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WO2013020158A1 - Inspection d'éléments géographiquement espacés - Google Patents

Inspection d'éléments géographiquement espacés Download PDF

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Publication number
WO2013020158A1
WO2013020158A1 PCT/AU2011/001506 AU2011001506W WO2013020158A1 WO 2013020158 A1 WO2013020158 A1 WO 2013020158A1 AU 2011001506 W AU2011001506 W AU 2011001506W WO 2013020158 A1 WO2013020158 A1 WO 2013020158A1
Authority
WO
WIPO (PCT)
Prior art keywords
data
sensor
location
feature
location data
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/AU2011/001506
Other languages
English (en)
Inventor
John Lucas
David EMPEY
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from AU2011903184A external-priority patent/AU2011903184A0/en
Application filed by Individual filed Critical Individual
Publication of WO2013020158A1 publication Critical patent/WO2013020158A1/fr
Priority to AU2013100417A priority Critical patent/AU2013100417A4/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/53—Determining attitude
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/485—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an optical system or imaging system
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G01C21/1656—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with passive imaging devices, e.g. cameras
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/14—Receivers specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled

Definitions

  • the invention relates to inspecting geographically spaced features.
  • the tops of power poles should be inspected regularly for faults. Faults at the tops of power poles can cause the wires to fall which may well start a fire. It is generally accepted that the tops of power poles should be inspected every 3 years.
  • the present inventors have previously inspected poles by taking digital photographs from a helicopter. Typically 3 or 4 photos of each pole are taken. Up to 800 poles can be photographed per day in this way.
  • the photos After a flight the photos must be paired with an asset number identifying the pole.
  • the photos are GPS tagged using an inbuilt feature of the camera which pairs each digital image with location data in a common EXIF file.
  • the location data identifies the location at which the photo was taken.
  • the GIS asset data includes paired data identifying the asset number of each pole and its actual location. By comparing the recorded location data to the actual location of the poles the digital images can be paired with the appropriate asset number. Thereafter the images are inspected by a qualified linesman to determine if maintenance is required.
  • the location data recorded in the EXIF file is the location of the camera rather than the location of the pole. This discrepancy leads to ambiguities when comparing the location data and the actual location data. This is particularly so in the case of complex networks and/or parallel powerlines etc. The degree of ambiguity increases based on the distance between the camera and the power pole, this distance is referred to as 'stand off distance'.
  • the invention provides a method of inspecting geographically spaced features including obtaining sensor data, from a sensor, describing a feature at a distance and a direction from the sensor; sensor location data describing the location of the sensor; and direction data describing the direction; in a form suitable for determining, based on the sensor location data and the direction data,
  • determined feature location data describing the location of the feature; and producing an output including paired or pairable sensor data and determined feature location data.
  • the method further includes determining, based on the sensor location data and the direction data,
  • determined feature location data describing the location of the feature; and producing an output including paired or pairable sensor data and determined feature location data.
  • the determining and producing could be performed at a later date and/or conditionally on the sensor data.
  • the location of a power pole might only be determined if a photograph of the pole shows a fault.
  • Obtaining the sensor location data and/or the direction data preferably includes obtaining data from a satellite navigation system, which system is most preferably the Global Positioning System.
  • Direction data may be obtained using an inertial instrument, e.g. an accelerometer, or more preferably a gyroscope, may provide direction data as a backup should data from the satellite navigation system be unavailable or the relevant data receiving systems fail.
  • 'Gyroscope' as used herein takes in conventional spinning wheel gyroscopes and equivalents such as laser gyros and chip mounted MEMs gyroscopes.
  • each of the sensor data and the determined feature location data includes a time stamp by which they are pairable.
  • the obtaining includes manipulating the sensor by hand to direct the sensor toward the direction.
  • the senor is a camera and the sensor data includes an image.
  • the sensor data is assigned a name and the determined feature location is paired with the name.
  • the determined feature location is paired with the name in a text file or a shape file.
  • the method preferably includes comparing the determined feature location data to actual feature location data, of a collection of paired actual feature location data and feature identifiers, to pair the sensor data and a feature identifier; producing an output including paired sensor data and feature identifiers.
  • the comparing and producing could be performed at a later date and/or conditionally on the sensor data.
  • the location of a power pole might only be determined if a photograph of the pole shows a fault.
  • Another aspect of the invention provides an apparatus for inspecting geographically spaced features including a sensor for obtaining sensor data describing a feature at a distance and a direction from the sensor; a location measuring device for obtaining location data describing the location of the sensor; a direction measuring device configured to obtain direction data describing the direction; wherein the sensor data, location data and direction data are each in a form suitable for determining, based on the sensor location data and the direction data, determined feature location data describing the location of the feature; and producing an output including paired or pairable sensor data and determined feature location data.
  • the apparatus may further include a processing device configured to receive sensor data, location data and direction data; determine, based on the sensor location data and the direction data, determined feature location data describing the location of the feature; and produce an output including paired or pairable sensor data and determined feature location data.
  • a processing device configured to receive sensor data, location data and direction data; determine, based on the sensor location data and the direction data, determined feature location data describing the location of the feature; and produce an output including paired or pairable sensor data and determined feature location data.
  • the devices may be integrated is a single unit and/or one or more of the devices might be integrated with the sensor.
  • the sensor is configured to be directed toward the direction by hand.
  • the location measuring device and/or the direction measuring device is configured to obtain data from a satellite navigation system, which system is most preferably the Global Positioning System.
  • the direction measuring device preferably includes an inertial instrument, most preferably in the form of a gyroscope.
  • Another aspect of the invention provides a vehicle carrying the apparatus, which vehicle is preferably a helicopter.
  • Another aspect of the invention provides a computer readable medium carrying instructions executable by a processing device to receive sensor data describing a feature at a distance and a direction from a sensor, sensor location data describing the location of the sensor and direction data describing the direction; determine, based on the sensor location data and the direction data, determined feature location data describing the location of the feature; and produce an output including paired or pairable sensor data and determined feature location data.
  • Figure 1 is a perspective view of a sensor and a direction measuring device in accordance with an embodiment of the invention
  • FIG. 2 diagrammatically illustrates an embodiment of the invention.
  • FIG. 3 diagrammatically illustrates processing steps.
  • Figure 1 illustrates a sensor in the form of camera 10 and a direction measuring device in the form of a GPS based azimuth 20.
  • the camera 10 may be used to obtain sensor data 1 10 in the form of a digital picture of the feature (e.g. the top of a power pole) at a distance and direction from the camera 10.
  • the camera 10 includes a camera body 1 1 and a telephoto lens 12.
  • the camera 10 is a NikonTM D3X with a 600mm telephoto lens.
  • the camera 10 is mounted within helicopter 30 via a gyro stabilised mount (not shown).
  • the camera 10 includes an inbuilt location measuring device 13 in the form of a 5Hz GarminTM GPS unit.
  • a 1 Hz GarminTM GPS18 is also suitable.
  • the mounting is such that the camera 10 is freely manipulate by hand to move relative to the helicopter 30 to direct the camera toward a feature of interest.
  • the mounting may be omitted - the camera could simply be handheld.
  • the camera 10, GPS based Azimuth 20 and location measuring device 13 produce data in an electronic form.
  • the GPS based azimuth 20 produces direction data 120 and includes a pair of GPS antennae 21 carried by a mount 22.
  • the mount 22 connects the antennae 21 to the mount of the camera whereby the antennae are fixed relative to the camera. As such the antennae move in unison with the camera and by tracking their position the azimuth component of the direction at which the camera is pointed can be tracked.
  • the azimuth 20 may be mounted directly to the camera 10 to move with the camera 10.
  • the mount 22 includes a bar running parallel to the axis of the camera lens. This bar terminates at the centre of a 500mm long horizontal bar transverse to the axis of the camera lens. Each antennae 21 is carried at a respective end of the horizontal bar.
  • the GPS based azimuth further includes a tilt sensor (not shown) to measure the inclination of the direction at which the camera is pointed and a processing arrangement to bring together the azimuth and tilt components of the direction data 120. It is contemplated that workable embodiments may not include the tilt sensor, instead tilt could be a predetermined value.
  • the GPS based azimuth 20 further includes an inertial device in the form of a small laser gyroscope (not shown) to provide an indication of the direction of the camera if and when the antennae 21 lose signal.
  • an inertial device in the form of a small laser gyroscope (not shown) to provide an indication of the direction of the camera if and when the antennae 21 lose signal.
  • the processing arrangement of the GPS azimuth takes information from the antennae, from the tilt sensor and the laser gyroscope to prepare direction data 120 describing the direction of the camera and time stamps the direction data by the inclusion of GPS time.
  • the data is conveyed in the form of a serial NMEA string including the following comma delineated fields:
  • G Gyro solution * checksum
  • time stamped direction data for four features could be:
  • the inventors have found that the GPS based azimuth is a significant advance over other possible direction measuring systems. Magnetic compasses were trialled, but worked poorly in the magnetically noisy environment about the helicopter.
  • direction measuring device 20 may produce a continuous stream of direction data but preferred that the direction data 120 is produced substantially simultaneously with the sensor data.
  • the direction measuring device 20 is responsive to the camera 10. This may be achieved via electrical connection to the flash mechanism of the camera 10. According to the described embodiment the measuring device 20 is connected directly to the hot shoe of the camera 10.
  • the sensor data and the direction data may be stored in a storage device(s) on board the helicopter and then processed elsewhere after the flight, but preferably the data is processed in flight.
  • the described apparatus includes a processor 40 carried aboard the helicopter 30.
  • the processor 40 may be a Linux processor (and/or an off the shelf laptop computer) and cooperate with an external / removable hard drive 41 to store data.
  • the processor 40 includes or cooperates with a computer readable medium (e.g. a hard disk) carrying computer executable instructions executable by processor 40 to perform the processing steps 101 , 102 and 103 illustrated in Figure 3.
  • a computer readable medium e.g. a hard disk
  • the file 110 includes an image, a time stamp and location data 1 13 from the camera's location measuring device 13.
  • the processor 40 receives the file 1 10, and names the file 1 10 with an adjusted photo name made up of a date code, a letter identifying the camera (e.g. in case there is more than one camera aboard the helicopter) and a 4 digit number - "yyyymmdd-camera letter-1234". The number is indexed by one each time a photo is taken and returns to 0000 after 9999.
  • the processor 40 receives direction data 120 and location data 1 13. Based on this data and a preset estimate of stand off distance the location of the feature (e.g. the power pole) can be determined. In other variants of the invention, accuracy might be improved by providing a distance measuring device to measure the stand off distance.
  • Step 102 is preferably performed in real time so that the determined feature locations can be passed to a photographer's navigation system to produce a real time plot showing which features have been photographed.
  • the processor 40 matches the time stamps of the determined feature location data to the time stamps of the EXIF files from step 101 to produce a text file (or a shape file) including a listing of paired determined feature location data & adjusted photo names.
  • the text file may include comma delineated text including: Time of image capture, determined feature location, camera direction, local time, local date, adjusted photo name.
  • the EXIF file retains the original camera location data 1 13. This provides a degree of redundancy. If the data in the text file is corrupted (potentially due to any number of upstream failures) the location data from the EXIF files can be used in line with inventors' earlier approach. Of course it is also possible to modify the EXIF files to include the determined feature location data.
  • the text file may later be compared to the actual locations of the power poles listed in a database including paired actual power locations and asset numbers (or other feature identifier). In this way the pictures can be paired with the asset numbers.
  • This comparison may be performed by a spatial search using GIS software to locate the closest feature to each determined feature location and then populate a DBF file with the results. The distance between the determined feature location and the actual feature location can also be reported. This distance provides an indication of the likelihood of a feature being mis-identified.
  • the DBF file may also include executable links to the images.
  • Location data (including sensor location data, determined feature location data and actual feature location data) may be expressed in terms of latitude and longitude.
  • the final output data may be combined into a single GIS based package including: actual feature locations
  • GIS features such as streets, towns), determined feature locations, helicopter (or other vehicle) travel path, and images (or other sensor data).
  • the camera 10 (including its location measuring device 13), direction measuring device 20 and the processor 40 together constitute an apparatus for inspecting geographically spaced features.
  • the apparatus further includes a user interface 50 including status light 51 and operator display 52.
  • the user interface 50 is driven by the processor 40.
  • the status lights 51 include three separate lights. A red light is displayed to confirm that the direction measuring device is operating. It is also contemplated that an audible alarm might be generated if the measuring device 20 is not operating. A green light is displayed to confirm that an adequate GPS signal is being received. An orange light is displayed to indicated that GPS signal has been lost and that the measuring device is now utilising the laser gyro.
  • the operator display 52 is a small daylight viewable screen showing system status including:
  • an atmospheric sensor may be used to inspect a volume of atmosphere, e.g. a cloud.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
  • Gyroscopes (AREA)
  • Navigation (AREA)
  • Studio Devices (AREA)

Abstract

L'invention porte sur un procédé d'inspection d'éléments géographiquement espacés. Le procédé comprend l'obtention de données de capteur 110, à partir d'un capteur 10, de données de position de capteur 113 et de données de direction 120. Les données de capteur décrivent un élément à une distance et à une direction depuis le capteur. Les données de position de capteur décrivent la position du capteur. Les données de direction décrivent la direction. Les données sont sous une forme appropriée pour déterminer, sur la base des données de position de capteur et des données de direction, des données de position d'élément déterminée 120 décrivant la position de l'élément ; et produire une sortie 101, 103 comprenant des données de capteur et des données de position d'élément déterminé appariées ou aptes à être appariées.
PCT/AU2011/001506 2011-08-10 2011-11-21 Inspection d'éléments géographiquement espacés Ceased WO2013020158A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU2013100417A AU2013100417A4 (en) 2011-08-10 2013-04-04 Inspecting Geographically Spaced Features

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AU2011903184 2011-08-10
AU2011903184A AU2011903184A0 (en) 2011-08-10 Inspecting Geographically Spaced Features

Related Child Applications (1)

Application Number Title Priority Date Filing Date
AU2013100417A Division AU2013100417A4 (en) 2011-08-10 2013-04-04 Inspecting Geographically Spaced Features

Publications (1)

Publication Number Publication Date
WO2013020158A1 true WO2013020158A1 (fr) 2013-02-14

Family

ID=47667760

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/AU2011/001506 Ceased WO2013020158A1 (fr) 2011-08-10 2011-11-21 Inspection d'éléments géographiquement espacés

Country Status (1)

Country Link
WO (1) WO2013020158A1 (fr)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5894323A (en) * 1996-03-22 1999-04-13 Tasc, Inc, Airborne imaging system using global positioning system (GPS) and inertial measurement unit (IMU) data
US20050007450A1 (en) * 2002-12-13 2005-01-13 Duane Hill Vehicle mounted system and method for capturing and processing physical data

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5894323A (en) * 1996-03-22 1999-04-13 Tasc, Inc, Airborne imaging system using global positioning system (GPS) and inertial measurement unit (IMU) data
US20050007450A1 (en) * 2002-12-13 2005-01-13 Duane Hill Vehicle mounted system and method for capturing and processing physical data

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