JP6394833B1 - Method for controlling unmanned air vehicle and unmanned air vehicle - Google Patents

Abstract

Safely fly unmanned air vehicles while ensuring flight distance and flight time. The unmanned air vehicle includes a thrust generator, a flight control device that controls the thrust generator, an annular ring body that can open and close a part of the ring, and a current generator device that includes a conductive coil wound around the ring body. A ring opening and closing device that opens and closes a part of the ring of the ring body, and electric power based on the current generated in the conductive coil by electromagnetic induction of the current flowing through the overhead electric wire accommodated inside the ring to the thrust generator or the flight control device A power supply device for supplying, control for flying and approaching the overhead electric wire, control for opening a part of the ring of the ring body while flying and accommodating the overhead electric wire inside the ring, control of the ring while flying Control to close a part and control to supply electric power based on the current generated in the conductive coil by the electromagnetic induction action of the current flowing through the overhead wire to the thrust generator or the flight controller.

Description

  The present invention relates to an unmanned air vehicle control method and an unmanned air vehicle.

  Patent Document 1 provides “a transportation system using an unmanned air vehicle that improves convenience by overcoming the limitations of distance and time, etc.”, “Three-dimensional by receiving power supply” A transport system using an unmanned air vehicle capable of moving, wherein the unmanned air vehicle flies while attaching a container for storing a package to be transported, and electric power supplied to the unmanned air vehicle is supplied to the container. Is stored, and the power storage unit provided in the container is charged at the relay base when not moving. "

  Patent Document 2 provides “an overhead wire inspection system and method using an unmanned air vehicle that can automatically perform an inspection of approaching trees to the overhead wire, etc.”, “ An unmanned helicopter equipped with a flight control system for flying to the inspection location and an information collection system for collecting various information including images of the inspection location and distance measurement data, and various types of flight from the unmanned helicopter while controlling the flight of the unmanned helicopter A three-dimensional image is created from a control center equipped with a flight control / information collection system that collects and processes information, and images of inspection points and distance measurement data collected by the information collection system of unmanned helicopters. An inspection means such as an approaching tree for checking whether there is an abnormality in the overhead electric wire at the inspection location based on the processed three-dimensional image; Various data used for inspection in close trees such inspection means comprises a stored memory. Is described as ".

  Patent Document 3 states that “the induced current from the overhead wire flowing in the ground wire of the overhead wire is taken out, DC converted to charge the storage battery, and the storage battery is used as a power source.” A current transformer with a ground wire as the primary winding is provided for current extraction, and the current transformer is provided in a long shape along the ground wire to extract the induced current of the overhead wire flowing through the ground wire. ing.

  Patent Document 4 discloses a power supply CT configured to include a core for interpolating a distribution line and a secondary winding wound around the core (the primary winding corresponds to the distribution line to be measured). Have been described.

  Non-Patent Document 1 describes the “Drone Highway Concept” that supports the safe flight of a drone by creating a three-dimensional map based on the position and height data of power transmission towers, overhead wires, and the like.

  Non-Patent Document 2 describes a power supply device for an aviation obstacle light that uses an induced current flowing in an overhead ground wire.

JP 2017-105242 A JP 2005-265699 A JP-A-49-95159 JP 2004-103791 A “ITmedia NEWS”, [online], published on March 29, 2017, 19:35, “Drone Highway to Prevent Collisions with Overhead Electric Cables” Jointly Developed by TEPCO and Zenrin, ”TEPCO Holdings Zenrin, [2017 Search September 15], Internet <URL: http://www.itmedia.co.jp/news/articles/1703/29/news146.html> "Electrical Academic Journal B", "Development of power supply device for aviation obstacle lights using induced current flowing in overhead ground wire", published on 2008/12/19, Vol. 121, No. 8, Tatsufumi Yamaguchi, Osamu Naganuma, Matsuoka Masanori, Seiji Takano, Tsuneji Maezaki, Kazuyuki Tomonaga, Hiroshi Nakamura, The Institute of Electrical Engineers of Japan, Photoelectric TEPCO

  As described in Patent Documents 1 and 2, when using an unmanned aerial vehicle (drone, etc.) for operations such as transportation systems and inspection of overhead wires, depending on the capacity and weight of the power storage device (battery) The problem is that the flight distance and flight time are limited. Recently, as described in Non-Patent Document 1, there has been proposed a “drone highway concept” that uses an overhead wire as a “signpost” and allows the drone to fly safely and reliably to its destination. However, in this case, the problem is how to supply power to the unmanned air vehicle during long-distance flight.

  The present invention has been made in view of such a background, and an object of the present invention is to provide an unmanned air vehicle control method and an unmanned air vehicle capable of safely flying while ensuring a flight distance and a flight time. Yes.

  In order to achieve the above object, one of the present inventions includes a thrust generator, a flight controller for controlling the thrust generator, an annular ring body that can open and close a part of the ring, and the ring body A current generator having a conductive coil wound around the ring, a ring opening / closing device that opens and closes a part of the ring of the ring body, and the thrust generator or the flight control device that generates electric power based on the current generated in the conductive coil. A method of controlling an unmanned air vehicle comprising: a step of the unmanned air vehicle flying to approach an overhead electric wire; and a part of the ring of the ring body while flying A step of opening and accommodating an overhead electric wire inside the ring, a step of closing a part of the ring while flying, and the electric current based on an electric current generated in the conductive coil by an electromagnetic induction effect of an electric current flowing through the overhead electric wire. Steps supplied to the thrust generating apparatus or the flight control device, for execution.

  According to the present invention, the electric power based on the current generated in the conductive coil due to the electromagnetic induction effect of the current flowing through the overhead wire is supplied to the thrust generator or the flight control device, so that the power supply can be received from the overhead wire while flying. Can extend the flight distance and flight time of unmanned air vehicles. Therefore, for example, an unmanned air vehicle can be allowed 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 power transmission and distribution equipment can be performed efficiently. In addition, when the buoyancy is lost due to a shortage or failure of the power storage device (battery), or when a gust of wind occurs, the ring body will be applied to the overhead wire, and the unmanned air vehicle will fall or deviate from the flight route. It is possible to prevent the unmanned air vehicle from flying safely. As described above, according to the present invention, it is possible to safely fly an unmanned air vehicle while ensuring a flight distance and a flight time.

  Another aspect of the present invention is a method for controlling the unmanned aerial vehicle, further comprising the step of the unmanned aerial vehicle flying along the overhead wire while the overhead wire is accommodated inside the ring. Run.

  Another aspect of the present invention is the above-described method for controlling an unmanned air vehicle, wherein the unmanned air vehicle includes a photographing device for photographing the surroundings, and the unmanned air vehicle accommodates an overhead electric wire inside the ring. The step of photographing the overhead electric wire is further executed while flying in such a state.

  Another aspect of the present invention is a method for controlling an unmanned air vehicle, wherein the current generator is configured using a through-type current transformer.

  Another aspect of the present invention is a thrust generator, a flight control device that controls the thrust generator, an annular ring body that can open and close a part of the ring, and a conductive coil wound around the ring body And a ring opening / closing device that opens and closes a part of the ring of the ring body, and an electric current generated in the conductive coil by an electromagnetic induction action of an electric current flowing through an overhead electric wire housed inside the ring. An unmanned air vehicle including a power supply device that supplies power to the thrust generation device or the flight control device, and controls to fly and approach an overhead electric wire, while flying, part of the ring of the ring body The power based on the current generated in the conductive coil by the electromagnetic induction action of the current flowing through the overhead wire, and the control for closing the part of the ring while flying Performing control to supply the thrust generating apparatus or the flight control system.

  Another aspect of the present invention is the above-described unmanned air vehicle, which performs control of flying along the overhead wire while the overhead wire is accommodated inside the ring.

  Another aspect of the present invention is the above-described unmanned air vehicle, including a photographing device for photographing the surroundings, and controlling the photographing of the overhead electric wire while flying while the overhead electric wire is accommodated inside the ring. Do.

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

  Another aspect of the present invention is the unmanned aerial vehicle, wherein the current generator is configured using a through-type current transformer.

  Another aspect of the present invention is the unmanned aerial vehicle, wherein a pedestal portion provided with the flight control device, and a predetermined length extending from the pedestal portion toward the outer periphery of the pedestal portion, the thrust generating device And a plurality of leg struts extending below the pedestal, and the current generator is part of the ring in a space surrounded by the plurality of leg struts. Is provided facing downward.

  Another aspect of the present invention is the unmanned aerial vehicle, wherein a pedestal portion provided with the flight control device, and a predetermined length extending from the pedestal portion toward the outer periphery of the pedestal portion, the thrust generating device The current generator is provided above the pedestal portion with a part of the ring facing upward.

  Another aspect of the present invention is the unmanned air vehicle, wherein the power supply device includes a power storage device that supplies power to the thrust generation device or the flight control device, and power based on a current generated in the conductive coil. And a charge control device for supplying the power to 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 safely fly an unmanned air vehicle while securing a flight distance and a flight time.

It is a front view of an unmanned air vehicle. It is the perspective view which looked at the unmanned air vehicle from front diagonally upward. It is a figure explaining the structure and principle of a current generator. It is a figure which shows the hardware constitutions (block diagram) of an unmanned air 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 charging control apparatus. It is a figure explaining the procedure which accommodates an overhead electric wire inside a ring body, while an unmanned air vehicle flies. It is a figure which shows a mode that the unmanned air vehicle is charging the battery, checking an overhead electric wire. It is a flowchart explaining a flight control process. It is a figure which shows the other structure of an unmanned air vehicle.

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

  FIG. 1 and FIG. 2 show the appearance of an unmanned air vehicle 3 described as an embodiment of the present invention. FIG. 1 is a front view of the unmanned aerial vehicle 3, and FIG. 2 is a perspective view of the unmanned aerial vehicle 3 as viewed from the front and obliquely above. The unmanned air vehicle 3 inspects power transmission and distribution facilities (for example, state diagnosis of overhead electric wires, power transmission towers, utility poles, etc. (confirmation of the presence or absence of scratches, arc marks, bird damage, approaching trees, etc.)).

  The unmanned aerial vehicle 3 is, for example, a multicopter (such as a bicopter tricopter, a quadcopter, a hexacopter, an octocopter), a helicopter, an airplane, a flying robot, or the like. In the following description, it is assumed that 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 in the horizontal direction at 45 °, 135 °, 225 °, and 315 ° as the basic skeleton (frame) with respect to the pedestal portion 31 and the + y direction, respectively. Four arms 32 and leg portions 33 (including leg posts 331 and horizontal legs 332, which will be described later, also referred to as skids) provided below the pedestal portion 31 (−z direction). . The arm 32 and the leg portion 33 are configured using, for example, a tubular (cylindrical, rectangular tube, etc.) or truss-shaped member. These are made of, for example, resin or metal.

  The pedestal portion 31 has a structure having a plurality of plate members in the vertical direction (z-axis direction) (in this example, two levels in the vertical direction). The leg part 33 is fixed to the two leg struts 331 extending from the pedestal part 31 in the left-right direction (± x axis direction) and extending downward by a predetermined length, and to the lower end of the leg strut 331 (see FIG. 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 air vehicle 3) in the y-axis direction).

  A flight control device 250 and a photographing device 282 are provided on the upper stage of the pedestal portion 31. A battery 260 (power storage device), a charge control device 82 described later, and the like are provided below the pedestal 31. These are fixed to the pedestal 31 using, for example, a double-sided tape, a hook-and-loop fastener, a screw or the like.

  A power motor 255 (thrust generating device) is provided in the vicinity of the end of each of the four arms 32 such that the direction of the rotation axis is directed in the vertical direction (z-axis direction). A propeller 271 (rotary blade) is attached to the rotating shaft of each power motor 255. A motor control device 254 is connected to each power motor 255.

  A space S surrounded by the lower stage of the pedestal 31 and the two leg posts 331 is formed below the pedestal 31, and a current generator 41 and a ring opening / closing device 42 are provided in the space S. Yes.

  FIG. 3 is a diagram for explaining the structure and principle of the current generator 41. The current generator 41 and the charge controller 82 and the battery 260 constitute a power supply device 240 that supplies driving power to each component of the unmanned air vehicle 3.

  As shown in the figure, the current generating device 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 input terminals of the charging control device 82.

  The ring body 411 is coupled to the overhead wire 2 so that the overhead wire 2 passes through and accommodates the hole 415 inside the ring. In a state where the ring body 411 is coupled to the overhead wire 2, a current (induction current) is generated in the conductive coil 412 due to electromagnetic induction caused by the current flowing through the overhead wire 2, and this current is input to the charging control device 82.

  The charging control device 82 converts alternating current input through the conductive coil 412 into direct current and uses it as a charging current for the battery 260. Such a configuration of the current generator 41 can also be realized by using, for example, an existing through-type power supply CT (Current Transformer) (for example, Patent Documents 3 and 4; (See Patent Document 2).

  The inner surface of the ring body 411 is made of a material having a small coefficient of friction with the overhead electric wire 2. Therefore, the unmanned air 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 set it as a shape (for example, an annular shape, an elliptical shape, etc.) which is hard to produce friction 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 aerial vehicle 3 includes a flight control device 250, a thrust generation device 270, a power supply device 240 (current generation device 41, charge control device 82, battery 260), a ring opening / closing device 42, and a photographing device. 282. Note that each component of the unmanned air vehicle 3 (thrust generating device 270, flight control device 250, ring opening / closing device 42, and imaging device 282) is operated by electric power supplied from the power supply device 240. Supply of driving power to each of the above components may be performed from the battery 260 or directly from the charging control device 82.

  The thrust generation device 270 includes a motor control device 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 electric resistance value or PWM (Pulse Width Modulation) control. The motor control device 254 generates thrust for flight. The control circuit 251 controls the operation speed (attitude (pitch, roll, yaw), movement (forward) of the unmanned air vehicle 3 by controlling the rotational speed of each of the plurality of power motors 255 based on information input from the various sensors 253. , Retreat, left / right movement, up / 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 / F 258), and a communication circuit 259.

  The control circuit 251 includes a processor (CPU, MPU, etc.) and a storage device (RAM, ROM, NVRAM, external storage device, etc.), and functions as an information processing device. 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 include, for example, a gyro sensor (angular velocity sensor), a three-axis acceleration sensor, an atmospheric pressure sensor, a magnetic sensor, an ultrasonic sensor, a depth camera (a time of flight (TOF) camera, a stereo camera, a laser radar ( LiDAR (Laser Imaging Detection and Ranging), an infrared depth sensor, an ultrasonic sensor, etc.), a GPS signal (GPS: Global Positioning System) receiving device (hereinafter also referred to as GPS), a pressure sensor, an infrared sensor, and the like.

  The gyro sensor outputs, for example, a signal indicating the front / rear / left / right inclination and the angular velocity of rotation of the unmanned air vehicle 3. The triaxial acceleration sensor detects, for example, the acceleration of the unmanned air vehicle 3 (acceleration in the front / rear / right / left / up / down directions). The atmospheric pressure sensor outputs a signal indicating the atmospheric pressure. The information of the atmospheric pressure sensor is used, for example, when obtaining the altitude, the ascending / descending speed, etc. of the unmanned air vehicle 3. For example, the magnetic sensor outputs a signal indicating the direction in which the 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 (power transmission / distribution equipment, obstacles, ground, etc.). The depth camera outputs information indicating a distance to an object existing 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 sent from the quasi-zenith satellite received by the GPS signal receiver (GPS). .

  For example, the pressure sensor is provided at a predetermined position of the leg portion 33 of the unmanned aerial vehicle 3 and outputs a signal indicating that a predetermined part of the unmanned aerial vehicle 3 is in contact with another object.

  The wireless communication device 252 wirelessly communicates directly or indirectly with the transmitter 6 existing at a remote place. 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 include a video reception display device (FPV (First Persons View) device or the like) that displays video sent from the unmanned air vehicle 3 in real time.

  The various I / Fs 258 are interfaces for receiving information from the user and providing information to the user, and include, 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) for communicating with other components of the unmanned air vehicle 3 (motor control device 254, charge control device 82, ring opening / closing device 42, imaging device 282, etc.). (Inter-Integrated Circuit), 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 inter-terminal voltage of the battery 260 is notified from the charging control device 82 to the control circuit 251, and the control circuit 251 grasps the remaining amount of the battery 260 based on the inter-terminal voltage.

  The ring opening / closing device 42 controls the opening / closing of the ring body 411 when the ring body 411 is attached to the overhead wire 2 (one ring of the ring body 411 for inserting / removing the overhead wire 2 into / from the hole 415 of the ring of the ring body 411). A mechanism (servo motor controlled by the control circuit 251, mechanical opening / closing mechanism, etc.) for performing opening / closing control of the introduction port 416 provided in the section. In this example, the ring body 411 includes a pair of semicircular left and right members, and the ring opening / closing device 42 splits the ring body 411 in two to form the inlet 416 of the overhead wire 2 on the lower side of the ring body 411. It is a structure to do.

  The imaging device 282 communicates with, for example, a camera (video camera or digital camera), a camera control mechanism, a gimbal (two-axis gimbal, three-axis gimbal, etc.) for keeping the camera shooting direction constant, and a ground station. Communication device for the purpose. The imaging device 282 captures an image of an object to be inspected (such as the overhead electric wire 2 or a power transmission tower) and wirelessly transmits the captured image (video data) to the ground station. In the ground station, for example, the image received from the unmanned air vehicle 3 is subjected to image processing, analysis by AI (Artificial Intelligence), and the like to grasp the state of the inspection target. 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) included in 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 a photographing device control unit 516. These functions are realized, for example, when the processor of the control circuit 251 reads and executes 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 from 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) in accordance with 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, descent, etc.) of the unmanned air vehicle 3. .

  The flight control unit 513 performs autonomous flight control of the unmanned aerial vehicle 3 by controlling the thrust generator 270 based on information acquired from the various sensors 253. This autonomous flight control may be performed automatically or semi-automatically using AI technology, for example. During passive control such as manual control, the flight control unit 513 controls the thrust generation device 270 in accordance with an instruction from the transmitter 6 received by the wireless communication device 252, so that the flight attitude and operation of the unmanned air vehicle 3 are controlled. To control.

  The flight control unit 513 performs unmanned flight along a predetermined flight route (a departure route, a check route, and a flight route connecting the landing points) based on signals (for example, GPS signals) input from various sensors 253. Fly body 3. The flight path may be manually set or automatically set using AI technology or the like. In addition, the flight control unit 513 grasps the distance from the overhead electric wire 2 with high accuracy and in real time based on signals input from the various sensors 253.

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

  The photographing device control unit 516 controls the operation of the photographing device 282 (starting and stopping of photographing, photographing direction, zoom magnification control, etc.).

  FIG. 6 shows the configuration (hardware configuration) of the charge control device 82 shown in FIG. As shown in the figure, the charging control device 82 includes a charging control circuit 711 and a communication circuit 712. The charge control circuit 711 includes a circuit for efficiently charging the battery 260, a voltage monitoring circuit for the battery 260, various protection circuits, and the like. The charge control circuit 711 charges the battery 260 by efficiently supplying received power to the battery 260 while monitoring the voltage between the terminals of the battery 260. For example, the charge control circuit 711 charges the battery 260 while performing CVCC (Constant Voltage. Constant Current) control.

  The communication circuit 712 communicates with the communication circuit 259 of the flight control device 250. The charging control circuit 711 transmits information on the battery 260 to the control circuit 251 via the communication circuit 712.

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

  FIG. 7 is a diagram illustrating a procedure for housing the overhead electric wire 2 inside the ring body 411 while the unmanned air vehicle 3 is flying. The unmanned air vehicle 3 first approaches the overhead electric wire 2 from above as shown in FIG. Subsequently, as shown in (b), the unmanned aerial vehicle 3 opens and lowers a part of the ring of the ring body 411 and accommodates the overhead electric wire 2 in the hole 415 of the ring body 411. The unmanned air vehicle 3 closes the ring body 411 and is coupled to the overhead electric wire 2 as shown in FIG.

  As shown in FIG. 8, after being coupled to the overhead wire 2, the unmanned air vehicle 3 follows the direction in which the overhead wire 2 extends while charging the battery 260 by the current generated by the electromagnetic induction effect caused by the current flowing through the overhead wire 2. Then, the overhead electric wire 2 and the like are inspected (for example, photographing of the power transmission / distribution equipment to be inspected and surrounding conditions). During the flight along the overhead electric wire 2, the unmanned air vehicle 3 controls the separation distance from the overhead electric wire 2 to an appropriate position based on information acquired from the various sensors 253.

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 electric wire 2, the unmanned air vehicle 3 can move smoothly along the overhead electric wire 2. In the state where the unmanned air vehicle 3 is coupled to the overhead wire 2 in this way, for example, even when buoyancy is lost or a gust of wind is blown due to a shortage or failure of the battery 260, the ring body 411 is hung on the overhead wire 2. Therefore, the unmanned air vehicle 3 does not fall or deviate from the flight route.

  When an unmanned air vehicle 3 approaches an object that hinders flight, such as a power transmission tower, the ring body 411 is uncoupled from the overhead wire 2 by following the procedure shown in FIG. break away.

  FIG. 9 is a flowchart for explaining a process (hereinafter referred to as a flight control process S900) performed by the unmanned air vehicle 3 during a flight for inspection. Hereinafter, the flight control process S900 will be described 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 a user's registration operation or the like (S911), and the battery 260 is charged using the charging facility provided on the ground ( Pre-flight charging) is performed (S912).

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

  If it is determined that the unmanned air vehicle 3 has approached the overhead electric wire 2 (S914: YES), the ring body 411 is coupled to the overhead electric wire 2 by the above-described procedure shown in FIG. 7 (S915).

  Subsequently, the unmanned air vehicle 3 starts to fly along the overhead wire 2 based on the information acquired from the various sensors 253, and checks the power transmission and distribution equipment (shoots the overhead wire 2 and takes a video (video data)). Transmission to the ground station) is started (S916).

  When the inspection is started, the unmanned aerial vehicle 3 determines in real time whether or not it is time to leave the overhead wire 2 while flying along the overhead wire 2 (S917). For example, when the unmanned air vehicle 3 approaches an obstacle (such as a power transmission tower, a snowfall ring, a twist prevention damper), or the current position is set in the flight path 532 in advance. It comes when the inspection of the inspection target section is completed.

  When it is time to leave the overhead wire 2 (S917: YES), the unmanned air vehicle 3 opens the ring body 411 and leaves the overhead wire 2 (S918). If the timing to leave the overhead wire 2 has not arrived (S917: NO), the unmanned air vehicle 3 continues to fly along the overhead wire 2 as it is.

  Subsequently, the unmanned air vehicle 3 determines whether or not the return flight timing has arrived (S919). Return timing comes when, for example, all scheduled inspection work is completed, when some trouble occurs, or when a return instruction is received from the ground station.

  If the return timing has not arrived (S919: NO), the process returns to S914, and the unmanned air vehicle 3 continues to fly for inspection. If return timing has arrived (S919: YES), the process proceeds to S920, the unmanned air vehicle 3 starts flying for return (S920), and when it reaches the sky above the landing area, control for landing To land on the landing site (S921).

  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 electric wire 2 while flying, and the flight distance (flight time) of the unmanned air vehicle 3 ) Can be extended. Therefore, for example, the unmanned air vehicle 3 can be allowed to fly over a long distance or a long time without accessing a charging station or the like, and work such as inspection of power transmission and distribution equipment can be performed efficiently. In addition, when the buoyancy is lost due to a shortage or failure of the battery 260, or when a gust of wind occurs, the ring body 411 is applied to the overhead electric wire 2, and the unmanned air vehicle 3 falls or deviates from the flight route. This can prevent the unmanned air vehicle 3 from flying safely. As described above, according to the configuration and method of the present embodiment, the unmanned aerial vehicle 3 can safely fly while securing the flight distance and the flight time.

  In addition, when the configuration and method of the present embodiment are applied to, for example, a “drone highway concept” in which the overhead electric wire 2 is used as a “signpost”, the battery 260 can be charged while flying along the overhead electric wire 2. It is possible to fly the unmanned air vehicle 3 to a long distance efficiently and safely.

  By the way, the above description is for facilitating the understanding of the present invention, and does not limit the present invention. It goes without saying that the present invention can be changed and improved without departing from the gist thereof, and that the present invention includes equivalents thereof. For example, the above-described embodiment has been described in detail for easy understanding of the present invention, and is not necessarily limited to the one having all the configurations described. Further, it is possible to add, delete, and replace other configurations for a part of the configuration of the above embodiment.

  For example, in the above embodiment, the unmanned aerial vehicle 3 is configured to approach the overhead electric wire 2 from above and couple the ring body 411 to the overhead electric wire 2. However, for example, as shown in FIG. It is good also as a structure which is provided in the upper part of the flying body 3, and connects the ring body 411 to the overhead electric wire 2 approaching the overhead electric wire 2 from the downward direction of the overhead electric wire 2 while flying. If it does in this way, imaging can be performed from the lower part side of overhead electric wire 2, for example.

  Each of the above-described configurations, function units, processing units, processing means, and the like may be realized in hardware by designing some or all of them, for example, with an integrated circuit. Each of the above-described configurations, functions, and the like may be realized by software by the processor interpreting and executing a program that realizes each function. Information such as programs, tables, and files for realizing each function can be stored in a recording device such as a memory, a hard disk, or an SSD (Solid State Drive), or a recording medium such as an IC card, an SD card, or a DVD.

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

  The arrangement form 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 from the viewpoints of hardware and software performance, processing efficiency, communication efficiency, and the like.

2 overhead wires, 3 unmanned air vehicles, 31 pedestal, 41 current generator, 42 ring switchgear, 82 charge control device, 240 power supply device, 250 flight control device, 251 control circuit, 260 battery, 270 thrust generator, 282 Imaging device, 411 ring body, 412 conductive coil, 415 hole, 416 introduction port, 513 flight control unit, 515 ring opening / closing device control unit, 532 flight path, 711 charge control circuit, S900 flight control processing

Claims (7)

A thrust generator,
A flight control device for controlling the thrust generating device;
An annular ring body capable of opening and closing a part of the ring, and a current generator having 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 that supplies power based on a current generated in the conductive coil to the thrust generation device or the flight control device;
A photographing device for photographing the surroundings;
A sensor for detecting the distance between surrounding objects;
An unmanned air vehicle control method comprising:
The unmanned air vehicle is
Steps to fly and approach the overhead power line,
A step of opening a part of the ring of the ring body while flying and accommodating an overhead wire inside the ring;
Closing a portion of the ring while flying ;
Supplying the power based on the current generated in the conductive coil by electromagnetic induction of the current flowing through the overhead wire to the thrust generating device or the flight control device;
Photographing the overhead wire while flying along the overhead wire while the overhead wire is accommodated inside the ring;
Controlling the separation distance from the overhead electric wire based on information acquired from the sensor to be an appropriate position;
A method for controlling an unmanned air vehicle. A control method for an unmanned air vehicle according to claim 1 ,
The current generator is configured using a through-type current transformer,
Control method of unmanned air vehicle. A thrust generator,
A flight control device for controlling the thrust generating device;
An annular ring body capable of opening and closing a part of the ring, and a current generator having 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 that supplies power to the thrust generation device or the flight control device based on the current generated in the conductive coil by electromagnetic induction of current flowing through the overhead wire accommodated inside the ring;
A photographing device for photographing the surroundings;
A sensor for detecting the distance between surrounding objects;
An unmanned air vehicle comprising
Control to fly and approach overhead cables,
Control that opens a part of the ring of the ring body while flying and accommodates an overhead electric wire inside the ring,
Control to close part of the ring while flying ,
Control for supplying the electric power based on the current generated in the conductive coil by electromagnetic induction of the current flowing through the overhead wire to the thrust generating device or the flight control device;
A control for photographing the overhead electric wire while the unmanned air vehicle is flying along the overhead electric wire in a state in which the overhead electric wire is accommodated inside the ring; and
Control to make the separation distance from the overhead electric wire to an appropriate position based on information acquired from the sensor,
Do an unmanned air vehicle. A control method for an unmanned air vehicle according to claim 3 ,
The current generator is configured using a through-type current transformer,
Unmanned flying vehicle. An unmanned air vehicle according to claim 3 ,
A pedestal portion provided with the flight control device;
A plurality of arms extending from the pedestal portion in a predetermined length in the outer peripheral direction of the pedestal portion, and provided with the thrust generating device;
A plurality of leg posts provided to extend below the pedestal portion;
With
The current generator is provided in a space surrounded by the plurality of leg posts with a part of the ring facing downward.
Unmanned flying vehicle. An unmanned air vehicle according to claim 3 ,
A pedestal portion provided with the flight control device;
A plurality of arms extending from the pedestal portion in a predetermined length in the outer peripheral direction of the pedestal portion, and provided with the thrust generating device;
With
The current generator is provided above the pedestal portion with a part of the ring facing upward.
Unmanned flying vehicle. A control method for an unmanned air vehicle according to claim 3 ,
The power supply device
A power storage device for supplying power to the thrust generator or the flight control device;
A charge control device that supplies power based on a current generated in the conductive coil to the power storage device;
Further comprising
Unmanned flying vehicle.

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