JP2024008584A - Cable winding device, cable winding system, cable winding method and cable winding program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a cable winding device which diagnoses the contact of cable with an obstacle and, thereby, avoids such a contact.

SOLUTION: A cable winding device 70 includes a control part 10 which controls the delivering and the winding of a cable 4 connected to an unmanned flying object 3, and the control part includes: an actual cable shape estimation part 14 which estimates an actual cable shape based on relative position information of the unmanned flying object and cable information of the cable, an appropriate cable shape derivation part 15 which diagnoses the contact of the cable with an obstacle and derives an appropriate cable shape capable of avoiding the contact of the cable with the obstacle, and a cable control instruction generation part 16 which diagnoses the contact of the cable with the obstacle based on the actual cable shape and the appropriate cable shape, and generates a cable control instruction for controlling the length of the cable so that the cable becomes an appropriate cable shape.

SELECTED DRAWING: Figure 3

COPYRIGHT: (C)2024,JPO&INPIT

Description

The present disclosure relates to a cable winding device, a cable winding system, a cable winding method, and a cable winding program for winding a cable connected to an unmanned aerial vehicle.

BACKGROUND ART Conventionally, cable winding systems have been known that use unmanned flying vehicles such as drones to perform inspections and other tasks. Such unmanned flying vehicles fly by motor drive using power supplied from batteries, but their flight time is limited due to battery capacity issues. Therefore, when carrying out many operations using an unmanned aerial vehicle, it is necessary to replace or charge the battery, making it difficult to perform inspections and other operations in a short period of time.

For this reason, a cable winding system has been proposed that supplies power from a vehicle to an unmanned aerial vehicle via a cable. In such a cable winding system, power is supplied to the unmanned flying vehicle via the cable, so there is no problem with battery capacity, and work such as inspection can be performed in a short time.

The cable winding system described in Patent Document 1 accurately controls an unmanned aerial vehicle moving in the air by controlling the length of the cable based on the tension of the cable.

Japanese Patent Application Publication No. 2021-144644

However, in the technique disclosed in Patent Document 1, the position of the unmanned flying vehicle is controlled without considering the shape of the cable, so there are cases where the cable comes into contact with an obstacle.

The present disclosure has been made in view of the above, and an object of the present disclosure is to obtain a cable winding device that diagnoses contact between a cable and an obstacle and avoids the contact.

In order to solve the above-mentioned problems and achieve the purpose, the cable winding device of the present disclosure includes a cable drive section that is connected to an unmanned aerial vehicle via a cable and that sends out and winds up the cable; and a control section that controls the drive section. Further, the cable winding device of the present disclosure includes a relative position calculation unit that calculates relative position information indicating a relative position with the unmanned aerial vehicle, and a cable information acquisition unit that acquires cable information that is information about the cable. The control unit includes a current cable shape estimation unit that estimates a current cable shape, which is a current cable shape, based on the relative position information and cable information, and a current cable shape estimation unit that estimates the current cable shape, which is a current cable shape, based on the relative position information and the cable shape. and an appropriate cable shape deriving section that diagnoses the problem and derives an appropriate cable shape that is an appropriate cable shape that can avoid contact between the cable and an obstacle. The control unit also includes a cable control command generation unit that generates a cable control command for controlling the length of the cable so that the cable has an appropriate cable shape based on the current cable shape and the appropriate cable shape. The cable drive section sends out and winds up the cable according to the cable control command.

The cable winding device according to the present disclosure has the advantage of being able to diagnose contact between a cable and an obstacle and avoid contact.

A diagram for explaining an overview of processing executed by the winding system according to the first embodiment A diagram showing an example of a configuration of a winding system according to Embodiment 1. A diagram showing an example of the configuration of a cable winding device included in the winding system according to Embodiment 1. A diagram for explaining the process of estimating the current cable shape by the cable winding device according to the first embodiment. A diagram for explaining a process in which the cable winding device according to the first embodiment derives an appropriate cable shape. A diagram for explaining the relationship between the cable length and cable tension of the cable connecting the cable winding device and the unmanned aerial vehicle according to Embodiment 1. A diagram for explaining a first example of a process in which the cable winding device according to the first embodiment avoids contact between a cable and an obstacle. A diagram for explaining a second example of a process in which the cable winding device according to the first embodiment avoids contact between the cable and an obstacle. A cross-sectional view showing the configuration of a cable drive section included in the cable winding device according to the first embodiment. A top view showing the configuration of a cable drive section included in the cable winding device according to Embodiment 1. Flowchart showing the processing procedure of the process executed by the cable winding device according to the first embodiment A diagram showing an example of the configuration of a cable winding device included in the winding system according to Embodiment 2. A diagram for explaining a process in which the cable winding device according to the second embodiment suppresses cable vibration. A diagram for explaining a process performed by the cable winding device according to Embodiment 2 to avoid the cable from coming into contact with an obstacle. A diagram for explaining a process performed by the cable winding device according to Embodiment 2 to avoid an emergency fall when unexpected contact occurs with the cable. A diagram showing an example of the configuration of a winding system according to Embodiment 3 A diagram for explaining an example of a process in which the cable winding device according to Embodiment 3 avoids contact between a cable and an obstacle. A diagram showing an example of the configuration of a processing circuit when the processing circuit included in the control unit of the cable winding device according to Embodiments 1 to 3 is implemented by a processor and memory. A diagram showing an example of a processing circuit when the processing circuit included in the control unit of the cable winding device according to Embodiments 1 to 3 is realized by dedicated hardware.

Below, a cable winding device, a cable winding system, a cable winding method, and a cable winding program according to embodiments of the present disclosure will be described in detail based on the drawings.

Embodiment 1.
FIG. 1 is a diagram for explaining an overview of processing executed by the winding system according to the first embodiment. A winding system 1, which is a cable winding system, has a first moving body and a second moving body. The first moving body included in the winding system 1 is a moving body that travels on a ground track or a track on a side wall of a structure, and is, for example, a car, a train, a mobile robot, or a gondola.

The second moving body included in the winding system 1 is, for example, a drone that moves in the air using a motor as a drive source. In the first embodiment, a case will be described in which the first moving object is a truck 2 and the second moving object is an unmanned flying object 3 such as a drone.

Further, the winding system 1 includes a cable winding device (cable winding device 70 described later) that sends out (discharges) and winds up the cable 4. The winding system 1 also includes a cable 4 that connects the cable winding device 70 and the unmanned aerial vehicle 3.

The cable winding device 70 includes a winding mechanism 7 that takes in and out the cable 4, a control section 10 that controls the winding mechanism 7, and a camera 5. The winding system 1 is, for example, an inspection system that inspects structures, but may also be a system that performs operations other than inspecting structures. In the winding system 1, an unmanned flying object 3 moves in the air while being connected to a cable 4. In this case, as shown in state X1 in FIG. 1, the cable 4 may come into contact with an obstacle 50 such as a building. In this case, the control unit 10 of the cable winding device 70 estimates the shape of the cable 4 using the camera 5, various sensors (not shown), and the like. Then, the control unit 10 adjusts the length of the cable 4 (hereinafter sometimes referred to as cable length) by sending out or winding up the cable 4 based on the shape of the cable 4. That is, the cable winding device 70 avoids contact between the cable 4 and the obstacle 50 by adjusting the cable length based on the shape of the cable 4, as shown in state X2 in FIG. The cable length is the length of the cable 4 from the winding mechanism 7 of the cable winding device 70 to the unmanned aerial vehicle 3. The obstacle 50 is any object other than the unmanned aerial vehicle 3 and the cable winding device 70. Note that in FIG. 1, the winding mechanism 7 is schematically illustrated.

FIG. 2 is a diagram showing an example of the configuration of the winding system according to the first embodiment. The cable winding device 70 is mounted on the truck 2. The cable winding device 70 includes a winding mechanism 7, a control section 10 that controls the winding mechanism 7, and a camera 5. The winding mechanism 7 executes feeding and winding of the cable 4 according to instructions from the control unit 10. The control unit 10 determines the shape of the cable 4 (hereinafter sometimes referred to as cable shape) based on information on the relative position between the unmanned aerial vehicle 3 and the cable winding device 70 (hereinafter sometimes referred to as relative position information). ), and controls the cable 4 to a length suitable for the conditions of the unmanned aerial vehicle 3 and the cable 4. Thereby, the cable winding device 70 prevents the unmanned aerial vehicle 3 and the cable 4 from coming into contact with the obstacle 50, and suppresses the load on the unmanned aerial vehicle 3 due to the cable 4.

Here, the processing executed by the cable winding device 70 will be explained. The cable winding device 70 uses, for example, GNSS (Global Navigation Satellite System), UWB (Ultra Wide Band, ultra wide band wireless communication), beacon, camera 5, etc. Get the relative position information of. In addition, although the camera 5 is illustrated as a device for acquiring relative position information in FIG. 2, the device for acquiring relative position information may be another device other than the camera 5.

When the cable winding device 70 uses GNSS, a receiver that receives radio waves from a GNSS satellite is arranged in the cable winding device 70 and the unmanned aerial vehicle 3. In this case, the control unit 10 of the cable winding device 70 calculates relative position information based on the signals received by each receiver. The control unit 10 may receive the signal received by the unmanned flying vehicle 3 from the unmanned flying vehicle 3, or may receive the signal via a higher-level system (higher-level system 20 described later).

Further, when the cable winding device 70 uses UWB or a beacon, three or more receivers that receive signals transmitted by the unmanned aerial vehicle 3 are arranged in the cable winding device 70. In this case, the control unit 10 calculates relative position information based on the signals received by each receiver.

Further, when the cable winding device 70 uses the cameras 5, three or more cameras 5 that capture images of the unmanned aerial vehicle 3 are arranged in the cable winding device 70. Note that one or two cameras 5 may be arranged in the cable winding device 70. In this case, the control unit 10 calculates the relative position information based on the imaging direction when each camera 5 takes the image. Note that the camera 5 may take an image of a mark placed on the unmanned aerial vehicle 3 or the like.

In addition, the cable winding device 70 uses, for example, a tension detection sensor that detects the tension of the cable 4 (hereinafter sometimes referred to as cable tension), a cable length detection sensor that detects the cable length, a camera 5, etc. The cable shape, which is the shape of 4, is estimated.

The image of the cable 4 captured by the camera 5, the cable tension, the cable length, etc. are data for estimating the cable shape (cable information to be described later). The cable winding device 70 estimates the cable shape based on the relative position information and cable information.

The cable winding device 70 calculates the current (latest) cable shape and the cable shape appropriate for the current situation. Hereinafter, the current cable shape calculated by the cable winding device 70 may be referred to as the current cable shape. Further, the appropriate cable shape calculated by the cable winding device 70 may be referred to as an appropriate cable shape.

The control unit 10 of the cable winding device 70 calculates the current cable shape and the appropriate cable shape based on the relative position information and the cable information. The current cable shape includes the current cable length of the unmanned air vehicle 3 and the current ejection direction of the cable 4 by the cable winding device 70. The discharge direction of the cable 4 is expressed by an angle with respect to the vertical direction and a rotation angle in a horizontal plane. Further, the appropriate cable shape includes a target value of the cable length appropriate for the unmanned aerial vehicle 3 and a target value of the ejection direction of the cable 4 appropriate for the unmanned aerial vehicle 3.

Then, the control unit 10 generates a cable control command, which is a command for controlling the cable length and discharge direction, based on the current cable shape and the appropriate cable shape. The cable control command is a command for bringing the current cable shape closer to the appropriate cable shape. In this way, the control unit 10 performs feedback control of the cable winding device 70 based on the current cable shape and the appropriate cable shape.

FIG. 3 is a diagram illustrating an example of the configuration of a cable winding device included in the winding system according to the first embodiment. Note that illustration of the winding mechanism 7 is omitted here. The cable winding device 70 includes a control section 10, a relative position calculation section 11, a cable information acquisition section 12, and a cable drive section 13. The control unit 10 also includes a current cable shape estimation unit 14, an appropriate cable shape derivation unit 15, and a cable control command generation unit 16. Note that the control unit 10 may be placed outside the cable winding device 70.

The relative position calculation unit 11 calculates relative position information between the unmanned aerial vehicle 3 and the cable winding device 70. The relative position calculation unit 11 includes a detection device (sensor, receiver, camera 5, etc.) for detecting the relative position between the unmanned aerial vehicle 3 and the cable winding device 70, and this detection device Relative position information is calculated based on the detected information. The relative position calculation unit 11 sends the relative position information to the current cable shape estimation unit 14 and the appropriate cable shape derivation unit 15.

The cable information acquisition unit 12 includes an information acquisition device that acquires cable information used for estimating the cable shape. The cable information acquisition unit 12 includes, for example, a tension detection sensor, a cable length detection sensor, a camera 5, and the like. The cable information includes the cable tension detected by the tension detection sensor, the cable length detected by the cable length detection sensor, the image of the cable 4 captured by the camera 5, and the like.

If the cable information acquisition section 12 has a tension detection sensor, the cable information acquisition section 12 detects the tension of the cable 4 . If the cable information acquisition unit 12 has a cable length detection sensor, the cable information acquisition unit 12 detects the length of the cable 4. If the cable information acquisition unit 12 includes the camera 5, the cable information acquisition unit 12 captures an image of the cable 4. The cable information acquisition unit 12 sends the cable information to the current cable shape estimation unit 14 and the appropriate cable shape derivation unit 15.

The current cable shape estimation unit 14 estimates the current cable shape. The current cable shape estimation section 14 sends the estimated current cable shape to the cable control command generation section 16. The appropriate cable shape deriving unit 15 derives an appropriate cable shape. The appropriate cable shape deriving section 15 sends the derived appropriate cable shape to the cable control command generating section 16.

The cable control command generating unit 16 generates a cable control command for setting the cable length to an appropriate cable length and setting the ejection direction of the cable 4 to an appropriate ejection direction based on the current cable shape and the appropriate cable shape. An appropriate cable length and an appropriate ejection direction are those in which the cable 4 and the obstacle 50 do not come into contact with each other and the load on the unmanned aerial vehicle 3 is reduced. The cable drive unit 13 sends out or winds up the cable 4 according to a cable control command.

Here, a method for estimating the current cable shape by the current cable shape estimating section 14 will be explained. FIG. 4 is a diagram for explaining a process in which the cable winding device according to the first embodiment estimates the current cable shape.

The current cable shape estimating unit 14 estimates the current cable shape using, for example, any one of the following methods "Current shape estimation example 1" to "Current shape estimation example 5". FIG. 4 shows a case where the current cable shape is estimated by "Current shape estimation example 1".

(Current shape estimation example 1)
In "Current shape estimation example 1", the current cable shape estimation unit 14 estimates the current cable shape based on the image of the cable 4, which is an example of cable information. FIG. 4 shows a case where the camera 5 images the cable 4 and the current cable shape estimation unit 14 estimates the current cable shape based on the image of the cable 4. In this case, the camera 5 images the entire cable 4. The current cable shape estimating unit 14 estimates the current cable shape based on information image-recognized by the camera 5.

The current cable shape estimation unit 14 may extract the cable shape directly from the captured image, or may estimate the cable shape using machine learning, AI (Artificial Intelligence), or the like. Furthermore, the current cable shape estimating unit 14 may extract the cable shape from the captured image and correct the extracted cable shape using machine learning, AI, or the like.

Further, when the cable winding device 70 estimates the current cable shape using the camera 5, a plurality of target markers may be attached to the cable 4. In this case, the current cable shape estimation unit 14 estimates the current cable shape based on the position of the marker imaged by the camera 5. Further, instead of the marker, a tape having a different color from that of the cable 4 may be attached to the cable 4, or a paint that reflects or absorbs light of a specific wavelength may be applied. In this case, the current cable shape estimation unit 14 estimates the current cable shape based on the tape or paint imaged by the camera 5.

(Current shape estimation example 2)
In "Current shape estimation example 2", the current cable shape estimating unit 14 estimates the current cable shape based on the relative position information of the unmanned aerial vehicle 3 and the cable length, which is an example of cable information. For example, assuming that there is no disturbance other than the gravity of the cable 4, the current cable shape estimation unit 14 can uniquely derive the cable shape based on the positions of both ends of the cable 4 and the cable length. This is because, when the only force acting on the cable 4 is gravity, the cable 4 rests on a plane that includes the unmanned aerial vehicle 3 and the cable winding device 70. Note that when considering disturbances other than the gravity of the cable 4, the current cable shape estimating unit 14 estimates the current cable shape using the above-mentioned "Current shape estimation example 1" or the later-described "Current shape estimation example 5". .

(Current shape estimation example 3)
In "Current shape estimation example 3", the current cable shape estimating unit 14 uses the cable length and the tension vector (hereinafter referred to as the root tension vector) at the root (end on the winding mechanism 7 side) of the cable 4 as an example of cable information. ), the current cable shape is estimated. In this case, the current cable shape estimation unit 14 estimates the current cable shape based on the root tension vector and the cable length, assuming that there is no disturbance other than the gravity of the cable 4.

(Current shape estimation example 4)
In "Current shape estimation example 4", the current cable shape estimation unit 14 estimates the current cable shape based on the cable length, the specific component of the root tension vector, and the discharge direction of the cable 4, which are examples of cable information. . In this case, the current cable shape estimation unit 14 calculates the tension (either horizontal component or vertical component) at the root of the cable 4, the cable length, and the cable length, assuming that there is no disturbance other than the gravity of the cable 4. The current cable shape is estimated based on the discharge direction at the root.

(Current shape estimation example 5)
In "Current shape estimation example 5", the current cable shape estimation unit 14 estimates the current cable shape based on the root tension vector of the cable 4, the cable length, and relative position information, which are examples of cable information. . In this case, the current cable shape estimating unit 14 calculates the root tension vector based on the difference between the measured root tension vector and the root tension vector under the static condition (cabinet curve) assumed from the cable length and relative position information. Extract components other than gravity. Thereby, the current cable shape estimating unit 14 can estimate the current cable shape by considering components other than gravity of the root tension vector, so that it is possible to estimate the current cable shape to a certain degree of three-dimensional shape.

The appropriate cable shape derivation unit 15 derives an appropriate cable shape for suppressing the load acting on the unmanned aerial vehicle 3. Here, a method for deriving an appropriate cable shape by the appropriate cable shape deriving section 15 will be described.

FIG. 5 is a diagram for explaining a process in which the cable winding device according to the first embodiment derives an appropriate cable shape. The appropriate cable shape deriving unit 15 derives an appropriate cable shape by, for example, one of the following methods, "Example 1 of Deriving Appropriate Shape" and "Example 2 of Deriving Appropriate Shape". FIG. 5 shows a case where an appropriate cable shape is derived by "Example 1 of Deriving an Appropriate Shape".

(Example 1 of appropriate shape derivation)
In "Example 1 of Deriving an Appropriate Shape," the cable winding device 70 is configured to be Control cable length to suppress (e.g., minimize)

In the cable winding device 70, the appropriate cable shape deriving unit 15 of the control unit 10 derives an appropriate cable shape when the horizontal discharge direction of the cable 4 is directed toward the unmanned aerial vehicle 3. As shown in FIG. 5, if the cable 4 becomes too long, the weight of the cable 4 places a large load on the unmanned aerial vehicle 3. On the other hand, if the cable 4 becomes too short, the unmanned aerial vehicle 3 will be pulled by the cable 4 and a large load will be applied to the unmanned aerial vehicle 3. In FIG. 5, the direction in which the cable 4 becomes longer is indicated by D1, and the direction in which the cable 4 becomes shorter is indicated by D2.

When the shape of the cable 4 can be described in a two-dimensional plane, the cable winding device 70 creates a cable shape that suppresses the load on the unmanned aerial vehicle 3 by directing the horizontal discharge direction of the cable 4 toward the unmanned aerial vehicle 3. It can be realized. That is, the appropriate cable shape deriving unit 15 creates an appropriate cable with the horizontal discharge direction of the cable 4 facing the direction in which the unmanned aerial vehicle 3 is located so that the cable 4 is not bent at the discharge position of the winding mechanism 7. Derive the shape.

Further, the appropriate cable shape deriving unit 15 derives an appropriate cable shape for making the upward direction of the cable 4 follow the target cable shape so that the cable 4 does not bend at the discharge position of the winding mechanism 7. That is, the appropriate cable shape deriving unit 15 derives an appropriate cable shape for making the ejection direction of the cable 4 in the upward direction at the ejection position the same as the extending direction of the cable 4 at the ejection position.

FIG. 6 is a diagram for explaining the relationship between the cable length and cable tension of the cable connecting the cable winding device and the unmanned aerial vehicle according to the first embodiment. The horizontal axis of the graph shown in FIG. 6 is the cable length, and the vertical axis is the tension of the cable 4 (cable tension) applied to the unmanned aerial vehicle 3.

As shown in FIG. 6, as the cable length increases from 0, the cable tension applied to the unmanned aerial vehicle 3 decreases. Furthermore, as the cable length increases, the cable tension applied to the unmanned aerial vehicle 3 increases as the cable length increases from a specific value. That is, the cable tension of the cable 4 decreases as the cable length increases from 0, but as the cable 4 extends past a certain cable length, the cable tension increases. The cable length at the boundary (change point) where the cable tension changes from decreasing to increasing is the appropriate value for the cable length. That is, the cable length when the cable tension is the minimum point among the cable tensions is the appropriate value of the cable length.

As described above, if the cable length is too short, the unmanned aerial vehicle 3 will be pulled by the cable winding device 70, resulting in a large cable tension. On the other hand, if the cable length is too long, the cable tension in the unmanned aerial vehicle 3 will increase due to the weight of the cable 4. That is, as the cable length decreases from the appropriate cable length value, the cable tension applied to the unmanned aerial vehicle 3 increases because the cable tension in the horizontal direction increases. On the other hand, as the cable length increases from the appropriate value of the cable length, the cable length of the cable 4 supported by the unmanned aerial vehicle 3 (support cable length) increases, which causes the weight of the cable 4 to increase. The cable tension on body 3 increases. In "Example 1 of Deriving Appropriate Shape," the appropriate cable shape deriving unit 15 derives the appropriate value of the cable length explained with reference to FIG.

(Example 2 of appropriate shape derivation)
In "Appropriate shape derivation example 2", depending on the position of the unmanned aerial vehicle 3, the cable 4 on the way may come into contact with the obstacle 50. For this reason, the appropriate cable shape deriving unit 15 derives an appropriate cable shape having a cable length and a discharge direction of the cable 4 such that the cable 4 does not come into contact with the obstacle 50. For example, the appropriate cable shape deriving unit 15 determines (diagnoses) contact between the cable 4 and the obstacle 50 based on the shape (image) of the cable 4 captured by the camera 5, and determines whether the cable 4 is in contact with the obstacle 50. Deriving an appropriate cable shape that does not

The appropriate cable shape deriving unit 15 determines that the cable 4 and the obstacle 50 have come into contact, for example, when the cable 4 is curved at multiple locations or when the cable 4 is bent. Further, the appropriate cable shape deriving unit 15 may determine that the cable 4 and the obstacle 50 have come into contact when the derived current cable shape is different from the shape of the cable 4 imaged by the camera 5. The appropriate cable shape derivation unit 15 may derive an appropriate cable shape by correcting the cable length derived in "Appropriate shape derivation example 1", or may derive the appropriate cable shape by correcting the cable length derived in "Appropriate shape derivation example 1", or may derive the appropriate cable shape by correcting the cable length derived in "Appropriate shape derivation example 1". A modified appropriate cable shape may be derived. Note that the appropriate cable shape deriving unit 15 may determine contact between the cable 4 and the obstacle 50 using the same process as that of the host system 20 described in the second embodiment.

In this manner, in the first embodiment, the appropriate cable shape deriving unit 15 derives an appropriate cable shape that allows the cable 4 to avoid contacting the obstacle 50 and to minimize the load acting on the unmanned aerial vehicle 3.

FIG. 7 is a diagram for explaining a first example of a process in which the cable winding device according to the first embodiment avoids contact between a cable and an obstacle. When the appropriate cable shape deriving unit 15 detects that the cable 4 has contacted the obstacle 50 (st1), it derives an appropriate cable shape such that the cable 4 does not come into contact with the obstacle 50 by shortening the cable 4.

In the first example of contact avoidance processing, the cable winding device 70 avoids the cable 4 from coming into contact with the obstacle 50 by shortening the cable 4 based on the appropriate cable shape (st2).

Note that the appropriate cable shape deriving unit 15 may determine contact between the cable 4 and the obstacle 50 based on information other than the image captured by the camera 5. For example, the appropriate cable shape deriving unit 15 uses the surface shape of the obstacle 50, etc., measured by a sensor for measuring the surrounding environment that measures the surface shape of the surrounding environment of the cable 4, to determine the contact between the cable 4 and the obstacle 50. judge. Specifically, the appropriate cable shape derivation unit 15 uses the relative position information calculated by the relative position calculation unit 11, the cable information acquired by the cable information acquisition unit 12, and the surface of the surrounding environment measured by the surrounding environment measurement sensor. Contact between the cable 4 and the obstacle 50 is determined based on the shape. The cable information here is the cable length or cable tension.

The appropriate cable shape deriving unit 15 derives the current cable shape using the same method as in "Current shape estimation example 2", and based on the current cable shape and the surface shape of the surrounding environment, the appropriate cable shape derivation unit 15 calculates the cable 4 and the obstacle 50. Determine contact with. In this case, the current cable shape used for comparison by the appropriate cable shape deriving unit 15 may be estimated by the current cable shape estimating unit 14. The appropriate cable shape deriving unit 15 derives an appropriate cable shape that avoids contact between the cable 4 and the obstacle 50 when it is determined that the cable 4 and the obstacle 50 are in contact.

Note that the appropriate cable shape deriving unit 15 may cooperate with the unmanned aerial vehicle 3 to determine contact and avoid contact. In this case, the appropriate cable shape deriving unit 15 may receive data directly from the unmanned aerial vehicle 3 or may receive data via the host system 20 or the like. The unmanned aerial vehicle 3 uses various sensors to detect at least one of relative position information, cable information, and surface shape of the surrounding environment, and provides the detected information to the control unit 10. In this way, in the first embodiment, there are many options for avoiding contact with the obstacle 50.

FIG. 8 is a diagram for explaining a second example of a process in which the cable winding device according to the first embodiment avoids contact between a cable and an obstacle. When the appropriate cable shape deriving unit 15 detects that the cable 4 has come into contact with the obstacle 50 (st3), it derives an appropriate cable shape that prevents the cable 4 from coming into contact with the obstacle 50 by changing the direction of the cable 4. .

In the second example of contact avoidance processing, the cable winding device 70 avoids the cable 4 from coming into contact with the obstacle 50 by changing the direction of the cable 4 based on the appropriate cable shape (st4). The cable winding device 70 uses the cable drive section 13 to change the direction in which the cable 4 is discharged.

When the cable 4 is not in contact with the obstacle 50, the target value of the cable length suitable for the unmanned aerial vehicle 3 is the appropriate value explained in FIG. 6. Note that, when the cable 4 is in contact with the obstacle 50, the cable control command generation unit 16 calculates a target value that allows the cable 4 to avoid contact. The cable control command generation unit 16 calculates, as a target value of the cable length, a cable length that provides the lowest cable tension among the cable lengths that can avoid contact. The cable control command generation unit 16 generates a cable control command corresponding to the calculated target value. The cable control command here is a command for controlling the cable drive section 13.

The cable control command generated by the cable control command generation unit 16 is, for example, a command to move the cable 4 in a direction away from the obstacle 50, and when there is a spatially open area, the cable 4 is moved in this area. This includes instructions for moving the . The cable control commands generated by the cable control command generation unit 16 include a command to send out the cable 4, a command to wind up the cable 4, a command to change the discharge direction of the cable 4, and the like.

Note that the cable control command generation unit 16 may generate a cable control command for returning the cable 4 to the position when it was not in contact with the obstacle 50. The cable drive unit 13 sends out or winds up the cable 4 according to a cable control command.

FIG. 9 is a cross-sectional view showing the configuration of a cable driving section included in the cable winding device according to the first embodiment, and FIG. 10 is a sectional view showing the configuration of the cable driving section included in the cable winding device according to the first embodiment. FIG.

The cable drive section 13 includes a base 31, a cable winding section 32, a port section 35, a roller 34, and a cable discharge section 33. The cable drive unit 13 also includes a winding mechanism 7 (not shown in FIGS. 9 and 10).

In FIGS. 9 and 10, two axes in a plane parallel to the upper surface of the base 31 and orthogonal to each other are referred to as an X axis and a Y axis. Further, an axis perpendicular to the X-axis and the Y-axis is defined as the Z-axis. For example, the XY plane is a horizontal plane, and the Z-axis direction is a direction parallel to the vertical direction. FIG. 9 shows a cross-sectional view of the cable drive unit 13 taken along a plane parallel to the XZ plane. FIG. 10 shows a state in which the cable winding section 32 and the port section 35 are rotated from the base 31 within a plane parallel to the XY plane.

The base 31 is fixed to the top of the track 2. The top and bottom surfaces of the base 31 have surfaces parallel to the XY plane, and the bottom surface of the base 31 is fixed to the top of the track 2 .

The cable winding section 32 is arranged on the upper surface side of the base 31. The cable winding section 32 and the base 31 are connected via a rotating shaft 37 parallel to the Z-axis direction. The cable winding unit 32 sends out and winds up the cable 4 using a motor (not shown). The cable winding section 32 includes a winding drum 38, and sends out the cable 4 wound around the winding drum 38, and winds the cable 4 around the winding drum 38. The cable winding section 32 is rotatable from 0 degrees to 360 degrees in a horizontal plane (in the XY plane) about a rotating shaft 37 as a central axis of rotation.

A cylindrical cable discharge part 33 that serves as an outlet for sending out the cable 4 to the outside is arranged at the upper part of the cable winding part 32. One end (bottom side) of the cable discharge section 33 and the top surface of the cable winding section 32 are connected via a rotating shaft 36 parallel to the XY plane. When the cable winding section 32 rotates, the cable discharge section 33 rotates together with the cable winding section 32 within the XY plane. Moreover, the cable discharge part 33 is rotatable in the upward direction about the rotating shaft 36 as the central axis of rotation. The cable discharge part 33 is rotatable, for example, from 0 degrees to 180 degrees.

The cable 4 sent out from the cable winding section 32 passes through the cable discharge section 33, is sent to a roller 34 disposed above the cable discharge section 33, and is sent out to the outside via the roller 34. Further, the cable 4 wound by the cable winding section 32 is sent into the cable discharge section 33 via the roller 34, passes through the cable discharge section 33, and is wound up by the cable winding section 32.

The port section 35 is a port where the unmanned flying vehicle 3 takes off and lands. The port portion 35 is configured using a plate-shaped member parallel to the XY plane. The port section 35 is fixed to the cable winding section 32 and rotates together with the cable winding section 32 within the XY plane. The unmanned flying object 3 takes off from the top surface of the port section 35 and lands on the top surface of the port section 35.

A slit 39 is provided in the port portion 35, and the top and bottom surfaces of the port portion 35 are U-shaped. The longitudinal direction (axial direction) of the cable winding section 32 when the cable driving section 13 is viewed from above is the same as the direction in which the slit 39 extends. When the cable winding section 32 is viewed from the top side, the roller 34 rotates within the area of the slit 39 . That is, the cable discharge section 33 is arranged so that the roller 34 is visible from above the port section 35 no matter which position the cable discharge section 33 rotates from 0 degrees to 180 degrees. In other words, the slit 39 is arranged at a position where it does not come into contact with the cable discharge part 33 even when the axial direction of the cable discharge part 33 is directed in the Z-axis direction.

The control unit 10 controls the feeding and winding of the cable 4, and rotationally controls the cable winding unit 32 and the cable discharge unit 33. The cable control command generation unit 16 of the control unit 10 generates a cable control command to rotate the cable winding unit 32 and the cable discharge unit 33 so that the cable discharge unit 33 and the unmanned aerial vehicle 3 are within a plane perpendicular to the horizontal direction. generate. The cable drive unit 13 rotates the cable discharge unit 33 and the unmanned aerial vehicle 3 in the horizontal direction according to this cable control command. Thereby, the cable winding device 70 can accommodate the cable discharge section 33 and the unmanned aerial vehicle 3 within a plane perpendicular to the horizontal direction, so that the load acting on the unmanned aerial vehicle 3 can be suppressed. .

The cable control command generation unit 16 of the control unit 10 also generates a cable for controlling the rotation of the cable 4 in the upward direction based on an appropriate cable shape so that the cable 4 is not bent at the cable discharge unit 33. Generate control commands. The cable drive section 13 rotates the cable discharge section 33 in the upward direction according to this cable control command. As a result, the cable 4 is not bent at the cable discharge section 33, so that the cable winding device 70 can accurately control the cable length and discharge direction of the cable 4.

Furthermore, since the cable 4 is not bent at the cable discharge section 33, the cable winding device 70 can obtain an accurate cable length and accurate cable tension. As a result, the cable winding device 70 can accurately estimate the current cable shape and accurately derive the appropriate cable shape, so that the cable length and discharge direction of the cable 4 can be accurately controlled. .

Note that the cable drive unit 13 may have any configuration as long as it can rotate the cable winding unit 32 in the horizontal direction and rotate the cable discharge unit 33 in the upward direction. That is, the cable drive unit 13 only needs to be able to rotate the discharge direction of the cable 4 in at least one of the horizontal direction and the upward direction.

The cable 4 is fed out from the central area of the port section 35. The unmanned aerial vehicle 3 extends the cable 4 from directly below the center of the unmanned aerial vehicle 3, for example. The cable drive unit 13 sends out the cable 4 so that the cable length becomes the appropriate value shown in FIG. 6, that is, the cable tension becomes the minimum value.

The cable drive section 13 may dynamically swing out the cable 4 by rotating the cable winding section 32 at high speed. That is, the cable driving section 13 may swing out the cable 4 using centrifugal force by rotating the cable winding section 32 at high speed. This makes it possible to greatly bend the cable 4 shown in FIG.

Note that, in order to prevent the cable 4 from becoming loose in the cable driving section 13, a motor for feeding out and winding up the cable 4 may also be disposed on the upper end side of the cable discharge section 33. In this case, the motor of the cable discharge section 33 is controlled in conjunction with the rotation of the winding drum 38. That is, the cable winding device 70 controls the motor of the cable discharge section 33 in accordance with the rotational position of the winding drum 38. This improves the accuracy of cable length detection by the cable length detection sensor.

Next, the processing procedure executed by the cable winding device 70 will be explained. FIG. 11 is a flowchart illustrating a procedure of processing executed by the cable winding device according to the first embodiment. After the cable winding device 70 and the unmanned aerial vehicle 3 are connected with the cable 4, the unmanned aerial vehicle 3 takes off from the port section 35, and the cable winding device 70 sends out the cable 4.

The cable winding device 70 acquires relative position information of the unmanned aerial vehicle 3 and cable information (step S1). Specifically, the relative position calculation unit 11 calculates relative position information between the unmanned aerial vehicle 3 and the cable winding device 70, and the cable information acquisition unit 12 calculates the cable tension, cable length, and image of the cable 4. Get cable information such as.

The current cable shape estimation unit 14 estimates the current cable shape based on the relative position information and cable information (step S2). The current cable shape estimation section 14 sends the estimated current cable shape to the cable control command generation section 16.

The appropriate cable shape deriving unit 15 derives an appropriate cable shape for suppressing the load acting on the unmanned aerial vehicle 3 based on the relative position information and the cable information (block B1). Block B1 includes the processes of steps S3 to S6.

Here, the processing of block B1 (steps S3 to S6) that is executed when deriving the appropriate cable shape will be explained. The appropriate cable shape deriving unit 15 temporarily sets an appropriate cable length (target cable length) (step S3).

The appropriate cable shape deriving unit 15 estimates the cable tension based on the relative position information and the temporarily set cable length (step S4). The appropriate cable shape deriving unit 15 determines whether the estimated cable tension is the minimum (step S5). That is, the appropriate cable shape deriving unit 15 determines whether the estimated cable tension is the appropriate value explained with reference to FIG.

If the estimated cable tension is not the minimum (step S5, No), the appropriate cable shape deriving unit 15 returns to the process of step S3. Then, the appropriate cable shape deriving unit 15 temporarily sets a new cable length that has not been temporarily set among the settable cable lengths to an appropriate cable length (step S3). The appropriate cable shape deriving unit 15 estimates cable tension based on the relative position information and the provisionally set cable length (step S4), and determines whether the estimated cable tension is the minimum (step S5).

The appropriate cable shape deriving unit 15 repeats the processing of steps S3 to S5 until the estimated cable tension becomes the minimum. If the estimated cable tension is the minimum (step S5, Yes), the appropriate cable shape deriving unit 15 determines an appropriate cable shape (step S6). That is, the appropriate cable shape deriving unit 15 determines the cable shape with the minimum estimated cable tension as the appropriate cable shape.

The appropriate cable shape deriving unit 15 selects an appropriate cable in which the cable tension is minimized within a range where the cable 4 does not collide with the obstacle 50 when the cable 4 collides with the obstacle 50 in the appropriate cable shape when the cable tension is minimized. Derive the shape.

Note that either the process of step S2 or the process of block B1 may be executed first. The appropriate cable shape deriving section 15 sends the determined appropriate cable shape to the cable control command generating section 16.

The cable control command generation unit 16 generates a cable control command for making the cable length and ejection direction appropriate for the unmanned aerial vehicle 3 based on the current cable shape and the appropriate cable shape (step S7 ). The cable control command generation unit 16 controls the cable drive unit 13 using the generated cable control command, thereby controlling the cable 4 (step S8).

In this way, the cable winding device 70 estimates the cable shape and determines contact between the cable 4 and the obstacle 50 based on the cable shape, making it possible to accurately determine contact. Moreover, since the cable winding device 70 actively controls the cable shape starting from the base of the cable 4 based on the estimated cable shape, contact between the cable 4 and the obstacle 50 can be easily avoided. Further, since the cable winding device 70 derives an appropriate cable shape when the cable tension is minimized, the load on the unmanned aerial vehicle 3 can be suppressed.

Furthermore, since the cable winding device 70 controls not only the length of the cable but also the direction in which the cable 4 is discharged, it is possible to widen the scope of avoiding contact between the cable 4 and the obstacle 50. For example, the cable winding device 70 can control the discharge direction of the cable 4 even when it is desired to fix the position of the unmanned aerial vehicle 3 during inspection or the like, thereby avoiding contact between the cable 4 and the obstacle 50. It becomes possible to do so.

In this way, in the first embodiment, the cable winding device 70 estimates the current cable shape and derives the appropriate cable shape based on the relative position information and cable information. Then, the cable winding device 70 diagnoses contact between the cable 4 and the obstacle 50 based on the current cable shape and the appropriate cable shape. Further, when the cable 4 and the obstacle 50 are in contact with each other, the cable winding device 70 issues a cable control command to control the length of the cable 4 so that the cable 4 has an appropriate cable shape. The cable 4 is sent out and wound up in accordance with the cable control command. Thereby, the cable winding device 70 can avoid contact between the cable 4 and the obstacle 50.

Embodiment 2.
Next, Embodiment 2 will be described using FIGS. 12 to 15. In the second embodiment, a cable winding device 70 is connected to the host system 20 and generates cable control commands in accordance with commands from the host system 20.

FIG. 12 is a diagram illustrating an example of the configuration of a cable winding device included in the winding system according to the second embodiment. Among the components in FIG. 12, components that achieve the same functions as the cable winding device 70 of the first embodiment shown in FIG. 3 are designated by the same reference numerals, and redundant explanations will be omitted.

The cable winding device 70X of the second embodiment is connected to the host system 20. The cable winding device 70X and the host system 20 may be connected by wireless communication or wired communication. The host system 20 is a computer that controls the cable winding device 70X.

The host system 20 acquires various data on the cable 4 from the cable winding device 70X, and generates control instructions for the cable winding device 70X to control the cable 4 based on the acquired data. The data on the cable 4 that the host system 20 acquires from the cable winding device 70X includes, for example, at least one of relative position information, cable information, current cable shape, and appropriate cable shape.

The host system 20 provides, for example, control instructions for suppressing vibrations of the cable 4 (hereinafter sometimes referred to as cable vibrations), and controls for avoiding contact between the cable 4 or the unmanned flying vehicle 3 and the obstacle 50. instructions, control instructions to avoid an emergency fall in the event of unexpected contact with the cable 4, etc. are generated. The host system 20 sends the generated control instruction to the cable winding device 70X.

Note that the host system 20 may be connected to the unmanned aerial vehicle 3 by wireless communication. In this case, the host system 20 may acquire various data from the unmanned flying vehicle 3 and generate control instructions using the acquired data. The unmanned aerial vehicle 3 uses various sensors to detect at least one of relative position information, cable information, and surface shape data of the surrounding environment, and provides the data to the host system 20. The host system 20 may receive data directly from the unmanned aerial vehicle 3 or may receive data via the cable winding device 70 or the like.

That is, the host system 20 may generate a control instruction for suppressing cable vibration using the data received from the unmanned aerial vehicle 3. Further, the host system 20 may generate a control instruction for avoiding contact between the cable 4 or the unmanned aerial vehicle 3 and the obstacle 50 using the data received from the unmanned aerial vehicle 3 . Further, the host system 20 may generate a control instruction for avoiding an emergency crash of the unmanned aerial vehicle 3 using the data received from the unmanned aerial vehicle 3. Note that the host system 20 may control the unmanned flying vehicle 3.

Compared to the cable winding device 70, the cable winding device 70X includes a control section 10X instead of the control section 10. The control unit 10X includes a cable optimization unit 21, an auxiliary command generation unit 22, and a cable control command generation unit 16. The cable optimization unit 21 has the functions of the current cable shape estimation unit 14 and the appropriate cable shape derivation unit 15. Therefore, the cable optimization unit 21 estimates the current cable shape and the appropriate cable shape based on the relative position information and cable information. The cable optimization unit 21 sends the estimated current cable shape and appropriate cable shape to the cable control command generation unit 16.

The auxiliary command generation unit 22 generates auxiliary commands for controlling the cable length and discharge direction of the cable 4 in accordance with control instructions sent from the host system 20. The auxiliary command generation unit 22 sends the generated auxiliary command to the cable control command generation unit 16.

The cable control command generation unit 16 generates a cable control command in the same manner as in the first embodiment, based on the current cable shape and the appropriate cable shape received from the cable optimization unit 21. Further, when receiving an auxiliary command from the auxiliary command generation unit 22, the cable control command generation unit 16 of the second embodiment generates a cable control command in accordance with the auxiliary command.

Note that the host system 20 may be operated by a user. In this case, the host system 20 is a controller that controls the cable winding device 70 according to instructions from the user. The host system 20 as a controller, for example, generates a control instruction corresponding to a user operation and sends it to the cable winding device 70.

Here, the processing executed by the cable winding device 70 in accordance with the control command sent from the host system 20 will be described. FIG. 13 is a diagram for explaining a process in which the cable winding device according to the second embodiment suppresses cable vibration.

In the winding system 1, an unmanned flying object 3 moves in the air while being connected to a cable 4. In this case, as shown in state X3 in FIG. 13, the cable 4 may vibrate. For example, the cable 4 vibrates when wind occurs, when the cable winding device 70X moves, or when the unmanned aerial vehicle 3 moves.

In the winding system 1, since the cable 4 is rigidly fixed to the cable winding device 70X, cable vibrations may be reflected by the cable winding device 70X and transmitted to the unmanned aerial vehicle 3. In this case, cable vibration may cause the unmanned aerial vehicle 3 to shake.

The host system 20 predicts cable vibration based on the relative position information and the current cable shape, and sends a control instruction capable of alleviating the cable vibration to the cable winding device 70X. For example, the host system 20 generates a control instruction for controlling the movement of the cable 4 in the discharge direction and sends it to the cable winding device 70X.

Thereby, the auxiliary command generation unit 22 generates an auxiliary command for controlling the movement of the cable 4 in the discharge direction based on the control command sent from the host system 20. The auxiliary command generation unit 22 sends the generated auxiliary command to the cable control command generation unit 16.

The cable control command generating section 16 drives the cable driving section 13 in accordance with the auxiliary command, thereby controlling the direction in which the cable 4 is discharged. As a result, the winding system 1 can suppress the cable vibration from being reflected by the cable winding device 70X, as shown in state X4 in FIG. 13, and can quickly converge the vibration of the cable 4.

FIG. 14 is a diagram for explaining a process performed by the cable winding device according to the second embodiment to avoid the cable from coming into contact with an obstacle. In the winding system 1, an unmanned flying object 3 moves in the air while being connected to a cable 4. In this case, as shown in state X5 in FIG. 14, contact with the obstacle 50 may not be avoided only by the movement of the unmanned flying object 3.

The host system 20 may, for example, record the maximum speed of the unmanned aerial vehicle 3, the maximum acceleration of the unmanned aerial vehicle 3, the current speed of the unmanned aerial vehicle 3, the flight direction of the unmanned aerial vehicle 3, and the relationship between the unmanned aerial vehicle 3 and the obstacle 50. Based on the distance between them, relative position information, cable information, etc., it is determined whether or not contact between the cable 4 or the unmanned aerial vehicle 3 and the obstacle 50 can be avoided just by the movement of the unmanned aerial vehicle 3.

If the host system 20 determines that contact with the obstacle 50 cannot be avoided by the movement of the unmanned flying object 3 alone, it sends a control instruction to avoid the contact to the cable winding device 70X. This control instruction is an instruction for controlling at least one of the cable length and discharge direction of the cable 4. The control instructions sent by the host system 20 to the cable winding device 70X include, for example, a control instruction to forcibly move the unmanned aerial vehicle 3 to the cable winding device 70X side by winding up the cable 4 at high speed, and ejecting the cable 4. This includes a control instruction to forcibly move the unmanned flying object 3 by rotating the direction at high speed.

Thereby, the auxiliary command generation unit 22 generates an auxiliary command for controlling at least one of the cable length and the discharge direction of the cable 4 based on the control command sent from the host system 20. The auxiliary command generation unit 22 sends the generated auxiliary command to the cable control command generation unit 16.

The cable control command generating section 16 drives the cable driving section 13 according to the auxiliary command, thereby controlling at least one of the cable length and the discharge direction of the cable 4. As a result, the winding system 1 can avoid the cable 4 and the unmanned aerial vehicle 3 from coming into contact with the obstacle 50, as shown in state X6 in FIG.

FIG. 15 is a diagram for explaining a process performed by the cable winding device according to the second embodiment to avoid an emergency fall when unexpected contact occurs with the cable. In the winding system 1, an unmanned flying object 3 moves in the air while being connected to a cable 4. In this case, as shown in state X7 in FIG. 15, unexpected contact between the cable 4 and the obstacle 50 may occur. For example, if the cable winding device 70X fails to observe the obstacle 50 (st5), unexpected contact between the cable 4 and the obstacle 50 may occur (st6). When unexpected contact between the cable 4 and the obstacle 50 occurs, an unexpected force or moment is generated on the unmanned aerial vehicle 3.

The host system 20 determines whether the cable 4 has contacted the obstacle 50 based on the cable information or information calculated using the cable information.

The host system 20 determines whether the cable 4 has contacted the obstacle 50, for example, based on the image of the cable 4 or the current cable shape. The host system 20 determines that the cable 4 and the obstacle 50 have come into contact, for example, when the cable 4 is bent at multiple locations or when the cable 4 is bent.

Further, the host system 20 determines whether the cable 4 has contacted the obstacle 50 based on the image of the cable 4 or the current cable shape and the surface shape of the obstacle 50 etc. measured by the sensor for measuring the surrounding environment. You may.

The host system 20 also estimates the current cable shape based on the relative position information and cable information (cable length or cable tension), and based on the estimated current cable shape and the image of the cable 4, the cable 4 It may be determined whether or not the person has touched the object. In this case, the host system 20 determines that the cable 4 and the obstacle 50 have come into contact, for example, when the estimated cable shape and the cable shape extracted from the image of the cable 4 are different.

Further, the host system 20 may determine whether the cable 4 has contacted the obstacle 50 based on the cable tension detected by the tension detection sensor. The host system 20 may also estimate the cable tension based on the relative position information and the cable length, and determine whether the cable 4 has contacted the obstacle 50 based on the estimated cable tension. . The host system 20 detects the cable 4 and the obstacle 50, for example, when the cable tension becomes larger than a threshold value or when the cable tension suddenly changes (when the cable tension change rate becomes larger than a reference value). It is determined that there has been contact.

In addition, the host system 20 estimates the cable tension based on the relative position information and the cable length, and if the difference between the estimated cable tension and the cable tension detected by the tension detection sensor is larger than a threshold, the It may be determined that the object 4 and the obstacle 50 have contacted each other.

The host system 20 also estimates the cable length based on the relative position information and cable information (cable tension or image of the cable 4), and combines this estimated cable length with the cable length detected by the cable length detection sensor. If the difference is larger than a threshold value, it may be determined that the cable 4 and the obstacle 50 have contacted each other.

Further, the host system 20 may determine whether the cable 4 and the obstacle 50 have contacted each other by combining the contact determination methods described above.

When the host system 20 determines that the cable 4 and the obstacle 50 have come into contact, it sends a control instruction to the cable winding device 70X to avoid an emergency crash of the unmanned aerial vehicle 3. The host system 20 generates, for example, a control instruction to move the cable 4 at the contact position between the cable 4 and the obstacle 50 in a direction away from the contact position, and sends it to the cable winding device 70X. In this case, the host system 20 generates a control instruction for rapidly sending out the cable 4 or rapidly winding the cable 4, and sends it to the cable winding device 70X. Further, the host system 20 may generate a control instruction for changing the discharge direction of the cable 4 and send it to the cable winding device 70X.

Thereby, the auxiliary command generation unit 22 generates an auxiliary command corresponding to the control command based on the control command sent from the host system 20. The auxiliary command generation unit 22 sends the generated auxiliary command to the cable control command generation unit 16.

The cable control command generating section 16 drives the cable driving section 13 according to the auxiliary command, thereby controlling at least one of the cable length and the discharge direction of the cable 4. As a result, the winding system 1 is able to avoid an emergency crash of the unmanned flying vehicle 3 due to contact between the cable 4 and the obstacle 50 (st7), as shown in state X8 in FIG. .

Note that the cable winding device 70X may execute the processing executed by the host system 20. In this case, various data that the host system 20 acquires from the cable winding device 70X is input to the auxiliary command generation section 22. For example, at least one of relative position information, cable information, current cable shape, and appropriate cable shape is input to the auxiliary command generation unit 22.

The auxiliary command generating unit 22 calculates information similar to the control command generated by the cable winding device 70X. That is, the auxiliary command generation unit 22 generates information corresponding to a control instruction to suppress cable vibration, information corresponding to a control instruction to avoid the cable 4 or the unmanned flying vehicle 3 from coming into contact with the obstacle 50, Information such as information corresponding to control instructions to avoid an emergency fall in the event of unexpected contact with the cable 4 is calculated. Then, the auxiliary command generation unit 22 generates an auxiliary command for controlling the cable length and discharge direction of the cable 4 according to the calculated information. That is, the auxiliary command generation unit 22 generates the auxiliary command based on at least one of relative position information, cable information, current cable shape, and appropriate cable shape.

As described above, according to the second embodiment, the host system 20 generates a control instruction, and the cable winding device 70 uses the control instruction to control the cable length or discharge direction of the cable 4. 70 makes it possible to execute complex control with a simple configuration.

Since the cable winding device 70 controls the cable length or discharge direction of the cable 4 using a control instruction for suppressing cable vibration, it is possible to suppress cable vibration.

In addition, the cable winding device 70 controls the cable length or discharge direction of the cable 4 using a control instruction to avoid the cable 4 or the unmanned aerial vehicle 3 from coming into contact with the obstacle 50. It becomes possible to avoid the unmanned flying vehicle 3 from coming into contact with the obstacle 50.

In addition, the cable winding device 70 controls the cable length or discharge direction of the cable 4 using control instructions to avoid an emergency fall in the event of unexpected contact with the cable 4. This makes it possible to avoid an emergency fall in the event of external contact.

Embodiment 3.
Next, Embodiment 3 will be described using FIGS. 16 and 17. In the third embodiment, the control unit 10 controls a plurality of cable winding devices.

FIG. 16 is a diagram showing an example of the configuration of a winding system according to the third embodiment. Among the components in FIG. 16, the components that achieve the same functions as the cable winding device 70 of the first embodiment shown in FIG. 3 are designated by the same reference numerals, and redundant explanation will be omitted.

The winding system 1 according to the third embodiment includes a plurality of cable winding devices, a plurality of unmanned flying objects, a plurality of cables 4, and a control unit 10. In the following, a case will be described in which the winding system 1 according to the third embodiment includes cable winding devices 70A to 70C and unmanned flying objects 3A to 3C.

In the winding system 1 of the third embodiment, the cable winding device and the unmanned aerial vehicle are connected by one cable 4. That is, the cable winding device 70A and the unmanned aerial vehicle 3A are connected by one cable 4, the cable winding device 70B and the unmanned aerial vehicle 3B are connected by one cable 4, and the cable winding device 70C and the unmanned aerial vehicle 3A are connected by one cable 4. It is connected to the unmanned aerial vehicle 3C by one cable 4.

Like the cable winding device 70, the cable winding devices 70A to 70C include a relative position calculation section 11, a cable information acquisition section 12, and a cable drive section 13. The cable winding devices 70A to 70C differ from the cable winding device 70 in that they do not have a control section 10.

The control unit 10 is connected to the cable winding devices 70A to 70C. The control unit 10 receives relative position information and cable information from each of the cable winding devices 70A to 70C, and controls each of the cable winding devices 70A to 70C.

In the winding system 1 of the third embodiment, the tension detection sensor, the cable length detection sensor, and the camera 5 may be arranged for each of the cable winding devices 70A to 70C, or each of the cable winding devices 70A to 70C may be provided with a tension detection sensor, a cable length detection sensor, and a camera 5. One tension detection sensor, one cable length detection sensor, and one camera 5 may be arranged for the whole. Note that the control unit 10 may be placed inside any one of the cable winding devices 70A to 70C.

FIG. 17 is a diagram for explaining an example of a process in which the cable winding device according to the third embodiment avoids contact between a cable and an obstacle. The control unit 10 of the third embodiment executes the same control as that of the first embodiment, and also controls the cable length and discharge direction of each cable 4 so that the cables 4 do not become entangled with each other. Specifically, in the control unit 10, the current cable shape estimating unit 14 estimates the current cable shape of each cable 4, and sends the estimated current cable shape to the appropriate cable shape deriving unit 15. Based on the current cable shape of each cable 4, the appropriate cable shape deriving unit 15 derives an appropriate cable shape that allows the unmanned aerial vehicles 3A to 3C to move to desired positions without the cables 4 coming into contact with each other.

The appropriate cable shape deriving unit 15 sends the appropriate cable shape for the unmanned aerial vehicle 3A to the cable winding device 70A, sends the appropriate cable shape for the unmanned aerial vehicle 3B to the cable winding device 70B, and determines the appropriate cable shape for the unmanned aerial vehicle 3C. is sent to the cable winding device 70C.

Note that the appropriate cable shape deriving unit 15 determines whether the unmanned aerial vehicles 3A to 3C are in the desired shape without the cables 4 coming into contact with each other, based on the cable length of each cable 4, the relative position information of the unmanned aerial vehicles 3A to 3C, etc. An appropriate cable shape may be derived that can be moved into position.

The cable control command generation unit 16 generates a cable control command based on the current cable shape and the appropriate cable shape. That is, the cable control command generation unit 16 generates a cable control command for adjusting the cable length and discharge direction so that the cables 4 do not come into contact with each other. The cable drive unit 13 then adjusts the cable length and discharge direction according to the cable control command. Thereby, the winding system 1 of the third embodiment can avoid contact between the cable 4 and the obstacle 50 while preventing the cables 4 from coming into contact with each other. Note that the winding system 1 of the third embodiment may include a host system 20. Further, the winding system 1 according to the third embodiment may include a control section 10X instead of the control section 10.

As described above, according to the third embodiment, the control unit 10 determines an appropriate cable that allows the unmanned aerial vehicle 3 to move to a desired position without the cables 4 coming into contact with each other, based on the current cable shape of each cable 4. Since the shape is derived, it is possible to avoid contact between the cables 4 and each other while avoiding contact between the cable 4 and the obstacle 50. Thereby, the winding system 1 of the third embodiment can perform processing such as inspection using the plurality of unmanned flying objects 3 while avoiding contact between the cables 4 .

Here, the hardware configuration of the control units 10 and 10X will be explained. Note that since the control units 10 and 10X have similar hardware configurations, the hardware configuration of the control unit 10 will be described here. The control unit 10 is realized by a processing circuit. The processing circuit may be a processor and memory that executes a program stored in memory, or may be dedicated hardware.

FIG. 18 is a diagram illustrating a configuration example of a processing circuit in the case where the processing circuit included in the control unit of the cable winding device according to Embodiments 1 to 3 is implemented by a processor and a memory. The processing circuit 90 shown in FIG. 18 includes a processor 91 and a memory 92. When the processing circuit 90 includes a processor 91 and a memory 92, each function of the processing circuit 90 is realized by software, firmware, or a combination of software and firmware. Software or firmware is written as a control program and stored in memory 92. In the processing circuit 90, each function is realized by a processor 91 reading and executing a control program stored in a memory 92. That is, the processing circuit 90 includes a memory 92 for storing a control program by which the processing of the control unit 10 is eventually executed. This control program can also be said to be a program for causing the control unit 10 to execute each function realized by the processing circuit 90. This control program may be provided by a storage medium in which the control program is stored, or may be provided by other means such as a communication medium.

The above control program has a module configuration including a current cable shape estimating section 14, an appropriate cable shape deriving section 15, and a cable control command generating section 16, and these are loaded onto the main memory. generated above.

Here, the processor 91 is, for example, a CPU (Central Processing Unit), a processing device, an arithmetic device, a microprocessor, a microcomputer, or a DSP (Digital Signal Processor). The memory 92 may be a nonvolatile or volatile memory such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable ROM), or EEPROM (registered trademark) (Electrically EPROM). This includes semiconductor memory, magnetic disks, flexible disks, optical disks, compact disks, mini disks, and DVDs (Digital Versatile Discs).

FIG. 19 is a diagram showing an example of a processing circuit in a case where the processing circuit included in the control unit of the cable winding device according to Embodiments 1 to 3 is realized by dedicated hardware. The processing circuit 93 shown in FIG. 19 is, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination of these. applicable. Regarding the processing circuit 93, a part may be realized by dedicated hardware, and a part may be realized by software or firmware. In this way, the processing circuit 93 can realize each of the above functions using dedicated hardware, software, firmware, or a combination thereof.

The configurations shown in the embodiments above are merely examples, and can be combined with other known techniques, or can be combined with other embodiments, within the scope of the gist. It is also possible to omit or change part of the configuration.

Hereinafter, various aspects of the present disclosure will be collectively described as supplementary notes.

(Additional note 1)
a cable drive unit that is connected to the unmanned aerial vehicle via a cable and that sends out and winds up the cable;
a control unit that controls the cable drive unit;
a relative position calculation unit that calculates relative position information indicating a relative position with the unmanned aerial vehicle;
a cable information acquisition unit that acquires cable information that is information about the cable;
Equipped with
The control unit includes:
a current cable shape estimation unit that estimates a current cable shape that is a current cable shape based on the relative position information and the cable information;
Based on the relative position information and the cable shape, a contact between the cable and an obstacle is diagnosed and an appropriate cable shape is derived that is an appropriate cable shape that can avoid contact between the cable and the obstacle. Appropriate cable shape lead-out part,
a cable control command generation unit that generates a cable control command for controlling the length of the cable so that the cable has the appropriate cable shape based on the current cable shape and the appropriate cable shape;
has
The cable drive section sends out and winds up the cable according to the cable control command.
A cable winding device characterized by:
(Additional note 2)
a cable drive unit that is connected to the unmanned aerial vehicle via a cable and that sends out and winds up the cable;
a control unit that controls the cable drive unit;
a relative position calculation unit that calculates relative position information indicating a relative position with the unmanned aerial vehicle;
a cable information acquisition unit that acquires cable information that is information about the cable;
Equipped with
The cable drive unit rotates a discharge direction of the cable in at least one of a horizontal direction and an upward direction,
The control unit includes:
Based on the relative position information and the cable information, the cable discharge direction is set in the horizontal direction and in the upward direction so as to diagnose contact between the cable and an obstacle and avoid contact between the cable and the obstacle. a cable control command generation unit that generates a cable control command for rotating the cable in at least one direction;
The cable drive unit rotates the cable discharge direction in at least one of the horizontal direction and the upward direction in accordance with the cable control command.
A cable winding device characterized by:
(Additional note 3)
The cable information includes at least one of a cable length that is the length of the cable, a cable tension that is the tension of the cable, and an image of the cable.
The cable winding device according to appendix 1 or 2, characterized in that:
(Additional note 4)
The control unit determines contact between the cable and the obstacle based on the cable information or information calculated using the cable information, and determines that the cable and the obstacle have contacted. generating the cable control command to avoid contact between the cable and the obstacle if
The cable winding device according to any one of Supplementary Notes 1 to 3, characterized in that:
(Appendix 5)
The control unit determines contact between the cable and the obstacle using the relative position information.
The cable winding device according to appendix 4, characterized in that:
(Appendix 6)
The control unit determines contact between the cable and the obstacle using a surface shape of an environment surrounding the cable.
The cable winding device according to appendix 4 or 5, characterized in that:
(Appendix 7)
The cable drive section includes:
It has a cylindrical cable discharge part that sends out the cable to the outside,
The cable control command generation unit includes:
Generating the cable control command so that the cable discharge part and the unmanned aerial vehicle fall within a plane perpendicular to the horizontal direction;
The cable winding device according to appendix 2, characterized in that:
(Appendix 8)
The cable control command generation unit generates a cable control command for rotationally controlling the discharge direction of the cable in the upward direction so that the cable does not bend at the cable discharge unit,
The cable drive unit rotates the cable discharge direction in the upward direction according to the cable control command.
The cable winding device according to appendix 7, characterized in that:
(Appendix 9)
The appropriate cable shape deriving unit derives the appropriate cable shape in which the cable tension, which is the tension of the cable, is minimized.
The cable winding device according to appendix 1, characterized in that:
(Appendix 10)
The control unit generates the cable control command that minimizes the cable tension that is the tension of the cable.
The cable winding device according to any one of appendices 2, 7, and 8, characterized in that:
(Appendix 11)
The cable drive units are plural;
The control unit transmits the cable control command to each of the cable drive units,
The cable winding device according to any one of appendices 1 to 10, characterized in that:
(Appendix 12)
a cable winding device that sends out and winds up a cable connected to an unmanned aerial vehicle;
a host system that acquires data on the cable from the cable winding device, generates a control instruction for controlling the cable based on the data on the cable, and sends it to the cable winding device;
has
The cable winding device includes:
a cable drive unit that is connected to the unmanned aerial vehicle via the cable and that sends out and winds up the cable;
a control unit that controls the cable drive unit;
a relative position calculation unit that calculates relative position information indicating a relative position with the unmanned aerial vehicle;
a cable information acquisition unit that acquires cable information that is information about the cable;
Equipped with
The control unit includes:
a current cable shape estimation unit that estimates a current cable shape that is a current cable shape based on the relative position information and the cable information;
Based on the relative position information and the cable shape, a contact between the cable and an obstacle is diagnosed and an appropriate cable shape is derived that is an appropriate cable shape that can avoid contact between the cable and the obstacle. Appropriate cable shape lead-out part,
an auxiliary command generation unit that generates an auxiliary command for controlling a cable length that is the length of the cable according to the control instruction;
Generating a cable control command for controlling the cable length so that the cable has the appropriate cable shape based on the current cable shape and the appropriate cable shape, and when receiving the auxiliary command, a cable control command generation unit that generates the cable control command according to the auxiliary command;
has
The cable drive section sends out and winds up the cable according to the cable control command.
A cable winding system characterized by:
(Appendix 13)
The cable data includes at least one of the relative position information, the cable information, the current cable shape, and the appropriate cable shape.
The cable winding system according to appendix 12, characterized in that:
(Appendix 14)
The cable winding device is mounted on a movable body that can move on the ground.
14. The cable winding system according to appendix 12 or 13, characterized in that:
(Additional note 15)
The cable winding device forcibly moves the position of the unmanned aerial vehicle by controlling at least one of the cable length and the cable ejection direction;
15. The cable winding system according to any one of appendices 12 to 14.
(Appendix 16)
a cable driving step in which a cable winding device connected to the unmanned aerial vehicle via a cable sends out and winds up the cable;
a control step in which the cable winding device controls feeding and winding of the cable;
a relative position calculation step in which the cable winding device calculates relative position information indicating a relative position with the unmanned aerial vehicle;
a cable information acquisition step in which the cable winding device acquires cable information that is information about the cable;
including;
The control step includes:
a current cable shape estimation step in which the cable winding device estimates a current cable shape that is a current cable shape based on the relative position information and the cable information;
The cable winding device has an appropriate cable shape capable of diagnosing contact between the cable and an obstacle and avoiding contact between the cable and the obstacle based on the relative position information and the cable shape. an appropriate cable shape deriving step of deriving a certain appropriate cable shape;
The cable winding device issues a cable control command for controlling a cable length, which is the length of the cable, so that the cable has the appropriate cable shape based on the current cable shape and the appropriate cable shape. a step of generating a cable control command;
has
In the cable driving step, the cable winding device sends out and winds up the cable according to the cable control command.
A cable winding method characterized by:
(Appendix 17)
a control step for controlling unwinding and winding of a cable connected to the unmanned air vehicle;
a relative position calculation step of calculating relative position information indicating a relative position with the unmanned aerial vehicle;
a cable information acquisition step of acquiring cable information that is information about the cable;
make the computer run
The control step includes:
a current cable shape estimating step of estimating a current cable shape, which is a current cable shape, based on the relative position information and the cable information;
Based on the relative position information and the cable shape, diagnose contact between the cable and an obstacle and derive an appropriate cable shape that is an appropriate cable shape that can avoid contact between the cable and the obstacle. An appropriate cable shape derivation step,
A cable control command generation step of generating a cable control command for controlling a cable length, which is the length of the cable, so that the cable has the appropriate cable shape, based on the current cable shape and the appropriate cable shape. and,
has
In the control step, controlling feeding and winding of the cable according to the cable control command;
A cable winding program characterized by:

1 Winding system, 2 Track, 3, 3A to 3C Unmanned aerial vehicle, 4 Cable, 5 Camera, 7 Winding mechanism, 10, 10X Control unit, 11 Relative position calculation unit, 12 Cable information acquisition unit, 13 Cable drive unit , 14 Current cable shape estimation section, 15 Appropriate cable shape derivation section, 16 Cable control command generation section, 20 Upper system, 21 Cable optimization section, 22 Auxiliary command generation section, 31 Base, 32 Cable winding section, 33 Cable discharge Part, 34 Roller, 35 Port part, 36, 37 Rotating shaft, 38 Winding drum, 39 Slit, 50 Obstacle, 70, 70A to 70C, 70X Cable winding device, 90, 93 Processing circuit, 91 Processor, 92 Memory .

Claims (17)

a cable drive unit that is connected to the unmanned aerial vehicle via a cable and that sends out and winds up the cable;
a control unit that controls the cable drive unit;
a relative position calculation unit that calculates relative position information indicating a relative position with the unmanned aerial vehicle;
a cable information acquisition unit that acquires cable information that is information about the cable;
Equipped with
The control unit includes:
a current cable shape estimation unit that estimates a current cable shape that is a current cable shape based on the relative position information and the cable information;
Based on the relative position information and the cable shape, a contact between the cable and an obstacle is diagnosed and an appropriate cable shape is derived that is an appropriate cable shape that can avoid contact between the cable and the obstacle. Appropriate cable shape lead-out part,
a cable control command generation unit that generates a cable control command for controlling the length of the cable so that the cable has the appropriate cable shape based on the current cable shape and the appropriate cable shape;
has
The cable drive section sends out and winds up the cable according to the cable control command.
A cable winding device characterized by: a cable drive unit that is connected to the unmanned aerial vehicle via a cable and that sends out and winds up the cable;
a control unit that controls the cable drive unit;
a relative position calculation unit that calculates relative position information indicating a relative position with the unmanned aerial vehicle;
a cable information acquisition unit that acquires cable information that is information about the cable;
Equipped with
The cable drive unit rotates a discharge direction of the cable in at least one of a horizontal direction and an upward direction,
The control unit includes:
Based on the relative position information and the cable information, the cable discharge direction is set in the horizontal direction and in the upward direction so as to diagnose contact between the cable and an obstacle and avoid contact between the cable and the obstacle. a cable control command generation unit that generates a cable control command for rotating the cable in at least one direction;
The cable drive unit rotates the cable discharge direction in at least one of the horizontal direction and the upward direction in accordance with the cable control command.
A cable winding device characterized by: The cable information includes at least one of a cable length that is the length of the cable, a cable tension that is the tension of the cable, and an image of the cable.
The cable winding device according to claim 1 or 2, characterized in that: The control unit determines contact between the cable and the obstacle based on the cable information or information calculated using the cable information, and determines that the cable and the obstacle have contacted. generating the cable control command to avoid contact between the cable and the obstacle if
The cable winding device according to claim 1 or 2, characterized in that: The control unit determines contact between the cable and the obstacle using the relative position information.
The cable winding device according to claim 4, characterized in that: The control unit determines contact between the cable and the obstacle using a surface shape of an environment surrounding the cable.
The cable winding device according to claim 4, characterized in that: The cable drive section includes:
It has a cylindrical cable discharge part that sends out the cable to the outside,
The cable control command generation unit includes:
Generating the cable control command so that the cable discharge part and the unmanned aerial vehicle fall within a plane perpendicular to the horizontal direction;
The cable winding device according to claim 2, characterized in that: The cable control command generation unit generates a cable control command for rotationally controlling the discharge direction of the cable in the upward direction so that the cable does not bend at the cable discharge unit,
The cable drive unit rotates the cable discharge direction in the upward direction according to the cable control command.
The cable winding device according to claim 7, characterized in that: The appropriate cable shape deriving unit derives the appropriate cable shape in which the cable tension, which is the tension of the cable, is minimized.
The cable winding device according to claim 1, characterized in that: The control unit generates the cable control command that minimizes the cable tension that is the tension of the cable.
The cable winding device according to claim 2, characterized in that: The cable drive units are plural;
The control unit transmits the cable control command to each of the cable drive units,
The cable winding device according to claim 1 or 2, characterized in that: a cable winding device that sends out and winds up a cable connected to an unmanned aerial vehicle;
a host system that acquires data on the cable from the cable winding device, generates a control instruction for controlling the cable based on the data on the cable, and sends it to the cable winding device;
has
The cable winding device includes:
a cable drive unit that is connected to the unmanned aerial vehicle via the cable and that sends out and winds up the cable;
a control unit that controls the cable drive unit;
a relative position calculation unit that calculates relative position information indicating a relative position with the unmanned aerial vehicle;
a cable information acquisition unit that acquires cable information that is information about the cable;
Equipped with
The control unit includes:
a current cable shape estimation unit that estimates a current cable shape that is a current cable shape based on the relative position information and the cable information;
Based on the relative position information and the cable shape, a contact between the cable and an obstacle is diagnosed and an appropriate cable shape is derived that is an appropriate cable shape that can avoid contact between the cable and the obstacle. Appropriate cable shape lead-out part,
an auxiliary command generation unit that generates an auxiliary command for controlling a cable length that is the length of the cable according to the control instruction;
Generating a cable control command for controlling the cable length so that the cable has the appropriate cable shape based on the current cable shape and the appropriate cable shape, and when receiving the auxiliary command, a cable control command generation unit that generates the cable control command according to the auxiliary command;
has
The cable drive section sends out and winds up the cable according to the cable control command.
A cable winding system characterized by: The cable data includes at least one of the relative position information, the cable information, the current cable shape, and the appropriate cable shape.
13. A cable winding system according to claim 12. The cable winding device is mounted on a movable body that can move on the ground.
13. A cable winding system according to claim 12. The cable winding device forcibly moves the position of the unmanned aerial vehicle by controlling at least one of the cable length and the cable ejection direction.
Cable winding system according to any one of claims 12 to 14. a cable driving step in which a cable winding device connected to the unmanned aerial vehicle via a cable sends out and winds up the cable;
a control step in which the cable winding device controls feeding and winding of the cable;
a relative position calculation step in which the cable winding device calculates relative position information indicating a relative position with the unmanned aerial vehicle;
a cable information acquisition step in which the cable winding device acquires cable information that is information about the cable;
including;
The control step includes:
a current cable shape estimation step in which the cable winding device estimates a current cable shape that is a current cable shape based on the relative position information and the cable information;
The cable winding device has an appropriate cable shape capable of diagnosing contact between the cable and an obstacle and avoiding contact between the cable and the obstacle based on the relative position information and the cable shape. an appropriate cable shape deriving step of deriving a certain appropriate cable shape;
The cable winding device issues a cable control command for controlling a cable length, which is the length of the cable, so that the cable has the appropriate cable shape based on the current cable shape and the appropriate cable shape. a step of generating a cable control command;
has
In the cable driving step, the cable winding device sends out and winds up the cable according to the cable control command.
A cable winding method characterized by: a control step for controlling unwinding and winding of a cable connected to the unmanned air vehicle;
a relative position calculation step of calculating relative position information indicating a relative position with the unmanned aerial vehicle;
a cable information acquisition step of acquiring cable information that is information about the cable;
make the computer run
The control step includes:
a current cable shape estimating step of estimating a current cable shape, which is a current cable shape, based on the relative position information and the cable information;
Based on the relative position information and the cable shape, a contact between the cable and an obstacle is diagnosed and an appropriate cable shape is derived that is an appropriate cable shape that can avoid contact between the cable and the obstacle. An appropriate cable shape derivation step,
A cable control command generation step of generating a cable control command for controlling a cable length, which is the length of the cable, so that the cable has the appropriate cable shape, based on the current cable shape and the appropriate cable shape. and,
has
In the control step, controlling feeding and winding of the cable according to the cable control command;
A cable winding program characterized by:

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