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; a collation section that collates the facility information with the point group data to create new facility information according to a collation result; an airspace setting section that sets a three-dimensional airspace at a position separated from the steel tower by a predetermined distance on the basis of the new facility information; and an overlapping determination section that determines whether or not coordinates are overlapped between airspace position coordinate data of the set airspace and the point group data to set the airspace in which the coordinates are not overlapped to an airspace in which a drone can fly.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a data processing apparatus 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 iron towers and trees, conventionally, the applicant has obtained ground elevation data from the Geospatial Information Authority of Japan map, added facility information on iron towers and transmission lines owned by the applicant to the data, and created 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, there is an error of about 5 m at maximum in the ground elevation data of the Geospatial Information Authority of Japan map. In addition, since the facility information on iron 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 iron tower among the facility information, the error may 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 safe and secure drone flight plans and manage airspace based on accurate equipment information. [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. Based on the aforementioned new equipment information, an airspace setting unit sets a three-dimensional airspace at a predetermined distance from the transmission tower, A duplication determination unit that determines whether there is any coordinate overlap between the airspace position coordinate data of the set airspace and the point cloud data, and sets airspace without coordinate overlap as airspace in which the drone can fly. It holds.

[0007] In the data processing device of the present invention, The horizontal and vertical separation distances from the tower to the airspace are preferably set based on the voltage of the transmission lines on the tower.

[0008] In the data processing device of the present invention, The airspace setting unit divides the airspace into a plurality of partial airspaces, The overlap determination unit determines whether there is coordinate overlap between the airspace position coordinate data and the point cloud data for each of the partial airspaces, and it is preferable to set partial airspaces that currently have no coordinate overlap and will not have any coordinate overlap in the future as airspaces where the drone can fly.

[0009] 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. The airspace setting unit of the data processing device sets a three-dimensional airspace at a predetermined distance from the tower based on the new equipment information. The data processing device's overlap determination unit determines whether there is any overlap in coordinates between the airspace position coordinate data of the set airspace and the point cloud data, and sets the airspace without coordinate overlap as the airspace in which the drone can fly. [Effects of the Invention]

[0010] This invention enables the creation of safe and secure drone flight plans and airspace management based on accurate equipment information. [Brief explanation of the drawing]

[0011] [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] This demonstrates how to define a three-dimensional airspace in which a drone can fly. [Figure 5] This shows the three-dimensional airspace in which drones can fly. [Figure 6] A flowchart of the data processing method of the present invention is shown.

Best Mode for Carrying Out the Invention

[0012] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. However, the present invention is not limited to this embodiment, and various modifications are possible.

[0013] FIG. 1 is a block diagram showing the configuration of the data processing apparatus of the present invention. The data processing apparatus 10 includes an equipment information storage unit 1, a point cloud data storage unit 2, an equipment information management storage unit 3, a coordinate recording unit 4, a collation unit 5, an airspace setting unit 6, and a duplication determination unit 7. The data processing apparatus 10 can be realized by an information processing apparatus such as a personal computer (PC), a server, a tablet terminal, and a smartphone. The data processing apparatus 10 has hardware resources such as a CPU, a memory, an input / output device, and a communication interface, and operates in cooperation with software.

[0014] The applicant, who is an electric power company, holds equipment information regarding towers and transmission lines, which are its own possessions, as described above. The equipment information storage unit 1 stores this equipment information. The equipment information includes the name of the transmission line, the line voltage, the organization of the location where the equipment is managed, the name of the support, the classification of the collective equipment (single, parallel), the latitude and longitude of the tower, the height of the tower, the altitude of the tower, the underarm height of the tower, the horizontal angle of the tower, the name of the transmission line connected to the tower, the support number of the transmission line connected to the tower, etc. In addition, the equipment information can include any other information.

[0015] 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 Figure 2(a), for example, a laser pulse is emitted from a helicopter H flying at an altitude of 400m and a speed of 70km / h, and the reflected wave is used as a position coordinate for 3D measurement. As shown in Figure 2(b), point cloud data of the transmission tower and surrounding objects (power lines, trees, etc.) is obtained. The point cloud data extends 230m to the left and right of the transmission tower. Currently, point cloud data within a 100m radius to the left and right of the tower is used for power line maintenance, but point cloud data in other areas is not used. In this invention, all point cloud data extending 230m to the left and right of the transmission tower is used for drone flight planning and airspace management. In this invention, we will explain the process using existing point cloud data as an example, but it is also possible to acquire new point cloud data. Furthermore, the numerical range of the point cloud data is just an example.

[0016] 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.

[0017] 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.

[0018] 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.

[0019] 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.

[0020] Thus, in this invention, accurate equipment information can be created by comparing equipment information with point cloud data, and based on this equipment information, safe and secure drone flight plans and airspace management can be performed. The following explains drone flight planning and airspace management.

[0021] Figure 4 shows how to define a three-dimensional airspace in which a drone can fly. The airspace setting unit 6 sets a three-dimensional airspace at a predetermined distance from the transmission tower based on the newly created accurate equipment information regarding the tower's position, and extracts the airspace position coordinate data. As shown in Figure 4(a), the airspace setting unit 6 sets the space from 5m above coordinates A(x1, y1, z1) and A'(x1', y1', z1') at the top of the transmission tower to 30m above as airspace where drones can fly. The reason for setting the airspace 5m away from the transmission tower is to avoid the risk of the drone flying too close to the tower and making contact with it. On the other hand, the reason for setting the upper limit of the airspace to 30m from the transmission tower is that, since the transmission tower is owned by the applicant, drones other than those of the applicant cannot fly within 30m of it, so only the applicant's drones can fly safely. As shown in Figure 4(b), the horizontal and vertical clearance distance L from the transmission tower to the airspace is set based on the voltage of the transmission line on the tower. Specifically, if the transmission line voltage is 170kV or higher, the clearance distance L is set to 16m, and if the transmission line voltage is less than 170kV, the clearance distance L is set to 5m. The values ​​of 16m and 5m are just examples; the separation distance L is determined by taking into account compass errors due to electromagnetic fields, GPS errors, and lateral movement of power lines, etc. As shown in Figure 4(c), the defined airspace includes the partial airspace K1-K4 to the left of the tower, the partial airspace K5 above the tower, and the partial airspace K6-K9 to the right of the tower. In this way, the airspace setting unit 6 divides the airspace into multiple sub-airspaces, for example, every 10 meters.

[0022] Furthermore, the airspace can be divided horizontally and / or vertically to create multiple lanes. For example, partial airspace K5 can be divided into two along the power lines, with the left side of partial airspace K5 and partial airspaces K1-K4 designated as the first lane, and the right side of partial airspace K5 and partial airspaces K6-K9 designated as the second lane. By creating multiple lanes in the airspace in this way, the risk of collision between a drone flying in the first lane and a drone flying in the second lane can be avoided.

[0023] The overlap determination unit 7 determines whether there is an overlap in coordinates between the airspace position coordinate data and the point cloud data of the set airspace. Partial airspaces K1 to K9 are defined based on the new equipment information for the transmission towers, and are not defined taking into account ground obstacles such as trees that may exist around the transmission towers. As shown in Figure 4(c), trees are present in partial airspaces K8 and K9, and therefore point cloud data of the trees exists within partial airspaces K8 and K9. Consequently, there is a coordinate overlap between the airspace position coordinate data and the point cloud data in partial airspaces K8 and K9, and the overlap determination unit 7 sets partial airspaces K8 and K9 as airspace where drones cannot fly. Furthermore, although there are currently no trees in partial airspace K1, considering tree growth, there is a possibility that trees may be present in partial airspace K1 in the future. In this case as well, the overlap determination unit 7 sets partial airspace K1 as airspace where drones cannot fly. Thus, the overlap determination unit 7 can also use point cloud data based on predictive data that takes into account the degree of tree growth.

[0024] As described above, the overlap determination unit 7 determines whether there is coordinate overlap between the airspace position coordinate data and the point cloud data for each partial airspace K1 to K9, and sets partial airspaces K2 to K7, which currently have no coordinate overlap and are not expected to have any coordinate overlap in the future, as airspace in which the drone can fly. Furthermore, it is preferable that the overlap detection unit 7 determines whether there is an overlap in coordinates between the airspace position coordinate data and the point cloud data of the set airspace, not only during system construction but also when the point cloud data is updated.

[0025] Figure 5 shows the three-dimensional airspace in which a drone can fly. As described above, by determining whether there is any coordinate overlap between the airspace position coordinate data and the point cloud data in the airspace defined based on the location information of the new equipment towers, it is possible to determine the airspace in which drones can fly safely and securely.

[0026] Figure 6 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.

[0027] 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.

[0028] In step S10, the airspace setting unit 6 sets a three-dimensional airspace at a predetermined distance from the tower based on the tower's position information in the new equipment information, and divides this airspace into multiple sub-airspaces. In step S11, the airspace setting unit 6 extracts airspace position coordinate data within each partial airspace. In step S12, the overlap determination unit 7 extracts point cloud data within each sub-airspace. In step S13, if there is no overlap between the airspace position coordinate data and the point cloud data in the partial airspace (NO), in step S14, the overlap determination unit 7 sets the partial airspace as airspace in which a drone can fly (flyable airspace). On the other hand, in step S13, if there is an overlap between the airspace position coordinate data and the point cloud data in a partial airspace (YES), in step S15, the overlap determination unit 7 sets the partial airspace as an airspace where the drone cannot fly (airspace where flight is impossible). Steps S13 to S15 are performed for each partial airspace. [Explanation of Symbols]

[0029] 1...Equipment information storage unit, 2...Point cloud data storage unit, 3...Equipment information management storage unit, 4...Coordinate acquisition unit, 5...Verification unit, 6...Airspace setting unit, 7...Duplicate determination 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. Based on the aforementioned new equipment information, an airspace setting unit sets a three-dimensional airspace at a predetermined distance from the transmission tower and divides the airspace into multiple sub-airspaces. For each of the aforementioned partial airspaces, a duplication determination unit determines whether there is a coordinate overlap between the airspace position coordinate data of the designated airspace and the point cloud data, and sets the airspace without coordinate overlap as an airspace where the drone can fly. A data processing device having

2. The horizontal and vertical separation distances from the tower to the airspace are determined based on the voltage of the transmission lines on the tower. The data processing device according to claim 1.

3. The overlap detection unit sets the airspace in which there is currently no coordinate overlap and will not be any coordinate overlap in the future as airspace in which the drone can fly. The data processing apparatus according to claim 1 or 2.

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 airspace setting unit of the data processing device sets a three-dimensional airspace at a predetermined distance from the tower based on the new equipment information, and divides the airspace into multiple sub-airspaces. The data processing device's duplicate determination unit determines, for each of the partial airspaces, whether there is a coordinate overlap between the airspace position coordinate data of the set airspace and the point cloud data, and sets the airspace without coordinate overlaps as an airspace where the drone can fly. Data processing method.

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