JP2019084948A - Control method of unmanned air vehicle and unmanned air vehicle - Google Patents

Abstract

To efficiently and safely fly while securing a flight distance and a flight time. An unmanned aerial vehicle is generated in a conductive coil by an electromagnetic induction effect of a current flowing through an overhead electric wire, a ring opening / closing device, and a current generator having an annular ring body and a conductive coil wound around the ring body. A power supply device for supplying electric power based on the current to the thrust generator or the flight control device. The unmanned aerial vehicle accommodates an overhead electric wire inside a ring of a ring body while flying, and supplies power based on a current generated in a conductive coil by an electromagnetic induction action to a thrust generator or a flight control device. When detecting that the unmanned aerial vehicle is within a predetermined distance from the obstacle provided on the overhead electric wire, the unmanned flying vehicle separates from the overhead electric wire, performs a flight to avoid the obstacle, and moves the obstacle to a predetermined distance. If it is out of the range, flight along the overhead power line while receiving power supply from the overhead power line is resumed. [Selection diagram] FIG.

Description

  The present invention relates to a method of controlling an unmanned air vehicle and an unmanned air vehicle.

  Patent Document 1 "prevents a collision accident of a flying object such as a helicopter with an obstacle etc.", "A helicopter and a ground station are each provided with a GPS signal receiver, and a helicopter using GPS signals from GPS satellites. The helicopter and ground station are provided with satellite communication equipment for transmitting and receiving control data to and from satellites for data communication, respectively, and coordinates of obstacles such as towers and transmission lines It is described in advance that, if the helicopter approaches the obstacle too much, an alarm will be generated or it will be avoided by automatic steering.

  According to Patent Document 2, "the unmanned aerial vehicle is present in a region where the camera for capturing an image of the unmanned aerial vehicle in the vertical direction is superimposed and the region where the unmanned aerial vehicle may crash is superimposed on the image. An image processing unit for detecting an avoidance object, and a fall avoidance flight control unit for controlling the flight of the unmanned air vehicle so that the avoidance object is not detected from within the area when the avoidance object is detected; According to the control result of the control unit, a fall possibility area determination unit is provided.

  Patent Document 3 "takes out the induction current from the overhead wire flowing to the ground wire of the overhead wire, performs direct current conversion to charge the storage battery, and uses the storage battery as a power source", "for the ground wire of the overhead wire A current transformer with a ground wire as a primary winding is provided for current extraction, and the current transformer is provided in a long shape along the ground wire to take out the induction current of the overhead wire flowing through the ground wire. ing.

  Patent Document 4 relates to a power supply CT configured to include a core into which a distribution line is inserted and a secondary winding (a primary winding corresponds to a distribution line to be measured) wound around the core. Have been described.

  Non-Patent Document 1 describes a power supply device for an aeronautical fault lamp utilizing an induced current flowing in an overhead ground line.

Japanese Patent Application Publication No. 2003-127997 JP 2005-265699 A JP-A-49-95159 JP 2004-103791

“Electric Science Journal B,” “Development of a power supply unit for aeronautical obstacle lights using induced current flowing in an overhead ground line”, published on Dec. 19, 2008, Vol. 121, No. 8, Yamaguchi, Osamu Naganuma, Matsuoka Masanori, Seiji Takano, Tsuyoshi Maezaki, Kazuyuki Tomonaga, Hiroshi Nakamura, The Institute of Electrical Engineers of Japan, Optoelectronics Tokyo Electric Power Company

  Conventionally, visual inspection by workers has become mainstream in patrol and inspection of transmission and distribution facilities in the power infrastructure business. However, when inspecting a difficult-to-access place such as a mountainous area, not only traveling to the site takes time, but also, it takes much labor to ascend. Recently, efforts have been made to manage and monitor power transmission facilities using drones and other unmanned air vehicles for the purpose of reducing the load on workers, improving safety, and solving human resource shortages.

  Here, when using an unmanned air vehicle (drone or the like) for inspection of transmission and distribution equipment, the problem is that the flight distance and flight time are limited by the capacity and weight of the power storage device (battery). In addition, unmanned air vehicles need to be efficiently and safely fly while avoiding obstacles provided in the transmission and distribution facilities.

  The present invention has been made in view of the above background, and provides a method of controlling an unmanned air vehicle, and a method of controlling the unmanned air vehicle, which enables the unmanned air vehicle to fly efficiently and safely while securing the flight distance and flight time. It is intended to be provided.

  In order to achieve the above object, one of the present inventions is a thrust generator, a flight control device for controlling the thrust generator, an annular ring body capable of opening and closing a part of the ring, and the ring body A current generating device having a conductive coil wound around the ring, a ring switching device for opening and closing a part of the ring of the ring body, electric power based on current generated in the conductive coil as the thrust generating device or the flight control device A control method of an unmanned aerial vehicle comprising: a power supply device for supplying power to the vehicle; and a sensor for outputting information indicating a distance between an object present in the surroundings, wherein Approaching a wire, opening a portion of the ring of the ring body while flying to accommodate an overhead wire inside the ring, closing a portion of the ring while flying, inside the ring Collect the overhead wires Supplying the electric power based on the current generated in the conductive coil by the electromagnetic induction action of the current flowing through the overhead electric wire while flying along the overhead electric wire to the thrust generator or the flight control device; When flying along the overhead wire and detecting that it is within a predetermined distance from an obstacle provided on the overhead wire, the ring body is detached from the overhead wire and is taken along the overhead wire Performing a flight avoiding the obstacle, and when it is detected that the obstacle is out of a predetermined distance range, flying along the overhead electric wire with the overhead electric wire housed inside the ring And resuming a flight of supplying the power to the thrust generator or the flight control device based on the current generated in the conductive coil.

  According to the present invention, since the power based on the current generated in the conductive coil by the electromagnetic induction action of the current flowing through the overhead wire is supplied to the thrust generator or the flight control device, the unmanned aerial vehicle is supplied with power from the overhead wire while flying. It can be received, it can extend the flight distance and flight time. Therefore, for example, the unmanned air vehicle can be made to fly over a long distance or a long time without accessing the charging station or the like, and the work such as the inspection of the transmission and distribution equipment can be efficiently performed. In addition, if the buoyancy is lost due to insufficient storage capacity of the power storage device (battery) or failure or if a gust of wind occurs, the unmanned air vehicle may fall or deviate from the flight route because the ring body is applied to the overhead wire. Can prevent the unmanned air vehicle from flying safely. In addition, the flight which avoids the obstacle provided on the overhead electric wire is performed, and after avoiding, the flight along the overhead electric wire while receiving the power supply is resumed, so the unmanned air vehicle can be efficiently and safely You can fly it. As described above, according to the present invention, it is possible to fly an unmanned air vehicle efficiently and safely while securing the flight distance and flight time.

  Another one of the present inventions is the control method of the above-mentioned unmanned aerial vehicle, wherein the ring body is provided under the unmanned aerial vehicle, and the unmanned aerial vehicle flies above the obstacle. To avoid the obstacles.

  According to the present invention, since the unmanned air vehicle flies above the obstacle when avoiding the obstacle, for example, information on the upper side of the overhead electric wire (photographed image ) Can be obtained.

  Another one of the present inventions is the control method of the above-mentioned unmanned aerial vehicle, wherein the ring body is provided above the unmanned aerial vehicle, and the unmanned aerial vehicle flies below the obstacle. To avoid the obstacles.

  According to the present invention, since the unmanned air vehicle flies below the obstacle when avoiding the obstacle, for example, the information on the underside of the overhead electric wire (photographed image ) Can be obtained.

  Another one of the present inventions is the control method of the above-mentioned unmanned aerial vehicle, wherein the unmanned aerial vehicle comprises an imaging device for photographing the surroundings, and the unmanned aerial vehicle accommodates an overhead wire inside the ring. The step of photographing the overhead wire is further performed while flying in the above state.

  According to the present invention, at the time of work such as inspection of transmission and distribution equipment, while receiving the power supply from the overhead electric wire and securing the flight distance and flight time, the captured image of the transmission and distribution equipment such as overhead electric wire is efficiently acquired. be able to.

  Another one of the present inventions is a control method of the above-mentioned unmanned air vehicle, wherein the current generator is configured using a feedthrough current transformer.

  Thus, the current generator of the present invention can be easily realized using a feedthrough current transformer.

  Another aspect of the present invention is a thrust generator, a flight control device for controlling the thrust generator, an annular ring body capable of opening and closing a part of the ring, and a conductive coil wound around the ring body Based on the current generated in the conductive coil by the electromagnetic induction action of the current flowing through the overhead electric wire housed in the ring, the ring switching device for opening and closing a part of the ring of the ring body, and An unmanned air vehicle comprising: a power supply device for supplying power to the thrust generator or the flight control device; and a sensor for outputting information indicating a distance between an object present in the surroundings; Control to approach an overhead wire, Control to open part of the ring of the ring body while flying to accommodate the overhead wire inside the ring, Control to close part of the ring while flying, Inside of the ring Accommodate the overhead wires in Control to supply the power to the thrust generator or the flight control device based on the current generated in the conductive coil by the electromagnetic induction action of the current flowing through the overhead electric wire while flying along the overhead electric wire in the closed state; When flying along the overhead wire and detecting that it is within a predetermined distance from an obstacle provided on the overhead wire, the ring body is detached from the overhead wire and is taken along the overhead wire Control to fly so as to avoid the obstacle, and when it is detected that the obstacle is out of a predetermined distance range, along the overhead wire with the overhead wire housed inside the ring While flying, control of resuming a flight in which the power based on the current generated in the conductive coil is supplied to the thrust generator or the flight control device is performed.

  Another one of the present inventions is the unmanned aerial vehicle, wherein the ring body is provided under the unmanned aerial vehicle, and a control for avoiding the obstacle by flying above the obstacle. I do.

  Another one of the present inventions is the unmanned aerial vehicle, wherein the ring body is provided above the unmanned aerial vehicle, and a control for avoiding the obstacle by flying below the obstacle. I do.

  Another one of the present inventions is the unmanned aerial vehicle, comprising an imaging device for imaging the surroundings, and controlling the imaging of the overhead electric wire while flying with the overhead electric wire housed inside the ring. Do.

  Another one of the present inventions is the unmanned aerial vehicle, wherein the current generator is constructed using a feedthrough current transformer.

  Another one of the present inventions is the unmanned aerial vehicle, wherein the power supply device is a storage device for supplying power to the thrust generator or the flight control device, and power based on a current generated in the conductive coil. And a charge control device that supplies the power storage device.

  In addition, the subject which this application discloses, and its solution method are clarified by the column of the form for inventing, and drawing.

  According to the present invention, it is possible to efficiently and safely fly an unmanned air vehicle while securing flight distance and flight time.

It is a front view of a drone. It is the perspective view which looked at the unmanned aerial vehicle from the front slanting upper part. It is a figure explaining the structure and principle of an electric current generator. It is a figure which shows the hardware constitutions (block diagram) of an unmanned aerial vehicle, and a transmitter. It is a figure which shows the function (software structure) with which a control circuit is provided. It is a figure which shows the structure (hardware structure) of a charge control apparatus. It is a figure explaining the procedure which accommodates an overhead wire inside a ring while a drone flies. It is a figure which shows a mode that the unmanned aerial vehicle is charging a battery, inspecting an overhead electric wire. It is a flow chart explaining flight control processing. It is a flowchart explaining a power reception / inspection process. When the unmanned air vehicle approaches the obstacle of the overhead electric wire, interrupt the power reception / inspection flight and make an evasive flight, and connect it to the overhead electric wire again to explain a series of situations from when the power reception / inspection flight is resumed. FIG. It is a figure which shows the other structure of a unmanned air vehicle. A series of unmanned air vehicles of other configurations interrupt the incoming / outgoing flight when approaching the obstacle of the overhead line to make an avoidance flight, and then rejoin the overhead line to resume the incoming / outgoing flight. It is a figure explaining a mode.

  Hereinafter, modes for carrying out the invention will be described. In the following description, the same or similar components may be denoted by the same reference numerals and the description thereof may be omitted.

  FIGS. 1 and 2 show the appearance of the unmanned air vehicle 3 described as an embodiment of the present invention. FIG. 1 is a front view of the unmanned air vehicle 3, and FIG. 2 is a perspective view of the unmanned air vehicle 3 as viewed obliquely from the front and above. The unmanned air vehicle 3 checks the transmission and distribution facilities (for example, checks the status of overhead cables, transmission towers, utility poles, etc. (confirms the presence or absence of scratches, presence or absence of arc marks, presence or absence of bird damage, presence or absence of approaching trees, etc.) Do.

  The unmanned air vehicle 3 is, for example, a multicopter (bicopter, tricopter, quadcopter, hexacopter, octocopter, etc.), a helicopter, an airplane, a flight robot or the like. In the following description, the unmanned air vehicle 3 is a quadcopter capable of flying by remote control and capable of autonomous flight with an autonomous control mechanism.

  The unmanned aerial vehicle 3 extends horizontally at angles of 45 °, 135 °, 225 °, and 315 ° from the pedestal portion 31 and the pedestal portion 31 as the basic skeleton (frame), respectively. And a leg 33 (including a leg support 331 and a horizontal leg 332 described later, also referred to as a skid) provided to extend downward (-z direction) of the pedestal 31. . The arm 32 and the leg 33 are configured using, for example, a tubular (cylindrical, square tubular or the like) or a truss-like member. These are made of, for example, resin, metal or the like.

  The pedestal portion 31 has a structure (two upper and lower stages in this example) having a plurality of plates in the vertical direction (z-axis direction). The leg 33 is fixed to the lower end of the leg support 331 and two leg supports 331 extending downward by a predetermined length while extending from the pedestal 31 in the left and right direction (± x axis direction) respectively, and a horizontal leg 332 extending in a predetermined length (for example, a length in the front-rear direction (y-axis direction) of the unmanned aerial vehicle 3) in the y-axis direction.

  A flight control device 250 and an imaging device 282 are provided in the upper stage of the pedestal portion 31. In the lower part of the pedestal portion 31, a battery 260 (power storage device), a charge control device 82 described later, and the like are provided. These are fixed to the pedestal portion 31 using, for example, a double-sided tape, a surface fastener, a screw or the like.

  In the vicinity of the end of each of the four arms 32, a power motor 255 (a thrust generating device) is provided with the direction of the rotation axis thereof directed in the vertical direction (z-axis direction). A propeller 271 (rotor) is attached to the rotation shaft of each power motor 255. A motor control device 254 is connected to each power motor 255.

  Below the pedestal portion 31, a space S surrounded by the lower portion of the pedestal portion 31 and the two leg supports 331 is formed, and a current generator 41 and a ring opening / closing device 42 are provided in the space S. There is.

  FIG. 3 is a diagram for explaining the structure and principle of the current generator 41. As shown in FIG. The current generator 41 constitutes, together with the charge control unit 82 and the battery 260, a power supply unit 240 for supplying drive power to each component of the unmanned air vehicle 3.

  As shown in the figure, the current generator 41 includes an annular (ring-shaped) ring body 411 made of a magnetic material, and a conductive coil 412 wound along the ring body 411. Both ends of the conductive coil 412 are connected to the input terminal of the charge control device 82.

  The ring body 411 is coupled to the overhead wire 2 so that the overhead wire 2 is penetrated and accommodated in the hole 415 inside the ring. In a state in which the ring body 411 is coupled to the overhead wire 2, a current (induced current) is generated in the conductive coil 412 by the electromagnetic induction action by the current flowing through the overhead wire 2, and this current is input to the charge control device 82.

  The charge control device 82 converts alternating current input through the conductive coil 412 into direct current and uses it as a charging current of the battery 260. Such a configuration of the current generator 41 can also be realized, for example, using an existing feed-through CT (power transformer (Current Transformer)) for power supply (for example, Patent Documents See Patent Document 1).

  The inner surface of the ring body 411 is made of a material having a small coefficient of friction with the overhead wire 2. Therefore, the unmanned aerial vehicle 3 can fly (move) along the overhead wire 2 while the ring body 411 is coupled to the overhead wire 2. Although the shape of the ring body 411 is not necessarily limited, for example, it is preferable to make it the shape (for example, ring shape, elliptical ring shape, etc.) which does not produce friction easily with the overhead electric wire 2 accommodated in a ring.

  FIG. 4 shows the hardware configuration (block diagram) of the unmanned air vehicle 3 and the transmitter 6 used by the user. As shown in the figure, the unmanned air vehicle 3 includes a flight control device 250, a thrust generator 270, a power supply device 240 (current generator 41, charge controller 82, battery 260), a ring opening and closing device 42, and an imaging device. It has 282. The components of the unmanned air vehicle 3 (a thrust generator 270, a flight controller 250, a ring opening and closing device 42, and an imaging device 282) operate with the power supplied from the power supply device 240. The drive power may be supplied to each of the above-described configurations from the battery 260 or directly from the charge control device 82.

  The thrust generator 270 includes a motor controller 254 and a power motor 255. A motor control device 254 (also referred to as an ESC (Electronic Speed Controller), an amplifier or the like) controls the rotation of the power motor 255 by, for example, control of the magnitude of the electrical resistance value or PWM (Pulse Width Modulation) control. The motor controller 254 generates thrust for flight. The control circuit 251 controls the rotation speed of each of the plurality of power motors 255 based on the information input from the various sensors 253 to operate (posture (pitch, roll, yaw), move (advances) of the unmanned air vehicle 3. , Backward movement, left and right movement, up and down) etc.). The power motor 255 is an electric motor, for example, a brushless motor. The thrust generator 270 may be an engine (internal combustion engine).

  The flight control device 250 includes a control circuit 251, a wireless communication device 252, various sensors 253, various interfaces (hereinafter referred to as various I / Fs 258), and a communication circuit 259.

  The control circuit 251 includes a processor (CPU, MPU or the like) and a storage device (RAM, ROM, NVRAM, external storage or the like), and functions as an information processing apparatus. The control circuit 251 may be realized, for example, as a microcomputer (microcomputer) in which a processor and a storage element are integrally packaged.

  The various sensors 253 are, for example, a gyro sensor (angular velocity sensor), a three-axis acceleration sensor, a barometric pressure sensor, a magnetic sensor, an ultrasonic sensor, a distance measuring sensor, a depth camera (Time of Flight (TOF) camera, a stereo camera , Laser radar (LiDAR: Laser imaging Detection and Ranging), infrared depth sensor, ultrasonic sensor, etc., GPS signal (GPS: Grobal Positioning System) receiver (hereinafter also referred to as GPS), pressure-sensitive sensor, infrared sensor Etc.

  The gyro sensor outputs, for example, a signal indicating an angular velocity of inclination and rotation of the unmanned air vehicle 3 in front, rear, left, and right. The three-axis acceleration sensor detects, for example, the acceleration of the unmanned air vehicle 3 (acceleration in each of front, rear, left, right, up, and down directions). The barometric pressure sensor outputs a signal indicating the barometric pressure. The information of the barometric pressure sensor is used, for example, when obtaining the altitude, the elevating speed, and the like of the unmanned air vehicle 3. The magnetic sensor outputs, for example, a signal indicating the direction in which the aircraft axis of the unmanned air vehicle 3 is currently facing.

  The ultrasonic sensor outputs, for example, a signal indicating the distance between the unmanned air vehicle 3 and surrounding objects (transmission and distribution equipment, obstacles, ground, etc.).

  The depth camera outputs information indicating the distance to an object such as an obstacle present around the unmanned air vehicle 3.

  The GPS signal receiver (GPS) outputs information indicating the current position of the unmanned air vehicle 3. For example, the current position of the unmanned air vehicle 3 can be specified in real time with an error of about several centimeters by using the GPS signal transmitted from the Quasi-Zenith satellite received by the GPS signal receiver (GPS) .

  The pressure sensor is provided, for example, at a predetermined position of the leg 33 of the unmanned air vehicle 3, and outputs a signal indicating that a predetermined portion of the unmanned air vehicle 3 has touched another object. The unmanned air vehicle 3 detects, for example, that it has touched an external object such as a power transmission facility based on a signal of a pressure sensor, and performs flight control for avoiding the object or leaving the object.

  The wireless communication device 252 wirelessly communicates directly or indirectly with the transmitter 6 present at a remote location. The wireless communication device 252 receives the wireless signal transmitted from the transmitter 6 and inputs the content of the received wireless signal to the control circuit 251. The transmitter 6 may be provided with a video reception display device (FPV (First Persons View) device or the like) for displaying the video sent from the unmanned air vehicle 3 in real time.

  The various I / F 258 is an interface for receiving information from the user and providing information to the user, and includes, for example, a push button, a switch, a touch panel, an LED, a speaker, and the like.

  The communication circuit 259 is a communication circuit (SPI (Serial Peripheral Interface), I2C, and the like for communicating with other components of the unmanned air vehicle 3 (motor control device 254, charge control device 82, ring opening and closing device 42, imaging device 282, etc.). (Inter-Integrated Circuit), a circuit etc. which communicate by RS-232C, USB (Universal Serial Bus), etc.).

  The battery 260 is, for example, a lithium polymer secondary battery, an electric double layer capacitor (electric double layer capacitor), a lithium ion secondary battery or the like. The voltage between terminals of the battery 260 is notified from the charge control device 82 to the control circuit 251, and the control circuit 251 grasps the remaining amount of the battery 260 based on the voltage between terminals.

  The ring opening / closing device 42 controls opening / closing of the ring body 411 when attaching the ring body 411 to the overhead wire 2 (one of the rings of the ring body 411 for inserting and removing the overhead wire 2 into and out of the ring hole 415 of the ring body 411). It includes a mechanism (a servomotor controlled by the control circuit 251, a mechanical opening / closing mechanism, etc.) for performing opening / closing control of the introduction port 416 provided in the unit. In this example, the ring body 411 is formed of a pair of left and right semicircular members, and the ring opening / closing device 42 forms the introduction port 416 of the overhead wire 2 below the ring body 411 by splitting the ring body 411 into two. Structure.

  The imaging device 282 communicates with, for example, a camera (video camera or digital camera), a camera control mechanism, a gimbal (biaxial gimbal, triaxial gimbal, etc.) for keeping the photographing direction of the camera constant, and a ground station. Communication devices and the like. The imaging device 282 captures an image of an object that is an inspection target (the overhead wire 2, a transmission tower, or the like), and wirelessly transmits the captured image (image data) to the ground station. In the ground station, for example, the image received from the unmanned air vehicle 3 is analyzed by image processing, AI (Artificial Intelligence), etc. to grasp the state of the inspection object. The photographing device 282 may have a function of recording (recording) a photographed video (video data) on a recording medium.

  FIG. 5 shows functions (software configuration) of the control circuit 251. As shown in the figure, the control circuit 251 includes an attitude control unit 511, a steering control unit 512, a flight control unit 513, a ring opening / closing device control unit 515, and an imaging device control unit 516. These functions are realized, for example, by the processor of the control circuit 251 reading and executing a program stored in the storage device of the control circuit 251.

  As shown in the figure, the control circuit 251 stores map information 531 and a flight path 532. The map information 531 includes three-dimensional map information. The flight route 532 includes information indicating a route (a route including an inspection route) connecting the departure point to the final landing point.

  The attitude control unit 511 controls the attitude of the unmanned air vehicle 3 by controlling the motor control device 254 (power motor 255) according to the signals input from the various sensors 253.

  The steering control unit 512 controls the motor control device 254 (power motor 255) according to the signal input from the wireless communication device 252, and controls the operation (movement, rotation, rise, fall, etc.) of the unmanned air vehicle 3. .

  The flight control unit 513 controls the thrust generator 270 based on the information acquired from the various sensors 253 to perform autonomous flight control of the unmanned air vehicle 3. This autonomous flight control may be performed automatically or semi-automatically using, for example, AI technology. At the time of passive control such as manual control, the flight control unit 513 controls the thrust generating device 270 in accordance with the instruction from the transmitter 6 received by the wireless communication device 252, and thereby the flying attitude and operation of the unmanned air vehicle 3 Control.

  The flight control unit 513 performs unmanned flight along a preset flight path (a departure point, an inspection route, and a flight path connecting each landing point) based on signals (for example, GPS signals) input from various sensors 253. Make the body 3 fly. The flight path may be manually set or automatically set using AI technology or the like.

  In addition, the flight control unit 513 determines the distance between the overhead electric wire 2 and the approach of the obstacle based on the signals input from the various sensors 253 (whether the obstacle is within a predetermined range from its current position). Accurately and in real time. The obstacle is, for example, a power transmission and distribution facility (a power transmission tower, an electric pole, various kinds of facilities provided on the overhead wire 2, and the overhead wire 2). The various facilities provided in the overhead wire 2 are, for example, dampers (tortional dampers, pipeless dampers, bait dampers, stock bridge dampers, armor rods, etc.) that suppress the vibration of the wires due to wind, snow attachment rings, icing prevention devices And counterweights for preventing twist, various spacers, eccentric weight, sleeves, various clamps, forceps and the like.

  The ring opening / closing device controller 515 controls the opening / closing of the ring opening / closing device 42 (for example, controls the servomotor of the ring opening / closing device 42).

  The photographing device control unit 516 controls the operation (the start and stop of photographing, photographing direction, zoom magnification control, and the like) of the photographing device 282.

  FIG. 6 shows the configuration (hardware configuration) of the charge control device 82 shown in FIG. As shown in the figure, the charge control device 82 includes a charge control circuit 811 and a communication circuit 812. The charge control circuit 811 includes a circuit for efficiently charging the battery 260, a monitoring circuit of a voltage between terminals of the battery 260, various protection circuits, and the like. The charge control circuit 811 efficiently supplies the received power to the battery 260 while charging the battery 260 while monitoring the voltage between the terminals of the battery 260. The charge control circuit 811 charges the battery 260 while performing, for example, control of a CVCC (Constant Voltage. Constant Current) method.

  The communication circuit 812 communicates with the communication circuit 259 of the flight control device 250. The charge control circuit 811 transmits information of the battery 260 to the control circuit 251 via the communication circuit 812.

  As described above, the unmanned aerial vehicle 3 charges the battery 260 using the current induced in the conductive coil 412 by the electromagnetic induction action of the current flowing through the overhead wire 2. The unmanned aerial vehicle 3 approaches the overhead wire 2 from above the overhead wire 2 while flying, and is coupled to the overhead wire 2 by accommodating the overhead wire 2 in the hole 415 of the ring body 411 of the ring body 411.

  FIG. 7 is a view for explaining the procedure for accommodating the overhead wire 2 inside the ring body 411 while the unmanned air vehicle 3 is flying. The unmanned air vehicle 3 first approaches the overhead wire 2 from above as shown in (a). Subsequently, as shown in (b), the unmanned aerial vehicle 3 opens a part of the ring of the ring 411 and descends, and accommodates the overhead wire 2 in the hole 415 of the ring 411. Then, the unmanned air vehicle 3 closes the ring body 411 and couples with the overhead wire 2 as shown in (c).

  As shown in FIG. 8, after being coupled to the overhead wire 2, the unmanned air vehicle 3 is along the direction in which the overhead wire 2 extends while charging the battery 260 by the current generated by the electromagnetic induction by the current flowing through the overhead wire 2. Fly and check the overhead electric wire 2 etc. (for example, take photographs of transmission / distribution facilities to be checked and surrounding conditions). As described above, since the inner surface of the ring body 411 is made of a material having a small coefficient of friction with the overhead wire 2, the unmanned air vehicle 3 can move smoothly along the overhead wire 2. In the state where the unmanned aerial vehicle 3 is coupled to the overhead wire 2 in this manner, for example, even if the buoyancy is lost or the gusts are blown due to the insufficient remaining amount or failure of the battery 260, the ring 411 is attached to the overhead wire 2. Because it is hanging, the unmanned air vehicle 3 never falls or deviates from the flight route.

  The unmanned aerial vehicle 3 breaks away from the overhead wire 2 by breaking the connection between the ring body 411 and the overhead wire 2 by reversing the procedure shown in FIG. .

  FIG. 9 is a flowchart illustrating processing (hereinafter, referred to as flight control processing S900) performed by the unmanned air vehicle 3 in flight for checking the power transmission equipment. The flight control processing S900 will be described below with reference to FIG.

  As shown in the figure, first, at the departure point, the unmanned air vehicle 3 stores the flight path 532 by the user's registration operation or the like (S911), and charges the battery 260 using a charging facility provided on the ground ( Perform pre-flight charging) (S912).

  Subsequently, the unmanned air vehicle 3 takes off the departure point and starts flying along the flight path 532 (S913). During the flight, the unmanned air vehicle 3 grasps the current position of itself in real time based on the information of various sensors 253 such as GPS, and determines whether or not the target overhead electric wire 2 approaches (S914). The unmanned air vehicle 3 determines that it has approached the overhead wire 2 when, for example, the distance between the current position of the user and the overhead wire 2 becomes equal to or less than a predetermined distance.

  If it is determined that the unmanned air vehicle 3 has approached the target overhead electric wire 2 (S914: YES), the unmanned air vehicle 3 starts power reception processing and inspection processing (hereinafter referred to as power reception / inspection processing S915) from the overhead electric wire 2.

  FIG. 10 is a flow chart for explaining the details of the power reception / inspection process S915. Hereinafter, the power reception / inspection process S 915 will be described with reference to FIG.

As shown in the figure, first, the unmanned aerial vehicle 3 couples the ring body 411 to the overhead wire 2 according to the above-described procedure shown in FIG. 7 (S1011).

  Subsequently, the unmanned air vehicle 3 starts flight (hereinafter referred to as power reception / inspection flight) along the overhead wire 2 while performing flight control based on the information obtained from the various sensors 253, and A process for inspection (for example, shooting of the overhead wire 2, transmission towers, and surrounding conditions, transmission of the photographed video (video data) to the ground station, etc.) is started (S1012). During the power reception / inspection flight, the unmanned air vehicle 3 is controlled based on the information acquired from the various sensors 253 so that the separation distance from the overhead wire 2 is at an appropriate position.

  The unmanned air vehicle 3 determines in real time whether or not the inspection has been completed while performing power reception / inspection flight (S1013). If it is determined that the unmanned air vehicle 3 has not finished the inspection (S1013: NO), the process proceeds to S1014. On the other hand, when it is determined that the unmanned air vehicle 3 has completed the inspection (S1013: YES), the process proceeds to S1017.

  In S1014, the unmanned aerial vehicle 3 determines whether or not the obstacle is approached (whether or not the obstacle is within a predetermined distance from its current position). If it is determined that the unmanned air vehicle 3 is approaching an obstacle (S1014: YES), the unmanned air vehicle 3 opens the ring body 411, disconnects from the overhead wire 2, and interrupts power reception / inspection flight (S1015) Then, flight (hereinafter also referred to as avoidance flight) for avoiding an obstacle is performed along the overhead wire 2 (S1016). Thereafter, the process returns to S1011, the unmanned air vehicle 3 again couples the ring body 411 to the overhead wire 2 (S1011), and resumes power reception / inspection flight (S1012).

  In FIG. 11, the unmanned air vehicle 3 approaches an obstacle B provided on the overhead wire 2, separates from the overhead wire 2, interrupts power reception / inspection flight, performs avoidance flight, and causes the overhead wire 2 again. It is a figure explaining the mode of a series until it combines and restarts power reception / inspection flight.

  As shown in the figure, when the unmanned air vehicle 3 approaches (a) the obstacle B during power reception / inspection flight, (b) opens the ring body 411 and separates from the overhead wire 2 for power reception / inspection flight. The operation is interrupted, and the approaching obstacle B is raised to a height that can be avoided. At this time, how much the unmanned air vehicle 3 ascends is automatically determined, for example, based on the values input from the various sensors 253 from the unmanned air vehicle 3. Further, for example, the unmanned air vehicle 3 and the transmitter 6 may be set in advance to what extent the unmanned air vehicle 3 is lifted by the user according to the situation at the site and the like.

  Subsequently, the unmanned air vehicle 3 (c) flies above the obstacle along the overhead wire 2 and (d) descends near the obstacle B and approaches the overhead wire 2. At this time, to what extent the unmanned air vehicle 3 starts to descend when the unmanned air vehicle 3 is separated from the obstacle B is automatically determined based on values input from the various sensors 253, for example. . Also, for example, depending on the situation at the site, in advance, to what extent the unmanned air vehicle 3 has started to descend when it is separated from the obstacle B (for example, it is started to descend after a certain amount of time has elapsed) ) May be set to the unmanned air vehicle 3 or the transmitter 6.

  Thereafter, (e) the unmanned air vehicle 3 again couples the ring body 411 to the overhead wire 2 and resumes the power reception / inspection flight.

  Returning to FIG. 10, in S1017, the unmanned air vehicle 3 opens the ring body 411 according to the above-described procedure and disconnects from the overhead wire 2, and ends the power reception / inspection flight along the overhead wire 2 (S1014).

  Returning to FIG. 9, in S918, the unmanned air vehicle 3 determines whether or not the return timing has come. In addition, the timing of return is, for example, from the ground station when all scheduled inspection work (power reception / inspection flight along all planned overhead wires 2 scheduled) is completed or when any failure occurs. It comes when the return instruction is received.

  If the return timing has not come (S 918: NO), the process returns to S 914. If the return timing has come (S 918: YES), the process proceeds to S 919, and the unmanned air vehicle 3 starts a flight for return, and performs control for landing when it reaches over the landing site. Land on the landing site (S920).

  As described above in detail, according to the configuration and method of the present embodiment, the unmanned air vehicle 3 can receive power supply from the overhead wire 2 while flying, and the flight distance of the unmanned air vehicle 3 (flight time ) Can be extended. Therefore, for example, the unmanned air vehicle 3 can be made to fly over a long distance or for a long time without accessing a charging station or the like, and work such as inspection of transmission and distribution facilities can be performed efficiently. In addition, when buoyancy is lost due to a shortage of remaining amount of battery 260 or failure or when a gust of wind occurs, ring body 411 is applied to overhead wire 2, so that unmanned air vehicle 3 may fall or deviate from the flight route. It is possible to prevent the unmanned air vehicle 3 from flying safely. As described above, according to the configuration and method of the present embodiment, it is possible to safely fly the unmanned air vehicle 3 while securing the flight distance and flight time.

  Further, according to the configuration and method of the present embodiment, when the unmanned air vehicle 3 is performing power reception / inspection flight along the overhead wire 2, when the unmanned air vehicle 3 approaches the obstacle B provided on the overhead wire 2, In this case, the electric wire 2 is disconnected from the overhead wire 2 and the evasion flight is performed along the overhead wire 2, and after the obstacle B is avoided, the power reception / inspection flight is performed again. Therefore, even when the overhead wire 2 is provided with the obstacle B, the unmanned air vehicle 3 can efficiently proceed with the inspection work while avoiding the obstacle B.

  The above description is intended to facilitate understanding of the present invention, and is not intended to limit the present invention. It goes without saying that the present invention can be modified and improved without departing from the gist thereof and includes the equivalents thereof. For example, the above embodiments have been described in detail in order to explain the present invention in an easy-to-understand manner, and are not necessarily limited to those having all the described configurations. Moreover, it is possible to add, delete, and replace other configurations with respect to part of the configurations of the above embodiments.

  Each of the above configurations, function units, processing units, processing means, etc. may be realized by hardware, for example, by designing part or all of them with an integrated circuit. Each configuration, function, etc. described above may be realized by software by a processor interpreting and executing a program that realizes each function. Information such as a program, a table, and a file for realizing each function can be placed in a memory, a hard disk, a recording device such as a solid state drive (SSD), or a recording medium such as an IC card, an SD card, or a DVD.

  In each of the above-mentioned drawings, control lines and information lines indicate what is considered to be necessary for explanation, and not all control lines and information lines on mounting are necessarily shown. For example, in practice it may be considered that almost all configurations are mutually connected.

  The arrangement of the various functional units in the embodiment described above is merely an example. The arrangement form of the various functional units can be changed to an optimum arrangement form in terms of hardware and software performance, processing efficiency, communication efficiency, and the like.

  In the above embodiment, the unmanned air vehicle 3 approaches from above the overhead wire 2 and couples the ring body 411 to the overhead wire 2. For example, as shown in FIG. It may be provided on the upper part of the flying object 3. In this case, the unmanned aerial vehicle 3 approaches the overhead wire 2 from below the overhead wire 2 while flying and couples the ring body 411 to the overhead wire 2. In this way, for example, imaging can be performed from the lower side of the overhead wire 2.

  In this case, for example, the obstacle B can be avoided as shown in FIG. That is, during receiving / inspection flight, when (a) the obstacle B is approached, (b) the ring body 411 is opened and disconnected from the overhead wire 2 to interrupt the power reception / inspection flight to avoid the approaching obstacle B Lower to the height possible. At this time, how much the unmanned air vehicle 3 descends is automatically determined, for example, based on the values input from the various sensors 253 from the unmanned air vehicle 3. Further, for example, the unmanned air vehicle 3 and the transmitter 6 may be set in advance to what extent the unmanned air vehicle 3 is lifted by the user according to the situation at the site and the like.

  Subsequently, the unmanned air vehicle 3 flies (c) under the obstacle along the overhead wire 2 and (d) rises sufficiently away from the obstacle B to approach the overhead wire 2 (avoided flight) ). At this time, the extent to which the unmanned air vehicle 3 starts to rise when the unmanned air vehicle 3 is separated from the obstacle B is automatically determined based on the values input from the various sensors 253, for example. . Also, for example, depending on the situation at the site, the user may start raising as soon as the unmanned air vehicle 3 has moved away from the obstacle B (for example, after which time has elapsed, the rising is started) ) May be set to the unmanned air vehicle 3 or the transmitter 6.

  Thereafter, (e) the unmanned air vehicle 3 again couples the ring body 411 to the overhead wire 2 and resumes the power reception / inspection flight.

Reference Signs List 2 overhead electric wire, 3 unmanned aerial vehicle, 31 pedestal, 41 current generator, 42 ring switch, 82 charge controller, 240 power supply, 250 flight controller, 251 control circuit, 260 battery, 270 thrust generator, 282 imaging device, 411 ring body, 412 conductive coil, 415 hole, 416 inlet, 513 flight control unit, 515 ring switch control unit, 532 flight path, 811 charge control circuit, S900 flight control processing, S915 power reception / inspection processing , B obstacle

Claims (11)

A thrust generator,
A flight control device for controlling the thrust generator;
A current generating device having an annular ring body capable of opening and closing a part of the ring, and a conductive coil wound around the ring body;
A ring opening and closing device for opening and closing a part of the ring of the ring body;
A power supply device for supplying power based on a current generated in the conductive coil to the thrust generator or the flight control device;
A sensor that outputs information indicating a distance to an object present in the surroundings;
A method of controlling a unmanned air vehicle comprising
The unmanned air vehicle is
Step to fly and approach overhead wires,
Opening part of the ring of the ring body while flying to accommodate an overhead wire inside the ring;
Closing part of the ring while flying,
In the state where the overhead electric wire is accommodated inside the ring, the electric power is generated based on the current generated in the conductive coil by the electromagnetic induction action of the current flowing through the overhead electric wire while flying along the overhead electric wire. Feeding the flight control device;
When it is detected that the obstacle is within a predetermined distance from an obstacle provided to the overhead wire while flying along the overhead wire, the ring body is detached from the overhead wire, and the overhead wire is Fly along the obstacle avoiding the obstacles,
as well as,
When it is detected that the obstacle is out of the predetermined distance range, the electric power based on the current generated in the conductive coil is traveled while flying along the overhead wire with the overhead wire housed inside the ring. Resuming a flight to supply the thrust generator or the flight controller;
How to control the unmanned air vehicle to perform. The control method of a unmanned air vehicle according to claim 1, wherein
The ring body is provided below the unmanned air vehicle,
The unmanned aerial vehicle avoids the obstacle by flying above the obstacle.
Control method of unmanned air vehicle. The control method of a unmanned air vehicle according to claim 1, wherein
The ring body is provided above the unmanned air vehicle,
The unmanned aerial vehicle avoids the obstacle by flying below the obstacle.
Control method of unmanned air vehicle. A control method of an unmanned air vehicle according to any one of claims 1 to 3, wherein
The unmanned air vehicle comprises an imaging device for imaging the surroundings,
The unmanned air vehicle further executes the step of photographing the overhead wire while flying with the overhead wire housed inside the ring.
Control method of unmanned air vehicle. A control method of an unmanned air vehicle according to any one of claims 1 to 3, wherein
The current generator is configured using a feedthrough current transformer.
Control method of unmanned air vehicle. A thrust generator,
A flight control device for controlling the thrust generator;
A current generating device having an annular ring body capable of opening and closing a part of the ring, and a conductive coil wound around the ring body;
A ring opening and closing device for opening and closing a part of the ring of the ring body;
A power supply device for supplying power to the thrust generator or the flight control device based on the current generated in the conductive coil by the electromagnetic induction action of the current flowing through the overhead wire housed inside the ring;
A sensor that outputs information indicating a distance to an object present in the surroundings;
Unmanned air vehicle with
Control to fly and approach overhead wires,
Controlling to open a part of the ring of the ring body while flying and to accommodate an overhead wire inside the ring;
Control to close part of the ring while flying,
In the state where the overhead electric wire is accommodated inside the ring, the electric power is generated based on the current generated in the conductive coil by the electromagnetic induction action of the current flowing through the overhead electric wire while flying along the overhead electric wire. Control to supply the flight control device;
When it is detected that the obstacle is within a predetermined distance from an obstacle provided to the overhead wire while flying along the overhead wire, the ring body is detached from the overhead wire, and the overhead wire is Control to fly along to avoid said obstacles,
as well as,
When it is detected that the obstacle is out of the predetermined distance range, the electric power based on the current generated in the conductive coil is traveled while flying along the overhead wire with the overhead wire housed inside the ring. Control to restart the flight supplied to the thrust generator or the flight control device;
Do unmanned air vehicle. The unmanned air vehicle according to claim 6, wherein
The ring body is provided below the unmanned air vehicle,
Control to avoid the obstacle by flying above the obstacle,
Unmanned air vehicle. The unmanned air vehicle according to claim 6, wherein
The ring body is provided above the unmanned air vehicle,
Control to avoid the obstacle by flying below the obstacle,
Unmanned air vehicle. The unmanned aerial vehicle according to any one of claims 6 to 8, wherein
It has a shooting device that shoots the surroundings,
Control to photograph the overhead wire while flying with the overhead wire housed inside the ring
Unmanned air vehicle. The unmanned aerial vehicle according to any one of claims 6 to 8, wherein
The current generator is configured using a feedthrough current transformer.
Unmanned air vehicle.
Unmanned air vehicle. The unmanned aerial vehicle according to any one of claims 6 to 8, wherein
The power supply device
A power storage device for supplying power to the thrust generator or the flight control device;
A charge control device for supplying power to the power storage device based on current generated in the conductive coil;
Further comprising
Unmanned air vehicle.