 8 is a flowchart illustrating an example of the operation of the control unit 11 according to the second embodiment. In FIG. 8, steps S100 to S200 are the same as the steps in the first embodiment described above, and a description thereof will be omitted.

  The catenary estimation unit 160 reads the facility information EI from the facility information storage unit 150 (step S300). The catenary estimation unit 160 estimates the catenary curve C based on the read facility information EI (step S310). The catenary estimation unit 160 supplies information indicating the estimated route equation EC indicating the estimated catenary curve C to the route calculation unit 130 (step S320).

  The route calculation unit 130 acquires information indicating the estimated route equation EC from the catenary estimation unit 160 (step S330). The route calculation unit 130 calculates the flight route FL based on the acquired route calculation formula FC and the estimated route formula EC (step S340).

As described above, the control unit 11 of the present embodiment includes the facility information storage unit 150 and the catenary estimation unit 160 in addition to the units included in the control unit 10.
The facility information storage unit 150 stores information indicating the position of the structure, information indicating the weight of the electric wire WR, and the tension T of the electric wire WR. The catenary estimation unit 160 estimates the catenary curve C of the electric wire WR based on the facility information EI. The route calculation unit 130 calculates the flight route FL based on the calculation result of the catenary calculation unit 120 and the estimation result of the catenary estimation unit 160.

As described above, in the case of dense fog, the path calculation formula FC calculated by the catenary calculation unit 120 and the shape of the catenary curve C formed by the electric wire WR may deviate.
The route calculation unit 130 of the present embodiment can calculate the flight route FL based on the estimated route equation EC estimated by the catenary estimation unit 160 and the route calculation equation FC calculated by the catenary calculation unit 120. That is, the state detection device 2 of the present embodiment calculates the flight path FL based on the path calculation formula FC and the estimated path formula EC. Thereby, the state detection apparatus 2 of this embodiment can detect the state of the electric wire WR with higher accuracy than when the flight route FL is calculated based only on the route calculation formula FC.

  The embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and appropriate modifications may be made without departing from the spirit of the present invention. it can.

  Each of the above devices has a computer inside. The process of each device described above is stored in a computer-readable recording medium in the form of a program, and the above-described processing is performed by the computer reading and executing the program. Here, the computer-readable recording medium means a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, or the like. Alternatively, the computer program may be distributed to the computer via a communication line, and the computer that has received the distribution may execute the program.

The program may be for realizing a part of the functions described above.
Furthermore, what can implement | achieve the function mentioned above in combination with the program already recorded on the computer system, what is called a difference file (difference program) may be sufficient.

DESCRIPTION OF SYMBOLS 1,2 ... State detection apparatus, ST ... Steel tower, WR ... Electric wire, D ... Unmanned air vehicle 10, 11 ... Control part, 20 ... Imaging part, 30 ... State detection part, 110 ... Image extraction part, 120 ... Catenary calculation , 130 ... route calculation unit, 140 ... flight control unit, 150 ... facility information storage unit, 160 ... catenary estimation unit, 310 ... heat detection unit, 320 ... corona detection unit, FL ... flight path

Claims (5)

An imaging unit that captures a landscape image in which a landscape around an unmanned air vehicle is captured;
A catenary calculating unit that calculates a catenary curve of the electric wire based on an image of a plurality of structures included in the landscape image captured by the imaging unit and an image of an electric wire suspended between the plurality of structures; ,
A flight path calculation unit that calculates a flight path of an unmanned air vehicle along the catenary curve of the electric wire calculated by the catenary calculation unit;
Based on the flight path calculated by the flight path calculation unit, a flight control unit that controls the flight of an unmanned air vehicle,
When the unmanned aerial vehicle is flying on the flight path calculated based on the catenary curve calculated by the catenary calculation unit, the electric wires that are the calculation target of the catenary curve, or the plurality of the electric wires that are the calculation target are suspended. And a state detection unit for detecting the state of other electric wires suspended between the structures of the vehicle, and a state detection device mounted on an unmanned air vehicle. The state detection unit
The state detection device according to claim 1, wherein at least one of the temperature of the electric wire and the corona discharge generated from the electric wire is detected. The flight path calculation unit
The state detection apparatus according to claim 1, wherein a flight path that is a predetermined distance away from the catenary curve of the electric wire calculated by the catenary calculation unit is calculated. A catenary estimating unit for estimating a catenary curve of the electric wire based on equipment information including information indicating the position of the structure, the weight of the electric wire, and information indicating the tension of the electric wire;
The flight path calculation unit
The state detection device according to any one of claims 1 to 3, wherein a flight path is calculated based on a calculation result of the catenary calculation unit and an estimation result of the catenary estimation unit. On the computer,
An imaging step of capturing a landscape image in which a landscape around an unmanned air vehicle is captured;
A catenary calculating step of calculating a catenary curve of the electric wire based on an image of a plurality of structures included in the landscape image captured by the imaging step and an image of an electric wire suspended between the plurality of structures; ,
A flight path calculation step of calculating a flight path of an unmanned air vehicle along the catenary curve of the electric wire calculated by the catenary calculation step;
A flight control step for controlling the flight of the unmanned air vehicle based on the flight path calculated by the flight path calculation step;
When the unmanned air vehicle is flying on the flight path calculated based on the catenary curve calculated by the catenary calculating step, the plurality of wires that suspend the calculation target electric wire or the calculation target electric wire A state detection program for executing a state detection step of detecting a state of another wire suspended between the structures.

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