Data processing device and data processing method

Abstract

To provide a data processing device and data processing method for flight plan preparation and airspace management of an unmanned aerial vehicle such as a drone.SOLUTION: A data processing device includes: a facility information storage section that stores facility information on a steel tower and a power transmission line; a point group data storage section that stores point group data acquired by three-dimensionally measuring the steel tower and an object around the steel tower; a coordinate recording section that identifies the steel tower from the point group data on the basis of the facility information to record predetermined coordinates concerning the steel tower; and a collation section that collates the facility information with the point group data to create new facility information according to a collation result.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a data processing device and a data processing method for flight plan creation and airspace management of unmanned aircraft such as drones.

Background Art

[0002] In recent years, drones have been applied in various fields such as delivery services, spraying of agricultural chemicals and fertilizers, disaster surveys, and reporting. In order to fly a drone, it is necessary to create a flight route of the drone in advance. For example, Patent Document 1 proposes a system that enables determination and setting of a flight route of a drone by referring to a map.

[0003] Since the Geospatial Information Authority of Japan map does not have obstacle information such as towers and trees, conventionally, the applicant has obtained ground elevation data from the Geospatial Information Authority of Japan map and added facility information regarding towers and transmission lines owned by the applicant to the data to create a flight plan for the drone.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, the ground elevation data of the Geospatial Information Authority of Japan map has an error of up to about 5 m. In addition, since the facility information regarding towers and transmission lines owned by the applicant is input manually, there is a risk that the data is incorrect. Further, regarding the position information of the latitude and longitude of the tower among the facility information, the error can reach several meters depending on how many digits after the decimal point are input. Furthermore, the facility construction accuracy error is up to several centimeters at maximum. Conventionally, when defining airspace for drone flights based on ground elevation data and equipment information from the Geospatial Information Authority of Japan's maps, there was a risk of errors occurring in that airspace. Therefore, the present invention aims to create accurate equipment information for safe and secure drone flight planning and airspace management. [Means for solving the problem]

[0006] The data processing device of the present invention is Equipment information storage unit that stores equipment information related to transmission towers and power lines, A point cloud data storage unit stores point cloud data acquired by three-dimensional measurement of the aforementioned transmission tower and objects surrounding the transmission tower. Based on the aforementioned equipment information, a coordinate recording unit identifies the transmission tower from the point cloud data and records predetermined coordinates relating to the transmission tower, A comparison unit compares the aforementioned equipment information with the aforementioned point cloud data and creates new equipment information according to the results of the comparison. It has.

[0007] In the data processing device of the present invention, Preferably, the equipment information includes the latitude and longitude of the transmission tower, the height of the transmission tower, the elevation of the transmission tower above sea level, and the horizontal angle of the transmission tower.

[0008] In the data processing device of the present invention, Preferably, the point cloud data includes the coordinates of the center of the transmission tower, the coordinates of the top of the transmission tower, the coordinates of the ground at the center of the transmission tower, and the coordinates of the base of the transmission tower.

[0009] In the data processing device of the present invention, With respect to the location information of the aforementioned transmission tower, the matching unit creates the new equipment information based on the point cloud data, With respect to information other than the location information of the transmission tower, it is preferable that the matching unit creates new equipment information based on the point cloud data if the error between the equipment information and the point cloud data is less than a predetermined value.

[0010] In the data processing method using the data processing apparatus of the present invention, The coordinate acquisition unit of the aforementioned data processing device acquires equipment information related to the transmission tower and power lines. The coordinate acquisition unit takes in point cloud data obtained by 3D measurement of the transmission tower and objects surrounding the transmission tower, The coordinate acquisition unit identifies the transmission tower from the point cloud data based on the equipment information and acquires predetermined coordinates relating to the transmission tower. The matching unit of the data processing device compares the equipment information with the point cloud data, and creates new equipment information according to the result of the comparison. [Effects of the Invention]

[0011] This invention enables the creation of accurate equipment information for safe and secure drone flight planning and airspace management. [Brief explanation of the drawing]

[0012] [Figure 1] This is a block diagram showing the configuration of the data processing device of the present invention. [Figure 2] (a) shows the method for measuring point cloud data, and (b) shows an image of the point cloud data. [Figure 3] This document describes a method for extracting predetermined coordinates for transmission towers and power lines from point cloud data. [Figure 4] A flowchart of the data processing method of the present invention is shown. [Modes for carrying out the invention]

[0013] The present invention will be described below with reference to the drawings, but the present invention is not limited to this embodiment and various modifications are possible.

[0014] Figure 1 is a block diagram showing the configuration of the data processing device of the present invention. The data processing device 10 includes an equipment information storage unit 1, a point cloud data storage unit 2, an equipment information management storage unit 3, a coordinate acquisition unit 4, and a matching unit 5. The data processing device 10 can be realized by an information processing device such as a personal computer (PC), a server, a tablet terminal, and a smartphone. The data processing device 10 has, as hardware resources, a CPU, a memory, an input / output device, a communication interface, etc., and operates in cooperation with software.

[0015] As described above, the applicant, which is an electric power company, holds facility information regarding towers and transmission lines, etc., which are its own possessions. The facility information storage unit 1 stores this facility information. The facility information includes the transmission line name, line voltage, facility management location organization, support name, collective facility classification (single, parallel), latitude and longitude of the tower, tower height, altitude of the tower, underarm height of the tower, horizontal angle of the tower, name of the transmission line connected to the tower, support number of the transmission line connected to the tower, etc. Also, the facility information can include any other information.

[0016] The point cloud data storage unit 2 stores point cloud data obtained by three-dimensionally measuring a tower and the objects around the tower. Fig. 2(a) shows the measurement method of the point cloud data, and Fig. 2(b) shows an image of the point cloud data. As shown in Fig. 2(a), for example, by irradiating laser pulses from a helicopter H flying at an altitude of 400 m and a speed of 70 km / h and three-dimensionally measuring the reflected waves as position coordinates, as shown in Fig. 2(b), point cloud data of the tower and the objects around the tower (transmission lines, trees, etc.) are obtained. The point cloud data extends over a range of 230 m to the left and right centered on the tower. Currently, the point cloud data in the range of 100 m to the left and right centered on the tower is used for maintenance of the transmission line, etc., but the point cloud data in other ranges is not used. In the present invention, all the point cloud data extending over a range of 230 m to the left and right centered on the tower is used for making the flight plan of the drone and airspace management. In the present invention, the use of existing point cloud data is described as an example, but new point cloud data can also be obtained. Also, the numerical range of the point cloud data is an example.

[0017] Figure 3 shows a method for obtaining predetermined coordinates for transmission towers and power lines from point cloud data. The coordinate acquisition unit 4 identifies the tower from the point cloud data based on equipment information regarding the latitude and longitude of the tower, and acquires predetermined coordinates for the tower. Specifically, the coordinate acquisition unit 4 acquires the coordinates A(x1, y1, z1) of the top of the tower, which is the uppermost point of the tower; the coordinates B(x2, y2, z2), C(x3, y3, z3) of the tips of the crossarms, which are the outermost points of the tower; and the coordinates D(x4, y4, z4), E(x5, y5, z5), F(x6, y6, z6), G(x7, y7, z7) of the tower legs, which are the four-leg coordinates of towers of the same height. Although not shown in the diagram, the coordinate recording unit 4 can also record the center coordinates of the transmission tower and the elevation of the center ground of the transmission tower. In addition, the coordinate recording unit 4 can record any other arbitrary coordinates. From the recorded coordinates, the coordinate recording unit 4 defines navigation information such as the latitude and longitude of the transmission tower, the tower height, the crossarm width, and the base spread. Furthermore, the coordinate acquisition unit 4 can also determine the path coordinates of the power transmission lines in the point cloud data based on equipment information regarding the connections between transmission towers. Coordinate acquisition can be done manually or automatically using software.

[0018] The matching unit 5 compares the equipment information with the point cloud data. For example, the matching unit 5 compares the latitude and longitude of the transmission tower in the equipment information with the center coordinates of the transmission tower in the point cloud data. As mentioned above, the equipment information may be inaccurate because it is entered manually, and in particular, the latitude and longitude of the transmission towers may have large errors. Therefore, regarding the location information, the verification unit 5 records the point cloud data as correct based on the verification results and creates new equipment information based on the point cloud data.

[0019] Furthermore, the matching unit 5 compares the tower height in the equipment information with the coordinates A(x1, y1, z1) of the top of the tower in the point cloud data, compares the elevation of the tower above sea level in the equipment information with the ground coordinates of the center of the tower in the point cloud data, and compares the horizontal angle of the tower in the equipment information with the coordinates D(x4, y4, z4), E(x5, y5, z5), F(x6, y6, z6), G(x7, y7, z7) of the base of the tower in the point cloud data. In addition, the matching unit 5 can compare any other equipment information with the point cloud data. Regarding information other than this location information, if the error between the equipment information and the point cloud data is less than a predetermined value, for example 0.3m, the matching unit 5 records the point cloud data as correct and creates new equipment information based on the point cloud data. On the other hand, if the error is 0.3m or more, a decision is made after checking the equipment design drawings and conducting on-site verification, etc. Note that the value of 0.3m is just an example, and the standard can be changed as appropriate, taking into account the measurement accuracy and construction precision.

[0020] New equipment information is stored in the equipment information management storage unit 3. If necessary, the equipment information stored in the equipment information storage unit 1 may be updated. Furthermore, the matching unit 5 can verify that there are no errors in the new equipment information by comparing the equipment information regarding the connection between the transmission towers with the path coordinates of the power lines in the point cloud data.

[0021] Thus, in this invention, by comparing equipment information with point cloud data, accurate equipment information can be created for safe and secure drone flight planning and airspace management.

[0022] Figure 4 shows a flowchart of the data processing method of the present invention. In step S1, the coordinate acquisition unit 4 acquires equipment information. In step S2, the coordinate acquisition unit 4 acquires point cloud data. In step S3, the coordinate acquisition unit 4 identifies the tower from the point cloud data based on equipment information regarding the latitude and longitude of the tower, and acquires predetermined coordinates for the tower. Here, the coordinate acquisition unit 4 can also acquire aerial photographs from the aerial photograph storage unit (not shown) of the data processing device 10 and perform image recognition on the aerial photographs to identify ground obstacles and tree vegetation around the transmission tower.

[0023] In step S4, the matching unit 5 compares the equipment information with the point cloud data. In step S5, if the data matched is the location information of the transmission tower (YES), in step S6, the matching unit 5 records the point cloud data as positive. On the other hand, if the data matched in step S5 is anything other than the location information of the transmission tower (NO), the process proceeds to step S7. In step S7, if the error between the equipment information and the point cloud data is less than 0.3m (YES), proceed to step S6. On the other hand, if the error between the equipment information and the point cloud data is 0.3m or more in step S7 (NO), then in step S8, a decision will be made after reviewing the equipment design drawings and conducting on-site inspections, etc. In step S9, the matching unit 5 creates new equipment information based on the point cloud data recorded as correct and stores it in the equipment information management storage unit 3.

[0024] Point cloud data can also be used in the following ways: For example, the integrity of equipment can be confirmed by examining changes in point cloud data over time. Specifically, after typhoons or heavy rains, large amounts of soil and sediment may be washed away from the ground surface around transmission towers. By comparing point cloud data before and after typhoons or heavy rains, the amount of soil and sediment runoff can be quantitatively determined. This allows for a quantitative evaluation of the equipment's integrity, enabling a rapid initial response.

[0025] Furthermore, while equipment information is based on equipment design drawings, actual equipment may change over time. For example, transmission towers may gradually tilt, even if only slightly. Therefore, currently, surveys and other measurements are taken on-site to understand the actual situation in order to confirm that the regulatory values ​​based on the Electricity Business Act (Technical Standards for Electrical Equipment) are met. However, by using point cloud data, it is possible to grasp the actual location information of equipment that does not appear in the drawings, eliminating the need for individual surveys and verifications. [Explanation of Symbols]

[0026] 1...Equipment information storage unit, 2...Point cloud data storage unit, 3...Equipment information management storage unit, 4...Coordinate acquisition unit, 5...Verification unit, 10...Data processing unit, H...Helicopter

Claims

1. A data processing device, Equipment information storage unit that stores equipment information related to transmission towers and power lines, A point cloud data storage unit stores point cloud data obtained by three-dimensional measurement of the aforementioned transmission tower and objects surrounding the transmission tower. Based on the aforementioned equipment information, a coordinate recording unit identifies the transmission tower from the point cloud data and records predetermined coordinates relating to the transmission tower, A comparison unit compares the aforementioned equipment information with the aforementioned point cloud data and creates new equipment information according to the results of the comparison. It has, The aforementioned equipment information includes the latitude and longitude of the tower, the tower height, the tower's elevation above sea level, and the tower's horizontal angle. Data processing device.

2. A data processing device, Equipment information storage unit that stores equipment information related to transmission towers and power lines, A point cloud data storage unit stores point cloud data obtained by three-dimensional measurement of the aforementioned transmission tower and objects surrounding the transmission tower. Based on the aforementioned equipment information, a coordinate recording unit identifies the transmission tower from the point cloud data and records predetermined coordinates relating to the transmission tower, A comparison unit compares the aforementioned equipment information with the aforementioned point cloud data and creates new equipment information according to the results of the comparison. It has, The point cloud data includes the center coordinates of the tower, the top coordinates of the tower, the ground coordinates of the center of the tower, and the base coordinates of the tower. Data processing device.

3. A data processing device, Equipment information storage unit that stores equipment information related to transmission towers and power lines, A point cloud data storage unit stores point cloud data obtained by three-dimensional measurement of the aforementioned transmission tower and objects surrounding the transmission tower. Based on the aforementioned equipment information, a coordinate recording unit identifies the transmission tower from the point cloud data and records predetermined coordinates relating to the transmission tower, A comparison unit compares the aforementioned equipment information with the aforementioned point cloud data and creates new equipment information according to the results of the comparison. It has, With respect to the location information of the aforementioned transmission tower, the matching unit creates the new equipment information based on the point cloud data, With respect to information other than the location information of the aforementioned transmission tower, the matching unit shall create new equipment information based on the point cloud data if the error between the equipment information and the point cloud data is less than a predetermined value. Data processing device.

4. A data processing method using a data processing device, The coordinate acquisition unit of the aforementioned data processing device acquires equipment information related to the transmission tower and power lines. The coordinate acquisition unit takes in point cloud data obtained by three-dimensional measurement of the transmission tower and objects surrounding the transmission tower, The coordinate acquisition unit identifies the transmission tower from the point cloud data based on the equipment information and acquires predetermined coordinates relating to the transmission tower. The matching unit of the data processing device compares the equipment information with the point cloud data, and creates new equipment information according to the result of the comparison. The aforementioned equipment information includes the latitude and longitude of the tower, the tower height, the tower's elevation above sea level, and the tower's horizontal angle. Data processing method.

5. A data processing method using a data processing device, The coordinate acquisition unit of the aforementioned data processing device acquires equipment information related to the transmission tower and power lines. The coordinate acquisition unit takes in point cloud data obtained by three-dimensional measurement of the transmission tower and objects surrounding the transmission tower, The coordinate acquisition unit identifies the transmission tower from the point cloud data based on the equipment information and acquires predetermined coordinates relating to the transmission tower. The matching unit of the data processing device compares the equipment information with the point cloud data, and creates new equipment information according to the result of the comparison. The point cloud data includes the center coordinates of the tower, the top coordinates of the tower, the ground coordinates of the center of the tower, and the base coordinates of the tower. Data processing method.

6. A data processing method using a data processing device, The coordinate acquisition unit of the aforementioned data processing device acquires equipment information related to the transmission tower and power lines. The coordinate acquisition unit takes in point cloud data obtained by three-dimensional measurement of the transmission tower and objects surrounding the transmission tower, The coordinate acquisition unit identifies the transmission tower from the point cloud data based on the equipment information and acquires predetermined coordinates relating to the transmission tower. The matching unit of the data processing device compares the equipment information with the point cloud data, and creates new equipment information according to the result of the comparison. With respect to the location information of the aforementioned transmission tower, the matching unit creates the new equipment information based on the point cloud data, With respect to information other than the location information of the aforementioned transmission tower, the matching unit shall create new equipment information based on the point cloud data if the error between the equipment information and the point cloud data is less than a predetermined value. Data processing method.

7. A data processing device, Equipment information storage unit that stores equipment information related to transmission towers and power lines, A point cloud data storage unit stores point cloud data obtained by three-dimensional measurement of the aforementioned transmission tower and objects surrounding the transmission tower. Based on the aforementioned equipment information, a coordinate recording unit identifies the transmission tower from the point cloud data and records predetermined coordinates relating to the transmission tower, A comparison unit compares the equipment information with the point cloud data, and based on the result of the comparison, records the point cloud data as correct and creates new equipment information. A data processing device having

8. A data processing method using a data processing device, The coordinate acquisition unit of the aforementioned data processing device acquires equipment information related to the transmission tower and power lines. The coordinate acquisition unit takes in point cloud data obtained by three-dimensional measurement of the transmission tower and objects surrounding the transmission tower, The coordinate acquisition unit identifies the transmission tower from the point cloud data based on the equipment information and acquires predetermined coordinates relating to the transmission tower. The matching unit of the data processing device compares the equipment information with the point cloud data, and according to the result of the comparison, records the point cloud data as correct and creates new equipment information. Data processing method.

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