Overhead power transmission line detection system, overhead power transmission line detection method, overhead power transmission line detection device, and overhead power transmission line detection program

Abstract

To detect an overhead power transmission line with the use of a mobile body which moves on a road.SOLUTION: An overhead power transmission line detection system includes: a detection section mounted on a mobile body which moves on a road, so as to detect an overhead power transmission line in the periphery of the mobile body; a storage section for storing overhead power transmission line installation position information and a position information of a road on which the mobile body can move; a calculation section for calculating a route of the mobile body based on accuracy information indicating detection accuracy of the detection section, the overhead power transmission line installation position information stored in the storage section, and the position information of the road; and an output section for outputting information indicating the route calculated by the calculation section.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to an overhead power line detection system, an overhead power line detection device, an overhead power line detection method, and an overhead power line detection program.

Background Art

[0002] Conventionally, as a technique for detecting an overhead power line, for example, a separation evaluation system described in Patent Document 1 is known. This separation evaluation system detects an overhead power line in order to measure the distance (separation) between the overhead power line and a tree. Specifically, the separation evaluation system mounts a camera on a drone, takes an aerial image including a separation target object and an overhead power line, and acquires the position coordinates of points representing the separation target object and the overhead power line from the aerial image. The separation evaluation system identifies at least the support points of the power line based on the position coordinates, calculates the virtual position coordinates of each virtual point representing the virtual power line based on the identified support points and the lowest point of the power line, and generates evaluation information based on the virtual position coordinates and the position coordinates of the separation target object.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The separation evaluation system described in Patent Document 1 detects an overhead power line using a camera mounted on a drone. However, in order to fly the drone, there are regulations such as obtaining permission for flight. Also, in order to fly the drone safely, the surrounding environment needs to be suitable for flight. Furthermore, even if an overhead power line is inspected by an automobile equipped with an MMS (Mobile Mapping System) traveling on a road, when measuring an elongated object such as an overhead power line from a position away from the road surface, it is difficult to collect sufficient data at once, and remeasurement may be required.

[0005] The present disclosure has been made in view of such circumstances, and an object thereof is to provide an overhead power line detection system, an overhead power line detection method, an overhead power line detection device, and an overhead power line detection program that can detect an overhead power line using a moving body moving on a road.

Means for Solving the Problems

[0006] The present disclosure has been made to solve the above-described problems. One aspect of the present disclosure is mounted on a moving body that moves on a road, and includes a detection unit that detects an overhead power line around the moving body, a storage unit that stores installation position information of the overhead power line and road information including a position of a road on which the moving body can move, a calculation unit that calculates a path of the moving body based on accuracy information indicating detection accuracy of the detection unit, installation position information of the overhead power line stored in the storage unit, and the road information, and an output unit that outputs information indicating the path calculated by the calculation unit. It is an overhead power line detection system.

[0007] Another aspect of the present disclosure is a method for detecting an overhead power line, including: a detecting unit mounted on a moving body moving on a road, detecting an overhead power line around the moving body; a storage unit storing installation position information of the overhead power line and position information of a road on which the moving body can move; a calculation unit calculating a route of the moving body based on accuracy information indicating detection accuracy of the detecting unit, the installation position information of the overhead power line stored in the storage unit, and the position information of the road; and an output unit outputting information indicating the route calculated by the calculation unit.

[0008] Another aspect of the present disclosure is an overhead power line detection device including: an acquisition unit acquiring a result of detecting an overhead power line around a moving body moving on a road by a detecting unit; a calculation unit calculating a route of the moving body based on accuracy information indicating detection accuracy of the detecting unit, installation position information of the overhead power line, and position information of the road; and an output unit outputting information indicating the route calculated by the calculation unit.

[0009] Another aspect of the present disclosure is an overhead power line detection program causing a computer of an information processing apparatus to function as: an acquisition unit acquiring a result of detecting an overhead power line around a moving body moving on a road by a detecting unit; a calculation unit calculating a route of the moving body based on accuracy information indicating detection accuracy of the detecting unit, installation position information of the overhead power line, and position information of the road; and an output unit outputting information indicating the route calculated by the calculation unit.

Advantages of the Invention

[0010] According to one aspect of the present invention, an overhead power line can be detected using a moving body moving on a road.

Brief Description of the Drawings

[0011]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Mode for Carrying Out the Invention

[0012] Hereinafter, an overhead transmission line detection system, an overhead transmission line detection method, an overhead transmission line detection device, and an overhead transmission line detection program to which the present invention is applied will be described with reference to the drawings.

[0013] (First Embodiment) FIG. 1 is a block diagram showing an example of the overhead transmission line detection system 1 in the first embodiment. The overhead transmission line detection system 1 detects an overhead transmission line as an inspection target and enables inspection of the overhead transmission line based on the detection result. The detection target in the embodiment is an overhead transmission line, but it is not limited thereto, and obstacles such as trees around the overhead transmission line, power transmission and distribution facilities, etc. may be detected. Further, the moving body in the embodiment is, for example, an automobile equipped with an MMS (Mobile Mapping System) traveling on a road, but it is not limited thereto.

[0014] The overhead power line detection system 1 includes, for example, an overhead power line detection device 100, a map database device 200, an inspection vehicle 300, and an inspection management terminal device 400. The overhead power line detection device 100, the map database device 200, the inspection vehicle 300, and the inspection management terminal device 400 have a communication interface (not shown), such as a NIC (Network Interface Card) or a wireless communication module, for connecting to a communication network. The communication network may include, for example, a network using a wireless communication standard such as 4G or 5G, a general-purpose network such as the Internet, and a private network such as local 5G or WiFi (registered trademark).

[0015] The overhead power line detection device 100 is an information processing device that communicates with other devices and performs various processes. The overhead power line detection device 100 includes, for example, an acquisition unit 102, a route calculation unit 104, a speed calculation unit 106, a plan output unit 108, a display information output unit 110, and a control information output unit 112. The route calculation unit 104, the speed calculation unit 106, the plan output unit 108, the display information output unit 110, and the control information output unit 112 are realized, for example, by a computer such as a CPU (Central Processing Unit) executing an overhead power line detection program stored in a program memory.

[0016] The acquisition unit 102 acquires installation position information of the overhead power line and road information including the positions of roads where the inspection vehicle 300 can move. The acquisition unit 102 also acquires an inspection request from the inspection management terminal device 400 for specifying the overhead power line to be inspected. The inspection request may include, for example, an overhead power line ID for specifying the overhead power line and area information indicating the range for detecting the overhead power line.

[0017] The route calculation unit 104 calculates the route of the inspection vehicle 300 based on the accuracy information indicating the detection accuracy of the detection unit 304 in the inspection vehicle 300, the installation position information of the overhead transmission line, and the road information. The route calculation unit 104 calculates the route of the inspection vehicle 300 based on the accuracy information indicating the detection accuracy of the detection unit 304 in the inspection vehicle 300 and the distance between the overhead transmission line and the inspection vehicle 300 moving along the route. Further, the speed calculation unit 106 calculates the speed of the inspection vehicle 300 based on the accuracy information indicating the detection accuracy of the detection unit 304 in the inspection vehicle 300 and the distance between the overhead transmission line and the inspection vehicle 300 moving along the route.

[0018] The plan output unit 108 outputs plan information for detecting the overhead transmission line based on the route calculated by the route calculation unit 104 and the speed calculated by the speed calculation unit 106. The plan information is information including, for example, the route and speed of the inspection vehicle 300 and the overhead transmission line ID detected by the inspection vehicle 300. The plan information is transmitted to the inspection management terminal device 400. Thereby, the inspection management terminal device 400 can notify the administrator of the plan information.

[0019] The display information output unit 110 outputs display information based on the route calculated by the route calculation unit 104 and the speed calculated by the speed calculation unit 106. The display information is information for displaying the route and speed of the inspection vehicle 300 on the display unit 306 of the inspection vehicle 300.

[0020] The control information output unit 112 outputs control information based on the route calculated by the route calculation unit 104 and the speed calculated by the speed calculation unit 106. The control information is information indicating the traveling route and traveling speed of the inspection vehicle 300. Thereby, the control unit 308 of the inspection vehicle 300 can perform control to bring the traveling route of the inspection vehicle 300 closer to the route calculated by the route calculation unit 104 and to bring the traveling route of the inspection vehicle 300 closer to the speed calculated by the speed calculation unit 106.

[0021] The map database device 200 is an information processing device that communicates with other devices and performs various processes. The map database device 200 includes, for example, a facility information database unit 202, a road information database unit 204, and a detection information database unit 206. The facility information database unit 202, the road information database unit 204, and the detection information database unit 206 respectively correspond to storage units that store facility information, road information, and detection information.

[0022] The facility information database unit 202 performs processes for storing and updating facility information. The facility information includes, for example, information related to power transmission and distribution facilities including overhead power lines. The facility information includes, for example, an overhead power line ID, position information of the overhead power line, thickness information of the overhead power line, and surface material information of the overhead power line. The position information of the overhead power line includes the latitude and longitude information of the overhead power line and the height information of the overhead power line.

[0023] The road information database unit 204 performs processes for storing and updating road information. The road information is, for example, road network data such as the ID of a road on which the inspection vehicle 300 can travel, attribute information, regulation information, road link (line) information, and road node (point) information. The attribute information includes, for example, the type of road, road width, number of lanes, and radio wave information indicating the ease of receiving GNSS (Global Navigation Satellite System) radio waves. The regulation information includes, for example, the upper speed limit, lower speed limit, traffic direction information, etc. of the road.

[0024] The detection information database unit 206 performs processes for storing and updating the detection information acquired from the inspection vehicle 300. The detection information is detection position information and point cloud data detected at the detection position. The point cloud data is data indicating the distance detected by a laser device called LiDAR (Light Detection and Ranging). The detection information is not limited to the point cloud data and may include other information. The detection information may include, for example, a section where the point cloud data could not be detected or the ID of an overhead power line.

[0025] The inspection vehicle 300 includes, for example, a communication unit 302, a detection unit 304, a display unit 306, and a control unit 308. The communication unit 302 receives information from the overhead power line detection device 100. The communication unit 302 transmits the point cloud data detected by the detection unit 304 to the map database device 200. The detection unit 304 is mounted on the inspection vehicle 300 moving on the road and detects the overhead power lines around the inspection vehicle 300. The detection unit 304 is, for example, a laser device called LiDAR that scans the overhead power lines with laser light and measures the scattered light of the laser light. The detection unit 304 detects distance information for each point (detection point) on the overhead power line based on the measured scattered light. In the embodiment, a plurality of detection points are described as a point cloud, and the distance information of the plurality of detection points is described as point cloud data.

[0026] The detection accuracy of the detection unit 304 is determined by the error of each detection point and the resolution between detection points. The interval between detection points increases as the distance from the position of the detection unit 304 to the overhead power line increases because the laser is output radially, and the resolution of the point cloud data decreases. The error, resolution, laser frequency, and scanning frequency of each detection point are preset according to the specifications of the detection unit 304 and stored as accuracy information. The route calculation unit 104 calculates a route so as to acquire the data amount (point cloud data amount) of the reference point cloud data for the range including the overhead power line. Also, the speed calculation unit 106 calculates the speed so as to acquire the data amount of the reference point cloud data for the range including the overhead power line. The data amount of the reference point cloud data for the range including the overhead power line is the data amount necessary to specify the state of the overhead power line.

[0027] The detection unit 304 may detect the overhead power line with high precision by increasing the frequency of the laser (shortening the wavelength). The detection unit 304 can maintain the resolution of the point cloud data even when the speed of the inspection vehicle 300 changes by controlling the output frequency of the laser according to, for example, the relative speed between the overhead power line and the inspection vehicle 300.

[0028] FIG. 2 is a diagram showing an example of the radar detection range of the inspection vehicle 300 in the embodiment. The detection unit 304 may include, for example, a laser device with the front of the inspection vehicle 300 set as the laser detection range and a laser device with the rear of the inspection vehicle 300 set as the laser detection range. In this way, by providing the inspection vehicle 300 with a plurality of LiDARs, it is possible to scan the overhead transmission line in different ranges and acquire more point cloud data. As shown in FIG. 2, each laser device is set to a laser detection range that can detect the electric wires D and E supported by the utility poles A, B, and C while traveling on the road.

[0029] The display unit 306 is a display device installed at a position viewable from the driver's seat. The display unit 306 notifies the route and speed of the inspection vehicle 300 by performing a display based on the display information received by the communication unit 302. The control unit 308 controls the travel of the inspection vehicle 300. The control unit 308 controls the travel driving force output device, the brake device, and the steering device mounted on the inspection vehicle 300. The travel driving force output device outputs the travel driving force (torque) for the inspection vehicle 300 to the drive wheels. The brake device generates a braking force for the inspection vehicle 300. The steering device changes the direction of the steered wheels of the inspection vehicle 300.

[0030] The inspection management terminal device 400 is, for example, an information processing device operated by an administrator who manages the inspection of power transmission and distribution facilities. The inspection management terminal device 400 transmits an inspection request to the overhead transmission line detection device 100 based on, for example, an administrator's operation. The inspection management terminal device 400 can receive the inspection plan information for the inspection request and display the inspection plan. The inspection management terminal device 400 can receive the inspection information for the inspection request and display the inspection result.

[0031] The inspection result is information representing the state of the overhead transmission line, such as the shape of the overhead transmission line and the sag of the overhead transmission line. The information representing the state of the overhead transmission line is calculated based on a plurality of detection points. The information representing the state of the overhead transmission line may be calculated by an arithmetic unit built in the inspection management terminal device 400, or the overhead transmission line detection device 100 may acquire the detection information and calculate it. The information representing the state of the overhead transmission line may include, for example, the state around the overhead transmission line. The state around the overhead transmission line may be, for example, information indicating that an obstacle such as a tree is in contact with the overhead transmission line.

[0032] FIG. 3 is a sequence diagram showing an example of the operation procedure of the overhead transmission line detection system 1 in the embodiment. The inspection management terminal device 400 first sets search conditions (step S10). The inspection management terminal device 400 sets, for example, the overhead transmission line or area that the administrator wants to search. The inspection management terminal device 400 transmits an inspection request including the ID of the set overhead transmission line or area information for detecting the overhead transmission line to the overhead transmission line detection device 100 (step S12).

[0033] The acquisition unit 102 acquires an inspection request from the inspection management terminal device 400 (step S20), and acquires data necessary for the inspection vehicle 300 to detect the overhead transmission line, including facility information and road information, from the map database device 200 based on the inspection request (step S22). The data necessary for detecting the overhead transmission line may include data that affects the detection of point cloud data by the detection unit 304, such as weather forecast information and rain cloud radar information.

[0034] The route calculation unit 104 calculates the route of the inspection vehicle 300 based on the installation position information of the overhead transmission line specified based on the inspection request acquired by the acquisition unit 102 (step S24). The speed calculation unit 106 calculates the speed of the inspection vehicle 300 based on the facility information and the road information acquired by the acquisition unit 102 (step S24). The plan output unit 108 creates inspection plan information including the route calculated by the route calculation unit 104 and the speed calculated by the speed calculation unit 106, and transmits it to the inspection management terminal device 400 (step S26). The inspection management terminal device 400 performs display based on, for example, the inspection plan information. The inspection management terminal device 400 transmits approval information indicating that the inspection plan has been approved in response to the operation of the administrator. When receiving the approval information, the overhead transmission line detection device 100 can transmit the inspection plan information to, for example, the terminal device of a person related to the inspection vehicle 300.

[0035] When starting the inspection with the inspection vehicle 300, the inspection vehicle 300 requests information from the overhead transmission line detection device 100. In response to receiving the information request, the display information output unit 110 outputs display information for displaying the route and speed of the inspection vehicle 300 (step S28). In response to receiving the information request, the control information output unit 112 outputs control information for controlling the route and speed of the inspection vehicle 300 (step S28).

[0036] Upon receiving the display information and control information from the overhead transmission line detection device 100, the inspection vehicle 300 starts displaying the route and speed (step S40). The inspection vehicle 300 starts traveling along the route and speed and detecting the overhead transmission line. Specifically, the display unit 306 displays the route to the overhead transmission line to be inspected, the lane in which the vehicle travels when inspecting the overhead transmission line, the position within the lane, the traveling speed, the lower limit speed, etc., and the detection unit 304 detects the overhead transmission line. The inspection vehicle 300 switches the display of the route and speed according to the current position of the inspection vehicle 300 based on the display information. When, for example, a driving mode that allows automatic control of the accelerator operation, brake operation, and steering operation is set according to the control information, the inspection vehicle 300 adjusts its position and speed based on the control information.

[0037] The inspection vehicle 300 transmits the traveling information including the route and speed traveled by the inspection vehicle 300 to the overhead transmission line detection device 100. The overhead transmission line detection device 100 may re-calculate the route and speed based on the traveling information and output the display information and control information based on the re-calculated route and speed (step S30). The inspection vehicle 300 uploads the detection information to the map database device 200 in response to the completion of traveling and detection (step S44).

[0038] Note that the route calculation unit 104 and the speed calculation unit 106 may acquire travel information from the inspection vehicle 300 and recalculate the route and speed when the travel route and speed of the inspection vehicle 300 differ from the calculated route and speed. For example, when traveling away from the overhead transmission line or when the traveling speed exceeds the limit, the route calculation unit 104 and the speed calculation unit 106 may recalculate the route and speed. Further, the route calculation unit 104 and the speed calculation unit 106 may recalculate the route and speed, for example, when another vehicle is parked on the road shoulder and there is a defect in the detection information. The display information output unit 110 and the control information output unit 112 may re-output the display information and the control information to the inspection vehicle 300 based on the recalculated route and speed. As a result, even if the inspection vehicle 300 attempts to travel at the route and speed pre-calculated by the route calculation unit 104 and the speed calculation unit 106 but travels at a route and speed unintended by the driver, the travel plan can be dynamically updated. For example, when traveling at a speed higher than the pre-calculated speed, the route calculation unit 104 and the speed calculation unit 106 can update the travel plan to travel the same route again.

[0039] FIG. 4 is a diagram showing an example of the route and speed of the inspection vehicle 300 in the first embodiment. For example, when the path calculation unit 104 detects the overhead transmission lines L1 and L2 supported by the utility poles P1, P2, and P3, it detects the roads on which the inspection vehicle 300 can travel in order to detect the overhead transmission lines L1 and L2. The path calculation unit 104 calculates the amount of point cloud data detected by the detection unit 304 based on the positions of the overhead transmission lines L1 and L2, the position of the path r1, and the accuracy information of the detection unit 304 when the lower limit speed of the detected road is 30 km / h and the vehicle travels along the path r1 at 30 km / h. When a sufficient amount of point cloud data can be obtained to identify the states of the overhead transmission lines L1 and L2, the path calculation unit 104 determines a path for the vehicle to travel along the path r1 at 30 km / h. When a sufficient amount of point cloud data cannot be obtained to identify the states of the overhead transmission lines L1 and L2, in addition to the path for the vehicle to travel along the path r1 at 30 km / h, the path calculation unit 104 determines a path for the vehicle to travel along the path r2 at 30 km / h. As a result, the path calculation unit 104 calculates path information for the vehicle to travel twice on the roads close to the overhead transmission lines L1 and L2. Similarly, when the path calculation unit 104 detects the overhead transmission lines L11 and L12 supported by the utility poles P11, P12, and P13, it calculates path information for the vehicle to travel twice on the roads close to the overhead transmission lines L11 and L12.

[0040] For example, when the path calculation unit 104 detects the overhead transmission line L21 supported by the utility poles P21 and P22, it detects the roads on which the inspection vehicle 300 can travel in order to detect the overhead transmission line L21. The path calculation unit 104 calculates the amount of point cloud data detected by the detection unit 304 based on the position of the overhead transmission line L21, the position of the path r21, and the accuracy information of the detection unit 304 when the lower limit speed of the detected road is 10 km / h and the vehicle travels along the path r21 at 10 km / h. Since a sufficient amount of point cloud data can be obtained to identify the state of the overhead transmission line L21, the path calculation unit 104 determines a path for the vehicle to travel only once along the path r21 at 10 km / h. As a result, the path calculation unit 104 calculates path information for the vehicle to travel once on the road close to the overhead transmission line L21. Similarly, when the path calculation unit 104 detects the overhead transmission line L22 supported by the utility poles P23 and P24, it calculates path information for the vehicle to travel once on the road close to the overhead transmission line L22.

[0041] The route calculation unit 104 may calculate information including a lane in a road and a position in the lane as a route. For example, when there are two or more lanes in a road, the route calculation unit 104 may select a lane close to the overhead transmission line and calculate the route. The route calculation unit 104 may calculate, as a route, a position close to the overhead transmission line in the selected lane.

[0042] The speed calculation unit 106 may calculate the speed of the inspection vehicle 300 based on the accuracy information indicating the detection accuracy of the detection unit 304 and the distance between the overhead transmission line and the inspection vehicle 300 moving along the route. The speed calculation unit 106 calculates a speed that exceeds the lower limit speed indicated by the lower limit speed information, and the route calculation unit 104 calculates a route at the calculated speed. However, for example, when the road width is wide and the distance between the route of the inspection vehicle 300 and the overhead transmission line can be shortened, the speed calculation unit 106 may calculate so as to increase the speed of the inspection vehicle 300 as the distance becomes shorter. As the distance between the route of the inspection vehicle 300 and the overhead transmission line becomes shorter, the time required to acquire a sufficient amount of point cloud data for specifying the states of the overhead transmission lines L1 and L2 can be shortened.

[0043] The route calculation unit 104 may calculate a route based on the radio wave information. For example, the more buildings there are around the road, the lower the receptivity of the GPSS radio wave on the road. The lower the receptivity of the GNSS radio wave, the larger the error of the detection point and the lower the resolution. Therefore, when the receptivity of the GPSS radio wave corresponding to the road is low, the route calculation unit 104 calculates a route for traveling on the road multiple times. The speed calculation unit 106 may calculate a route based on the radio wave information. When the receptivity of the GPSS radio wave corresponding to the road is low, the speed calculation unit 106 calculates so as to reduce the traveling speed on the road. Specifically, when there are no high-rise buildings near the overhead transmission line L2 but there are high-rise buildings near the overhead transmission line L1 and the receptivity of GNSS is low, the speed calculation unit 106 can reduce the traveling speed near the overhead transmission line L1 compared to the traveling speed near the overhead transmission line L2.

[0044] The route calculation unit 104 may calculate a route based on information regarding the thickness of the overhead transmission line or information regarding the surface material of the overhead transmission line. The thinner the overhead transmission line, the lower the data volume of the point cloud data. The more easily the surface material scatters laser light, such as when the surface material of the overhead transmission line has gloss, the lower the data volume of the point cloud data. Therefore, when the data volume of the point cloud data decreases or the error of the detection points increases due to the thickness or surface material of the overhead transmission line, the route calculation unit 104 calculates a route for traveling on the road multiple times. The speed calculation unit 106 may calculate the speed based on information regarding the thickness of the overhead transmission line or information regarding the surface material of the overhead transmission line. When the data volume of the point cloud data decreases or the error of the detection points increases due to the thickness or surface material of the overhead transmission line, the speed calculation unit 106 calculates to reduce the traveling speed on the road. Specifically, when the overhead transmission lines L11 and L12 are thinner than the overhead transmission lines L1 and L2, the speed calculation unit 106 can reduce the traveling speed near the overhead transmission lines L11 and L12 compared to the traveling speed near the overhead transmission lines L1 and L2.

[0045] For example, in the case of a 2D-LiDAR in which the number of detection points p (points / second) acquired by the detection unit 304 per second measures an overhead transmission line with a diameter d (meters) from a position at a distance L (meters), the number of detection points q (points / second) on the overhead transmission line acquired per second is calculated by the following formula. q = pd / 2πL For example, when p = 1,000,000, d = 0.05, and L = 10, q = 800. When the number of detection points required for a certain range of overhead transmission lines is determined, the required traveling speed of the inspection vehicle 300 is obtained. For example, when it is necessary to acquire 200 detection points per meter of the overhead transmission line, the traveling speed of the inspection vehicle 300 is 4 m / s = 14.4 km / h.

[0046] When the calculated speed is higher than the lower limit speed of the route, the route calculation unit 104 performs measurement the required number of times. Specifically, when the lower limit speed of the route is 20 km / h and the upper limit speed of the route is 30 km / h, the route calculation unit 104 and the speed calculation unit 106 calculate a route and a speed of traveling twice at 28 km / h. Alternatively, the route calculation unit 104 and the speed calculation unit 106 calculate a route and a speed of traveling at the center of the road at 20 km / h.

[0047] FIG. 5 is a diagram showing an example of a display screen of the inspection vehicle 300 in the first embodiment. When traveling on the route r1, the display unit 306 displays the road end side closer to the detection target than the center in the lane as a recommended route, and further displays a message "Please drive closer to the left than the center of the lane" and a message "The lower limit speed is 30 km / h."

[0048] FIG. 6 is a diagram showing another example of a display screen of the inspection vehicle 300 in the first embodiment. When traveling on the route r2, the display unit 306 displays the road center side closer to the detection target than the center in the lane as a recommended route, and further displays a message "Please drive closer to the center line" and a message "The lower limit speed is 30 km / h."

[0049] FIG. 7 is a diagram showing another example of a display screen of the inspection vehicle 300 in the first embodiment. When traveling on the route r21, the display unit 306 displays the center in the lane as a recommended route, and further displays a message "Please drive in the center" and a message "The lower limit speed is 10 km / h." Thereby, the inspection vehicle 300 can cause the driver to drive while recognizing the degree. Note that the inspection vehicle 300 may convey the route and the speed to the driver by a notification sound such as a voice or an alarm sound instead of or together with the message.

[0050] Note that the inspection vehicle 300 is not limited to the above example, and various notifications may be made to obtain the detection information of the overhead transmission line by the detection unit 304. For example, the inspection vehicle 300 may guide the route and speed by mechanical voice, such as "Please drive on the left side of the road as much as possible at 30 kilometers", and may notify the driver clearly by setting sounds and displays corresponding to instructions such as "The speed is too fast" and "Move more to the left".

[0051] According to the overhead transmission line detection system 1 of the first embodiment, since the route calculation unit 104 that calculates the route of the inspection vehicle 300 is provided based on the accuracy information indicating the detection accuracy of the detection unit 304, the installation position information of the overhead transmission line stored in the map database device 200, and the road information, the overhead transmission line can be detected using the inspection vehicle 300 moving on the road. Specifically, according to the overhead transmission line detection system 1, although the distance between the route of the inspection vehicle 300 and the overhead transmission line changes based on the road information, by calculating the route considering the distance, a sufficient data volume can be obtained to grasp the state of the overhead transmission line. As a result, according to the overhead transmission line detection system 1, since the state of the overhead transmission line can be grasped based on the detection information of the inspection vehicle 300, it is possible to smooth the maintenance of the overhead transmission line. Furthermore, according to the overhead transmission line detection system 1, by presenting the route calculated by the route calculation unit 104 to the driver of the inspection vehicle 300, it is possible to suppress the turn-back of driving the same route again to detect the overhead transmission line, and furthermore, the efficiency of the maintenance work can be improved.

[0052] Also, according to the overhead transmission line detection system 1, the speed of the inspection vehicle 300 can be calculated based on the accuracy information indicating the detection accuracy of the detection unit 304 and the distance between the overhead transmission line and the inspection vehicle 300 moving on the route. Thereby, according to the overhead transmission line detection system 1, it is possible to surely obtain a sufficient data volume to grasp the state of the overhead transmission line.

[0053] Furthermore, according to the overhead transmission line detection system 1, the route and speed of the inspection vehicle 300 can be calculated based on information affecting the detection of the overhead transmission line, such as the lower limit speed information corresponding to the road, the ease of receiving radio waves, the thickness of the overhead transmission line, the surface material of the overhead transmission line, the lanes on the road, and the position in the lane. Thus, according to the overhead transmission line detection system 1, information affecting the detection of the overhead transmission line can be comprehensively judged to detect the overhead transmission line more efficiently.

[0054] (Second Embodiment) FIG. 8 is a block diagram showing an example of the overhead transmission line detection system 1A in the second embodiment. The overhead transmission line detection system 1A of the second embodiment includes a portable terminal device 300A instead of the inspection vehicle 300. The portable terminal device 300A is a portable LiDAR, a smartphone equipped with a LiDAR, or the like. The portable terminal device 300A includes, for example, a communication unit 302, a detection unit 304, and a display unit 306. The detection unit 304 is a LiDAR and is carried by a pedestrian to detect surrounding overhead transmission lines.

[0055] In the second embodiment, the road information database unit 204A stores the position information of the sidewalk where pedestrians can move. The route calculation unit 104 of the overhead transmission line detection device 100A calculates the route of the pedestrian based on the accuracy information indicating the detection accuracy of the detection unit 304, the installation position information of the overhead transmission line acquired from the road information database unit 204A, and the position information of the sidewalk. The route calculation unit 104 may also calculate the direction in which the overhead transmission line exists with respect to the route. The speed calculation unit 106 calculates the walking speed of the pedestrian based on the accuracy information of the detection unit 304, the installation position information of the overhead transmission line, and the position information of the sidewalk. Note that the speed calculation unit 106 may calculate a low speed or a stop position at which the pedestrian can surely detect the overhead transmission line because the pedestrian moves on the sidewalk. The display information output unit 110 transmits display information for displaying the calculated route and walking speed of the pedestrian to the portable terminal device 300A.

[0056] The display unit 306 displays information for prompting the detection of the overhead power line, such as the path of the pedestrian, the direction of the overhead power line with respect to the pedestrian, and the height of the overhead power line. The detection unit 304 detects the overhead power line when the pedestrian is moving along the path. The communication unit 302 acquires the detection information and transmits it to the map database device 200A. Note that the portable terminal device 300A may execute application software for acquiring the detection information of the overhead power line. For example, by executing the application software, the portable terminal device 300A guides the path in response to acquiring the display information from the overhead power line detection device 100A, activates the detection unit 304 near the overhead power line to be detected to acquire the detection information, and transmits the acquired detection information to the map database device 200A.

[0057] According to the overhead power line detection system 1A of the second embodiment, the path of the pedestrian is calculated based on the accuracy information indicating the detection accuracy of the detection unit 304 in the portable terminal device 300A held by the pedestrian, the installation position information of the overhead power line, and the position information of the sidewalk. Therefore, the overhead power line can be detected when the pedestrian walks. Further, according to the overhead power line detection system 1A, by displaying the walking path on the portable terminal device 300A, the overhead power line can be easily detected. According to the overhead power line detection system 1A, for example, a request to detect an overhead power line that could not be detected by the inspection vehicle 300 is transmitted to the portable terminal device 300A, and the detection information of the overhead power line can be acquired. As a result, according to the overhead power line detection system 1A, it is possible to smooth the maintenance of the overhead power line.

[0058] (Third Embodiment) FIG. 9 is a block diagram showing an example of the overhead power line detection system 1B of the third embodiment. The overhead power line detection system 1B of the third embodiment detects the overhead power line using a captured image of the overhead power line.

[0059] The inspection vehicle 300 of the third embodiment includes an imaging device 310 that generates an image by imaging an overhead power line, instead of the detection unit 304. The accuracy information is, for example, information indicating the resolution of the image captured by the imaging device 310, or the number of images captured per second. The route calculation unit 104B of the overhead power line detection device 100B calculates the route of the inspection vehicle 300 based on the resolution or the number of images captured per second of the image captured by the imaging device 310, the installation position information of the overhead power line, and the road information. The speed calculation unit 106B of the overhead power line detection device 100B calculates the speed of the inspection vehicle 300 based on the resolution or the number of images captured per second of the image captured by the imaging device 310, the installation position information of the overhead power line, and the road information. The overhead power line detection system 1B creates an image with a resolution necessary for specifying the state of the overhead power line using a plurality of images for each overhead power line.

[0060] According to the overhead power line detection system 1B of the third embodiment, the overhead power line can be detected using the image captured by the imaging device 310.

[0061] Although the embodiments and the modification examples have been described, they are merely examples and are not limited thereto. For example, any one of the embodiments or the modification examples, or a part of each embodiment or a part of each modification example may be combined with one or more other embodiments or one or more other modification examples to realize an aspect of the present invention.

Explanation of Reference Numerals

[0062] 1, 1A, 1B... overhead power line detection system, 100, 100A, 100B... overhead power line detection device, 102... acquisition unit, 104, 104B... route calculation unit, 106, 106B... speed calculation unit, 108... plan output unit, 110... display information output unit, 112... control information output unit, 200, 200A... map database device, 202... facility information database unit, 204, 204A... road information database unit, 206... detection information database unit, 300... inspection vehicle, 300A... portable terminal device, 302... communication unit, 304... detection unit, 306... display unit, 308... control unit, 310... imaging device, 400... inspection management terminal device

Claims

1. A detection unit mounted on a moving body moving on a road for detecting an overhead power line around the moving body; A storage unit for storing road information including installation position information of the overhead power line and positions of roads on which the moving body can move; An arithmetic unit for calculating a path of the moving body based on accuracy information indicating the detection accuracy of the detection unit, the installation position information of the overhead power line stored in the storage unit, and the road information; An output unit for outputting information indicating the path calculated by the arithmetic unit; An overhead power line detection system comprising the above.

2. The arithmetic unit calculates the speed of the moving body based on the accuracy information indicating the detection accuracy of the detection unit and the distance between the overhead power line and the moving body moving along the path. The overhead power line detection system according to Claim 1.

3. The road information includes lower limit speed information corresponding to the road, The arithmetic unit calculates a speed and a path such that the lower limit speed indicated by the lower limit speed information is exceeded. The overhead power line detection system according to Claim 2.

4. The road information includes radio wave information indicating the ease of receiving radio waves corresponding to the road, The arithmetic unit calculates a path and a speed based on the radio wave information. The overhead power line detection system according to Claim 2.

5. The storage unit stores information regarding the thickness of the overhead power line or information regarding the surface material of the overhead power line, The arithmetic unit calculates the path and speed of the moving body based on the information regarding the thickness of the overhead power line or the information regarding the surface material of the overhead power line. The overhead power line detection system according to Claim 2.

6. The arithmetic unit calculates, as the path, information including lanes in the road and positions in the lanes. The overhead power line detection system according to Claim 1.

7. The detection unit is a radar device that generates point cloud data by scanning the overhead power line with a laser, The accuracy information indicates the resolution of the point cloud detected by the radar device, The arithmetic unit calculates a path and a speed so as to obtain the data amount of reference point cloud data with respect to the range of the overhead power line. The overhead power line detection system according to Claim 2.

8. Comprising an acquisition unit for acquiring a request for specifying an overhead power line to be inspected from a terminal device, The arithmetic unit calculates the path of the moving body based on the installation position information of the overhead power line specified based on the request acquired by the acquisition unit. ​ ​ ​ ​ The overhead power line detection system according to claim 1.

9. The detection unit is carried by a pedestrian and detects the surrounding overhead power lines. The storage unit stores the position information of the sidewalk where the pedestrian can move. The calculation unit calculates the path of the pedestrian based on the accuracy information indicating the detection accuracy of the detection unit, the installation position information of the overhead power line stored in the storage unit, and the position information of the sidewalk. The overhead power line detection system according to claim 1.

10. The detection unit is an imaging device that generates an image by imaging the overhead power line. The accuracy information indicates the resolution of the image captured by the imaging device. The calculation unit calculates the path of the moving body based on the accuracy information, the installation position information of the overhead power line stored in the storage unit, and the position information of the road. The overhead power line detection system according to claim 1.

11. A step in which the detection unit is mounted on a moving body moving on a road and detects the overhead power lines around the moving body. A step in which the storage unit stores the installation position information of the overhead power line and the position information of the road where the moving body can move. A step in which the calculation unit calculates the path of the moving body based on the accuracy information indicating the detection accuracy of the detection unit, the installation position information of the overhead power line stored in the storage unit, and the position information of the road. A step in which the output unit outputs information indicating the path calculated by the calculation unit. An overhead power line detection method including:

12. An acquisition unit that acquires the result of detecting the overhead power lines around a moving body moving on a road by a detection unit. A calculation unit that calculates the path of the moving body based on the accuracy information indicating the detection accuracy of the detection unit, the installation position information of the overhead power line, and the position information of the road. An output unit that outputs information indicating the path calculated by the calculation unit. An overhead power line detection device comprising:

13. Causing a computer of an information processing device to function as an acquisition unit that acquires the result of detecting the overhead power lines around a moving body moving on a road by a detection unit. A calculation unit that calculates the path of the moving body based on the accuracy information indicating the detection accuracy of the detection unit, the installation position information of the overhead power line, and the position information of the road, and An output unit that outputs information indicating the path calculated by the calculation unit. An overhead power line detection program.

Images