Fault point imaging system and fault point imaging method

Abstract

To provide a fault point imaging system and a fault point imaging method which can take an image of a proper imaging point of a fault point according to a cause of a fault of a transmission line, for example.SOLUTION: A fault point imaging system 1 localizes a position of a fault point by a fault point localization device 10 when a fault of a transmission line occurs, specifies a fault line phase and a cause of a fault on the basis of current waveform data and voltage waveform data of a transmission line 130 by an oscilloscope server 20, determines an imaging point of the fault point on the basis of fault point information, fault line phase information, fault cause information, and facility data by an imaging control device 30, causes an unmanned flying body 40 to fly to the imaging point, takes an image of the flying body, and sends image data to the imaging control device 30.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an accident point photographing system and an accident point photographing method for photographing the accident point of an accident that occurs on a power transmission line. [Background technology]

[0002] When a ground fault or short circuit occurs on a power transmission line, the power company dispatches a person in charge to the site where the accident occurred (hereinafter referred to as the "accident point") to confirm the situation and the extent of the damage. When the person in charge inspects the site, he or she takes photographs of the accident point and transmits the photographed data to a control center, etc. This enables the control center, etc. to quickly grasp the situation at the accident point and consider countermeasures.

[0003] However, some power lines pass through mountainous areas or cross straits. If the accident point of a power line is in a mountainous area or crosses a strait, it takes time for a person in charge to arrive at the site, which causes a problem that the accident situation is not understood quickly. As a solution to this problem, an inspection system has been proposed in which an unmanned aerial vehicle (a so-called drone) is flown and an image of the accident point is taken by a camera mounted on the unmanned aerial vehicle (see, for example, Patent Document 1).

[0004] When an accident occurs on a power transmission line, the inspection system of Patent Document 1 locates the position of the accident using an accident point locating device, generates a flight path to the accident point along the OPGW (optical fiber optic composite overhead ground wire), and transmits the flight path to an unmanned aerial vehicle via a wireless device installed on a steel tower, causing the unmanned aerial vehicle to fly to the accident point. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2017-131019 A Summary of the Invention [Problem to be solved by the invention]

[0006] Accidents occurring on power transmission lines have various causes, such as ground faults caused by lightning, short circuits caused by contact or nesting by birds and animals, and short circuits caused by contact with trees, cranes, etc., and the shooting points to be photographed as the accident points differ depending on the cause of the accident. However, the inspection device described in Patent Document 1 cannot photograph the necessary shooting points depending on the cause of the accident, so it was sometimes difficult to accurately grasp the accident situation from the captured image data and consider countermeasures.

[0007] SUMMARY OF THE PRESENT DISCLOSURE An object of the present invention is to provide an accident point photographing system and an accident point photographing method capable of photographing an appropriate photographing point of an accident point depending on the cause of the power transmission line accident, etc. [Means for solving the problem]

[0008] In order to solve the above problem, the invention of claim 1 is an accident point photography system for photographing an accident point that occurs on a power transmission line, comprising: an accident point locating device that locates the position of the accident point and outputs accident point information indicating the position of the accident point; an oscilloscope server that collects waveform data of the current waveform and the voltage waveform from an oscilloscope device that measures the current waveform and the voltage waveform of electricity flowing through the power transmission line, identifies the accident line phase, which is the line phase of the power transmission line where the accident occurred, and the cause of the accident based on the collected waveform data, and outputs accident line phase information related to the accident line phase and accident cause information related to the cause of the accident; equipment data storage means that stores equipment data related to power transmission equipment including the power transmission line; an unmanned aerial vehicle equipped with a photography means; the accident point locating device; the oscilloscope server; The unmanned aerial vehicle is equipped with a means for receiving the accident point information, the accident line phase information, and the accident cause information when an accident occurs on the power transmission line, and determines a shooting point to be photographed at the accident point based on the received accident point information, the accident line phase information, and the accident cause information and the equipment data acquired from the equipment data storage means, and transmits shooting control information including the accident point information and shooting point information regarding the shooting point to the unmanned aerial vehicle, and the unmanned aerial vehicle flies to the accident point based on the shooting control information and flies to the shooting point based on the shooting point information, photographs the shooting point using the shooting means, and transmits the photographed image data to the shooting control device.

[0009] The invention of claim 2 is characterized in that, in the accident point photography system of claim 1, the photography control device uses the accident point information related to a past power transmission line accident, the accident line phase information, the accident cause information, the equipment data, and the photography point determined based on the accident point information, the accident line phase information, the accident cause information and the equipment data of the past power transmission line accident as teacher data, and is equipped with a trained model that has been machine-learned to output the photography point of the accident point of the power transmission line accident when the accident point information, the accident line phase information, the accident cause information and the equipment data related to a newly occurring power transmission line accident are input.

[0010] The invention of claim 3 is an accident point photographing method for photographing an accident point occurring on a power transmission line, in which, when an accident occurs on the power transmission line, an accident point locating device that locates the position of the accident point outputs accident point information indicating the position of the accident point, an oscilloscope server that collects waveform data of the current waveform and the voltage waveform from an oscilloscope device that measures the current waveform and the voltage waveform of the electricity flowing through the power transmission line specifies the accident line phase, which is the line phase of the power transmission line where the accident occurred, and the cause of the accident based on the waveform data, and outputs accident line phase information related to the accident line phase and accident cause information related to the cause of the accident, and a photographing control device that communicates with the accident point locating device and the oscilloscope server photographs the accident point information, the accident line phase information, and the accident cause information. the equipment data is acquired from an equipment data storage means which stores equipment data relating to the power transmission equipment including the power transmission line, and based on the received accident point information, the accident line phase information and the accident cause information and the equipment data acquired from the equipment data storage means, a photography point to be photographed at the accident point is determined, and photography control information including the accident point information and photography point information relating to the photography point is transmitted to an unmanned aerial vehicle equipped with a photography means, and the unmanned aerial vehicle flies to the accident point based on the photography control information, flies to the photography point based on the photography point information, photographs the photography point using the photography means, and transmits the photographed image data to the photography control device. Effect of the Invention

[0011] According to the inventions of claims 1 and 3, when an accident occurs on a power transmission line, the position of the accident point is located, the accident line phase and the cause of the accident are identified based on the current waveform data and voltage waveform data of the power transmission line, the photographing point to be photographed at the accident point is determined based on the accident point information, the accident line phase information, the accident cause information, and the equipment data, and an unmanned aerial vehicle is flown to the accident point and the photographing point to photograph the photographing point, so that it is possible to quickly photograph an appropriate photographing point at the accident point according to the cause of the power transmission line accident, etc. Also, since the image data of the photographed photographing point is transmitted from the unmanned aerial vehicle to the photographing control device, it is possible to immediately check the situation of the accident point and consider countermeasures, and it is possible to quickly restore power outages caused by power transmission line accidents.

[0012] According to the invention of claim 2, a trained model that has been machine-learned using information on past power transmission line accidents as training data is used to determine the photographing points of the accident points of newly occurring power transmission line accidents. This makes it possible to accurately determine the photographing points to be photographed, and to quickly restore power outages caused by power transmission line accidents. [Brief description of the drawings]

[0013] [Figure 1] 1 is a schematic diagram showing the configuration of an accident point photography system and a power transmission facility according to an embodiment of the present invention; [Diagram 2] 2 is a block diagram showing a schematic configuration of the oscilloscope server shown in FIG. 1. [Diagram 3] FIG. 13 is a diagram showing waveform data used to identify a lightning-induced fault in a line phase and the cause of the fault using an oscilloscope server. [Figure 4] FIG. 13 is a diagram showing waveform data used to identify the phase of a line that has been damaged by birds and animals and the cause of the accident using an oscilloscope server. [Diagram 5] FIG. 13 is a diagram showing waveform data used to identify the fault line phase and cause of tree contact using an oscilloscope server. [Figure 6]FIG. 13 is a diagram showing waveform data used to identify the faulty line phase of a crane contact and the cause of the accident by an oscilloscope server. [Figure 7] 2 is a block diagram showing a schematic configuration of the photography control device and the unmanned aerial vehicle shown in FIG. 1. [Figure 8] 8 is a diagram showing an example of substation data in the facility database shown in FIG. 7. FIG. [Figure 9] FIG. 8 is a diagram showing an example of power transmission line data in the facility database shown in FIG. 7. [Figure 10] FIG. 8 is a diagram showing an example of tower data in the facility database shown in FIG. 7. [Figure 11] FIG. 8 is a diagram showing an example of span data in the facility database shown in FIG. 7. [Figure 12] FIG. 8 is a diagram illustrating an overview of the trained model shown in FIG. [Figure 13] FIG. 13 is a diagram showing an example of a shooting point determined by the trained model shown in FIG. [Figure 14] 10 is a flowchart showing a procedure for photographing a photographing point of an accident point. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] Hereinafter, the present invention will be described based on the illustrated embodiment.

[0015] As shown in Fig. 1, an accident point photography system 1 according to this embodiment is used in a power transmission facility as shown in the figure. Here, a brief description will be given of the power transmission facility in Fig. 1.

[0016] The transmission facility's towers, including towers 1101, 1102, and 1103, are spaced apart. In this embodiment, tower 1101 is named "Tower BA1", tower 1102 is named "Tower BA2", and tower 1103 is named "Tower BA3". Towers 1101, 1102, and 1103 support a power transmission line 130.

[0017] The power transmission line 130 is, for example, a three-phase, three-wire system, and is made up of three lines: a red-phase power transmission line (first phase) R, a white-phase power transmission line (second phase) W, and a blue-phase power transmission line (third phase) B. The red-phase power transmission line R, the white-phase power transmission line W, and the blue-phase power transmission line B are supported by three cross arms of steel towers 1101, 1102, and 1103, respectively, so as to be aligned in the vertical direction.

[0018] In addition, the power transmission line 130 is twisted between the towers to change the vertical positional relationship of each phase in order to eliminate imbalance in inductance and capacitance of each phase. For example, in the power transmission line 130, a red-phase power line R, a white-phase power line W, and a blue-phase power line B are strung from the top between the towers 1101 and 1102, and a white-phase power line W, a blue-phase power line B, and a red-phase power line R are strung from the top between the towers 1102 and 1103.

[0019] Furthermore, the power distribution line 130 is composed of, for example, one circuit of a red-phase power transmission line R, a white-phase power transmission line W, and a blue-phase power transmission line B held by the left cross arm of the steel towers 1101, 1102, and 1103, and two circuits of one circuit of a red-phase power transmission line R, a white-phase power transmission line W, and a blue-phase power transmission line B held by the right cross arm. Hereinafter, the name of the power distribution line 130 is referred to as the "BA line," the name of the first circuit of the BA line is referred to as the "BA-L1 line," and the name of the second circuit is referred to as the "BA-L2 line."

[0020] The power transmission line 130 is led into a substation A1, which is an electric power station, and in this embodiment, a high voltage is applied to the power transmission line 130 from the substation A1. In FIG. 1, towers 1101, 1102, and 1103 represent parts of towers in the power transmission facility.

[0021] An accident point photography system 1 according to the present embodiment is used for such power transmission facilities. The accident point photography system 1 includes an accident point locating device 10, an oscilloscope server 20, a photography control device 30, and an unmanned aerial vehicle 40, as shown in FIG. 1. The accident point locating device 10, the oscilloscope server 20, and the photography control device 30 are connected to each other so as to be able to communicate with each other via a communication network NW consisting of an internal communication network of a power company, the Internet, a public communication network such as a mobile phone communication network, and the like. In addition, the photography control device 30 and the unmanned aerial vehicle 40 are connected to each other so as to be able to communicate with each other by wireless communication.

[0022] The fault point locator 10 is installed in an electric power station and locates the position of the fault point, which is the point where an accident occurred in the power transmission facility. In this embodiment, for example, a surge reception type fault point locator 10 is used. For example, when lightning strikes the power transmission line 130, an electrical change, for example, a surge current, occurs in the power transmission line 130. The fault point locator 10 receives a current signal representing a surge current at the time of the lightning strike from a substation A1 that transmits power to the power transmission line 130 and a substation (not shown) that faces the substation A1 and receives power from the power transmission line 130, for example, through a communication network NW. Then, the fault point locator 10 calculates the fault point based on the time from the occurrence of the lightning strike until the surge current reaches the substation A1 and the time until the surge current reaches a substation facing the substation A1. Thereafter, the accident point locating device 10 generates accident point information representing the calculated accident point, and transmits the accident point information via the communication network NW to the photography control device 30. In this embodiment, the accident point information represents the accident point by longitude and latitude.

[0023] The oscilloscope server 20 is installed in an electric power station or the like, and collects waveform data of current waveforms and voltage waveforms (hereinafter collectively referred to as oscilloscope waveforms) from multiple oscilloscope devices 120 that measure the current waveforms and voltage waveforms of the electricity flowing through the transmission line 130. Based on the collected waveform data, the oscilloscope server 20 identifies the accident line phase, which is the line phase (line and phase) of the transmission line 130 where the accident occurred, and the cause of the accident, and outputs accident line phase information regarding the accident line phase and accident cause information regarding the cause of the accident.

[0024] 2, the oscilloscope server 20 includes an input unit 21, a storage unit 22, a processing unit 23, and a communication unit 24. When an accident occurs in the power transmission line 130, the input unit 21 receives current waveform data and voltage waveform data from a plurality of oscilloscope devices 120 connected via the communication network NW.

[0025] Here, the oscilloscope device 120 converts analog AC signals obtained by reducing the currents of the red, white, blue, and zero phases flowing through the power transmission line 130 using a transformer into digital signals, extracts components in a predetermined frequency band from the converted digital signals, and generates current waveform data of the red-phase current Ir, the white-phase current Iw, the blue-phase current Ib, and the zero-phase current I0. The oscilloscope device 120 also converts analog AC signals obtained by stepping down the voltages of the red, white, blue, and zero phases of the power transmission line 130 using a potential transformer into digital signals, extracts components in a predetermined frequency band from the converted digital signals, and generates voltage waveform data of the red-phase voltage Vr, the white-phase voltage Vw, the blue-phase voltage Vb, and the zero-phase voltage V0.

[0026] The oscilloscope 120 stores the generated current waveform data and voltage waveform data in a storage unit (not shown). When an accident occurs on the power transmission line 130, the oscilloscope 120 reads out the current waveform data and voltage waveform data stored within a predetermined time range before and after the accident from the storage unit, and transmits the read current waveform data and voltage waveform data to the oscilloscope server 20.

[0027] The input unit 21 of the oscilloscope server 20 receives the current waveform data and voltage waveform data transmitted from each oscilloscope device 120. The memory unit 22 is formed of a storage device such as a hard disk device or a flash memory, and stores the current waveform data and voltage waveform data received by the input unit 21.

[0028] The processing unit 23 includes a CPU (Central Processing Unit), a ROM (Read Only Memory) that stores a processing program, and a RAM (Random Access Memory) that temporarily stores data being processed. The processing unit 23 reads out the current waveform data and the voltage waveform data from the storage unit 22, and analyzes the read out current waveform data and the voltage waveform data to identify the fault line phase and the cause of the fault.

[0029] The current and voltage waveforms show characteristic waveforms depending on the cause of the power line accident. As shown in Fig. 3, for example, if the cause of the accident was a lightning strike, a sine wave appears in the zero-phase current I0. Also, the voltage waveform of the lightning-struck power line has a large amplitude during the same period that the sine wave flows in the zero-phase current I0. Therefore, in the example shown in Fig. 3, it can be determined that lightning struck the blue-phase power line B.

[0030] Also, as shown in Fig. 4, for example, if the cause of the accident is bird and animal damage, one or two hook-shaped waveforms appear in the zero-phase current I0, followed by a sine wave. Also, the voltage waveform of the transmission line where bird damage occurred has a zero voltage for the same period during which the hook-shaped waveform and sine wave appear in the zero-phase current I0. Therefore, in the example shown in Fig. 4, it can be determined that bird and animal damage occurred on the white-phase transmission line W.

[0031] Furthermore, as shown in Fig. 5, for example, if the cause of the accident was contact with a tree, an odd-angle waveform appears in the zero-phase current I0. Also, the voltage waveform of the transmission line where tree contact occurred becomes zero for the same period during which the odd-angle waveform appears in the zero-phase current I0. Therefore, in the example shown in Fig. 5, it can be determined that tree contact occurred on the red-phase transmission line R.

[0032] As shown in Figure 6, for example, if the cause of the accident was a crane contact, a pulse-like peak current flows in the zero-phase current I0, followed by a sine wave. Also, the voltage waveform of the transmission line where the crane contact occurred has a zero voltage for the same period during which the pulse-like peak current and sine wave appear in the zero-phase current I0. Therefore, in the example shown in Figure 6, it can be determined that the crane contact occurred on the red-phase transmission line R.

[0033] The processing unit 23 stores, in the ROM, a processing program and characteristic data indicating characteristics of the waveforms appearing in the current waveforms and the voltage waveforms according to the cause of the accident. The processing unit 23 analyzes the current waveform data and the voltage waveform data read from the storage unit 22 based on the characteristic data, and identifies the fault line phase and the cause of the accident.

[0034] When the processing unit 23 identifies the accident line phase and the cause of the accident, it generates accident line phase information related to the accident line phase and accident cause information related to the cause of the accident. For example, if the cause of the accident is a lightning strike, the accident cause information includes information "lightning strike." Also, if the accident line phase is a red-phase transmission line, the accident line phase information includes information "red-phase transmission line."

[0035] In addition, a power transmission line accident may occur due to multiple overlapping accident causes, and in such a case, the characteristics of the multiple accident causes appear in a composite manner in the current waveform and the voltage waveform. In such a case, the processing unit 23 analyzes the composite characteristics appearing in the current waveform and the voltage waveform to identify the multiple accident causes and the accident line phase. For example, if the composite power transmission line accident is a lightning strike on the red phase power line and a tree contact with the blue phase power line, the accident cause information "lightning strike" and the accident line phase information "red power line" are generated in association with each other, and the accident cause information "tree contact" and the accident line phase information "blue power line" are generated in association with each other.

[0036] Note that the oscilloscope server 20 may receive weather information from a weather information distribution system and use the received weather information to identify the cause of the accident. For example, even if it is difficult to determine from the waveform data that the cause of the accident is a lightning strike, if the weather information includes a lightning warning, it is possible to determine that the cause of the accident is a lightning strike.

[0037] In addition, the causes of accidents are not limited to "lightning strikes," "bird and animal damage," "contact with trees," and "contact with cranes," and various other causes of accidents can be identified from the waveform data.

[0038] The communication unit 24 of the oscilloscope server 20 transmits the fault line phase information and the fault cause information generated by the processing unit 23 to the imaging control device 30 via the communication network NW.

[0039] The imaging control device 30 is installed in an electric power station or the like, and includes a communication unit 31, a storage unit 32, a processing unit 33, and a wireless communication unit 34, as shown in Fig. 7. When an accident occurs in the power transmission line 130, the communication unit 31 receives the accident point information transmitted from the accident point locating device 10, and the accident line phase information and accident cause information transmitted from the oscilloscope server 20 via the communication network NW.

[0040] The storage unit 32 is composed of a storage device such as a hard disk device or a flash memory, and stores the fault point information, the fault line phase information, and the fault cause information received by the communication unit 31. The storage unit 32 also includes an equipment database (equipment data storage means) 35 that stores equipment data on the power transmission equipment including the power transmission line 130.

[0041] The equipment data stored in the equipment database 35 includes data on each substation including the substation A1, that is, substation data. An example of this substation data is shown in FIG. 8. In this substation data, an identification number for identifying the substation and the installation location of the substation are stored in correspondence with the name of each substation. The installation location of the substation is expressed by longitude and latitude. In addition, the substation data stores the name of the steel tower installed within the substation premises and the name of the transmission line drawn into the substation. Furthermore, the substation data stores whether the unmanned aerial vehicle 40 is stored in a state capable of flying, based on the presence or absence of the unmanned aerial vehicle.

[0042] The facility data stored in the facility database 35 includes data on power transmission lines including the power transmission line 130, that is, power transmission line data. An example of this power transmission line data is shown in Fig. 9. In this power transmission line data, the name of a pylon is stored corresponding to the name of each power transmission line. The pylons are, for example, "BA1 pylon," "BA2 pylon," and "BA3 pylon," which are pylons 1101, 1102, and 1103 for supporting the "BA line," which is the power transmission line 130.

[0043] The facility data stored in the facility database 35 includes data on each tower including towers 1101, 1102, and 1103, that is, tower data. An example of this tower data is shown in FIG. 10. In this tower data, an identification number for identifying the tower and the installation location of the tower are stored corresponding to the name of each tower. The installation location of the tower is expressed by longitude and latitude. The tower data also stores the tower height indicating the height of the tower. In the tower data, for example, "AA premises tower" refers to a tower installed in the premises of "AA substation", which is substation A1, and is omitted from FIG. 1.

[0044] The facility data stored in the facility database 35 includes data on the distance between each of the steel towers including the steel towers 1101, 1102, and 1103, that is, span data. An example of this span data is shown in Fig. 11. This span data stores, in correspondence with the names of two target steel towers, the span length which is the distance between these steel towers, the name of the circuit, and the wiring positions (e.g., top, middle, bottom) of the twisted red-phase transmission line R, white-phase transmission line W, and blue-phase transmission line B.

[0045] The processing unit 33 includes a CPU, a ROM that stores a processing program and a trained model 36, and a RAM that temporarily stores data being processed. The processing unit 33 reads out the accident point information, the accident line phase information, and the accident cause information from the storage unit 32, reads out the equipment data from the equipment database 35, and inputs the read out accident point information, the accident line phase information, the accident cause information, and the equipment information into the trained model to determine the photographing point to be photographed at the accident point.

[0046] As shown in FIG. 12, the trained model 36 is a trained model that uses as training data the accident point information, accident circuit phase information, accident cause information, equipment data, and shooting points determined based on the accident point information, accident circuit phase information, accident cause information, and equipment data of past power transmission line accidents, and that has been machine-learned to output the shooting points of the accident points of the power transmission line accident when the accident point information, accident circuit phase information, accident cause information, and equipment data of a newly occurring power transmission line accident are input.

[0047] More specifically, the trained model 36 includes an input layer to which accident point information, accident line phase information, accident cause information, and equipment data relating to a newly occurring power transmission line accident are input, an intermediate layer to determine the photographing point to be photographed at the accident point of the newly occurring power transmission line accident based on the input accident point information, accident line phase information, accident cause information, and equipment data, and an output layer to output photographing point information relating to the determined photographing point.

[0048] The intermediate layer of the trained model 36 uses as training data a large amount of historical data (accident point information, accident circuit phase information, accident cause information, and equipment data relating to past power transmission line accidents, as well as photography points identified based on these data) stored in an historical database not shown, and is generated using well-known machine learning techniques such as neural networks and deep learning, so that when accident point information, accident circuit phase information, accident cause information, and equipment data relating to a newly occurring power transmission line accident are input, photography point information of the accident point of the power transmission line accident is output.

[0049] FIG. 13 shows the shooting points determined mainly based on the accident cause information in the intermediate layer of the trained model 36. For example, when the cause of the accident is "lightning strike", the insulator string including the arcing horn is determined as the shooting point. When the cause of the accident is "wild animal damage", the insulator string including the arcing horn, the jumper wire, and the ground within the tower site are determined as the shooting points. When the cause of the accident is "tree contact", the span between the towers and the ground under the jumper wire are determined as the shooting points. When the cause of the accident is "crane contact", the span between the towers, especially the span close to the location where construction such as construction work is being carried out, is determined as the shooting point.

[0050] The shooting point information includes the name of the transmission line to be photographed, the line name, the name of the tower, the shooting range based on the tower, and the line phase, for example, "BA line, BA-L1 circuit, near BA3 tower [photographed with one tower in front and one behind], red phase transmission line."

[0051] The processing unit 33 generates shooting control information including the shooting point information output from the trained model 36 and the accident point information received from the accident point locating device 10. The shooting control information generated by the processing unit 33 is transmitted to the unmanned aerial vehicle 40 by the wireless communication unit 34.

[0052] The unmanned aerial vehicle 40 is a so-called multi-rotor type drone. The unmanned aerial vehicle 40 is stored in a substation in a state where it can fly immediately if necessary. As shown in FIG. 12, the unmanned aerial vehicle 40 includes a wireless communication unit 41, a memory unit 42, a flight unit 43, a GPS receiver unit 44, a flight control camera 45, an accident point photographing camera (photographing means) 46, and a flight control unit 47.

[0053] The wireless communication unit 41 wirelessly transmits and receives signals to and from the wireless communication unit 34 of the shooting control device 30. Specifically, the wireless communication unit 41 receives shooting control information transmitted from the shooting control device 30. In addition, the wireless communication unit 41 transmits image data of the shooting point of the accident point photographed by the accident point photographing camera 46 to the shooting control device 30.

[0054] The memory unit 42 stores the shooting control information received by the wireless communication unit 41. The memory unit 42 also stores map data of the flight area of ​​the unmanned aerial vehicle 40, equipment data related to power transmission equipment within the flight area, and the like. The equipment data is similar to the equipment data stored in the memory unit 32 of the shooting control device 30, and includes the positions of substations and steel towers, the positions of wiring, and the like.

[0055] Under the control of the flight control unit 47, the flight unit 43 rotates the propellers (not shown) equipped on the unmanned aerial vehicle 40, and performs operations such as starting, taking off, ascending and descending, moving forward and backward, turning left and right, hovering, and landing of the unmanned aerial vehicle 40.

[0056] The GPS receiver 44 detects the flight position (latitude and longitude), flight altitude, flight speed, etc. of the unmanned aerial vehicle 40 based on GPS signals received from GPS (Global Positioning System) satellites.

[0057] The flight control camera 45 is a so-called 360° camera that captures images of the surroundings of the unmanned aerial vehicle 40 while the unmanned aerial vehicle 40 is flying. Image data captured by the flight control camera 45 is output to the flight control unit 47.

[0058] The accident point photographing camera 46 is a camera for photographing the photographing point of the accident point. Image data photographed by the accident point photographing camera 46 is stored in the storage unit 42 and then transmitted to the photographing control device 30 by the wireless communication unit 41. The image photographed by the accident point photographing camera 46 is a still image or a video, or a still image and a video.

[0059] The flight control unit 47 includes a CPU, a ROM that stores a flight control program, and a RAM that temporarily stores data being processed. The flight control unit 47 controls the unmanned aerial vehicle 40 to fly autonomously to the accident point indicated by the shooting control information based on the map data and equipment data read from the storage unit 42, the flight position, flight altitude, and flight speed detected by the GPS receiving unit 44, and image data captured by the flight control camera 45, and controls the unmanned aerial vehicle 40 to fly autonomously from the accident point to the shooting point. Then, when the unmanned aerial vehicle 40 reaches the shooting point, it controls the accident point shooting camera 46 to capture the shooting point.

[0060] Next, the operation of the above embodiment will be described with reference to the flowchart shown in FIG.

[0061] When an accident occurs in the power transmission line 130, the fault point locating device 10 locates the position of the accident point and transmits the accident point information to the photography control device 30 (step S1).

[0062] Next, the oscilloscope server 20 identifies the faulty line phase and the cause of the accident based on the current waveform data and voltage waveform data of the power transmission line 130 received from the oscilloscope device 120, and transmits the faulty line information and the accident cause information to the imaging control device 30 (step S2).

[0063] The photography control device 30 inputs the accident point information received from the accident point locating device 10, the accident line information and accident cause information received from the oscilloscope server 20, and the equipment data read from the equipment database 35 into the learned model 36, and determines the photography point to be photographed at the accident point (step S3).

[0064] The photography control device 30 transmits photography control information including the accident point information and the photography point information to the unmanned aerial vehicle 40, and causes the unmanned aerial vehicle 40 to fly to the accident point Ap (see FIG. 1) (step S4).

[0065] The unmanned aerial vehicle 40 that has arrived at the accident point Ap flies to the photographing point based on the photographing control information (step S5) and photographs the photographing point with the accident point photographing camera 46 (step S6). The unmanned aerial vehicle 40 that has photographed the photographing point transmits image data of the photographed photographing point to the photographing control device 30 (step S7).

[0066] The photography control device 30 displays the received image data together with the accident location information, accident line information, accident cause information, photography point information, etc. on a display or the like, and distributes them to the terminal of the electric power company's staff.

[0067] After completing photographing the photographing point, the unmanned aerial vehicle 40 autonomously flies to the substation where it was stored and lands.

[0068] According to the accident point photographing system 1 of this embodiment, when an accident occurs on the power transmission line 130, the position of the accident point is located, the accident line phase and the cause of the accident are identified based on the current waveform data and voltage waveform data of the power transmission line 130, the photographing point to be photographed at the accident point is determined based on the accident point information, the accident line phase information, the accident cause information, and the equipment data, and the unmanned aerial vehicle 40 is flown to the accident point and the photographing point to photograph the photographing point, so that it is possible to quickly photograph an appropriate photographing point of the accident point according to the cause of the power transmission line accident, etc. In addition, since the image data of the photographed photographing point is transmitted from the unmanned aerial vehicle 40 to the photographing control device 30, it is possible to immediately check the situation of the accident point and consider countermeasures, and it is possible to quickly restore a power outage caused by a power transmission line accident.

[0069] Furthermore, according to the accident point photography system 1 of this embodiment, the photography point of the accident point of a newly occurring power transmission line accident is determined using the trained model 36 that has been machine-learned using information on past power transmission line accidents as training data. This makes it possible to accurately determine the photography point to be photographed, and to quickly restore power outages caused by power transmission line accidents.

[0070] Although the embodiment of the present invention has been described above, the specific configuration is not limited to the above embodiment, and even if there are design changes and the like within the scope of the gist of the present invention, they are included in the present invention.

[0071] For example, in the above embodiment, the trained model 36 is used to determine the photographing points, but the photographing points may be determined without using the trained model 36. Specifically, photographing points corresponding to a combination of the accident point information, the accident line phase information, the accident cause information, and the equipment data may be stored as data in advance, and when a new power transmission line accident occurs, the photographing points may be determined based on each piece of information about the power transmission line accident. This can reduce the processing load required to determine the photographing points.

[0072] In addition, the oscilloscope server 20 analyzes the current waveform data and the voltage waveform data to identify the faulty line phase and the cause of the accident, but it may also be configured to identify the faulty line phase and the cause of the accident by using a learned model that has been machine-learned based on past performance. This makes it possible to accurately identify the faulty line phase and the cause of the accident from the current waveform data and the voltage waveform data based on the complex causes of the accident.

[0073] Furthermore, in the above embodiment, the trained model 36 that has been machine-learned in advance is used, but the imaging control device 30 may be provided with a performance database that accumulates information on past power transmission line accidents, and a functional unit that performs machine learning based on data in the performance database to create and update the trained model 36. In this way, the trained model 36 is updated with new performance data, thereby improving the accuracy of identifying the imaging point.

[0074] Furthermore, in the above embodiment, the unmanned aerial vehicle 40 is made to fly autonomously to the accident point based on the location information detected by the GPS receiver unit 44 and pre-stored map data, etc., but it is also possible to use the technology described in JP 2017-131019 A to fly the unmanned aerial vehicle 40 along the OPGW to the accident point and photograph the photographing point.

[0075] In addition, in the above embodiment, it is described that the unmanned aerial vehicle 40 is stored in a substation, but the storage location of the unmanned aerial vehicle 40 is not limited to an electrical station such as a substation, and it can be stored in any location. [Explanation of symbols]

[0076] 1 Accident point photography system 10 Accident point location device 20 Oscilloscope Server 30 Shooting control device 35 Equipment database (equipment data storage means) 36 Pre-trained models 40 Unmanned Aerial Vehicles 46 Accident point photographing camera (photography means) 1101, 1102, 1103 towers 120 Oscilloscope 130 Power Lines

Claims

1. An accident point photographing system for photographing an accident point occurring on a power transmission line, comprising: An accident point locating device that locates the position of the accident point and outputs accident point information indicating the position of the accident point; an oscilloscope server that collects waveform data of the current waveform and the voltage waveform from an oscilloscope device that measures the current waveform and the voltage waveform of the electricity flowing through the power transmission line, identifies an accident line phase, which is the line phase of the power transmission line in which an accident has occurred, and a cause of the accident based on the collected waveform data, and outputs accident line phase information related to the accident line phase and accident cause information related to the cause of the accident; A facility data storage means for storing facility data relating to the power transmission facility including the power transmission line; An unmanned aerial vehicle equipped with a photographing means, The system includes the accident point locating device, the oscilloscope server, the equipment data storage means, and a photography control device that communicates with the unmanned aerial vehicle, The imaging control device includes: When an accident occurs on the power transmission line, the accident point information, the accident line phase information, and the accident cause information are received; determining a photographing point to be photographed at the accident point based on the received accident point information, the accident line phase information, and the accident cause information, and the equipment data acquired from the equipment data storage means; Transmitting photographing control information including the accident point information and photographing point information regarding the photographing point to the unmanned aerial vehicle; The unmanned aerial vehicle is Flying to the accident point based on the shooting control information, flying to the photographing point based on the photographing point information, and photographing the photographing point by the photographing means; Transmitting the captured image data to the imaging control device; An accident point photography system.

2. The imaging control device includes: The fault point information, the fault line phase information, the fault cause information, and the facility data relating to past power transmission line faults; The photographing point determined based on the fault point information, the fault line phase information, the fault cause information, and the facility data of the past power transmission line fault is used as teacher data, A trained model that is machine-learned to output the photographing point of the accident point of a newly occurring power transmission line accident when the accident point information, the accident line phase information, the accident cause information, and the facility data are input.

2. The accident point photographing system according to claim 1 .

3. An accident point photographing method for photographing an accident point occurring on a power transmission line, comprising: When a fault occurs on the power transmission line, a fault point locating device that locates the position of the fault point outputs fault point information indicating the position of the fault point; an oscilloscope server that collects waveform data of the current waveform and the voltage waveform from an oscilloscope device that measures the current waveform and the voltage waveform of the electricity flowing through the power transmission line identifies an accident line phase, which is the line phase of the power transmission line where the accident occurred, and the cause of the accident based on the waveform data, and outputs accident line phase information related to the accident line phase and accident cause information related to the cause of the accident; A photographing control device that communicates with the fault point locating device and the oscilloscope server receives the fault point information, the fault line phase information, and the fault cause information, acquiring the facility data from a facility data storage means that stores facility data related to the power transmission facility including the power transmission line; determining a photographing point to be photographed at the accident point based on the received accident point information, the accident line phase information, and the accident cause information, and the equipment data acquired from the equipment data storage means; Transmitting the photographing control information including the accident point information and the photographing point information regarding the photographing point to an unmanned aerial vehicle equipped with a photographing means; The unmanned aerial vehicle flies to the accident point based on the photography control information, flies to the photography point based on the photography point information, photographs the photography point with the photography means, and transmits the photographed image data to the photography control device. A method for photographing an accident point, comprising:

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