JP6406784B2 - Pilot rope extension method, final rope removal method, and unmanned multicopter used therefor - Google Patents

Description

  The present invention relates to a method for extending a pilot rope, a method for removing a final rope, and an unmanned multicopter used therefor.

  Conventionally, so-called pilot rope extension performed in the construction work between high-voltage power transmission line towers has been carried out using an actual helicopter when there are obstacles such as forest stands between the towers.

  However, the actual helicopter has a high charter fee, and due to safety and noise problems, the actual helicopter may not be used depending on the location. For this reason, recently, wire drawing using an unmanned helicopter by radio control is performed (Patent Document 1).

  Patent Document 1 uses a radio control helicopter in a method of extending a messenger wire for pulling the electric wire between both steel towers when constructing an electric wire from one steel tower to the other steel tower.

  Specifically, a reel device around which a tow cord is wound is detachably attached to a radio control helicopter, and after being tied to one end of a tow rope that pulls a messenger wire at one end of the tow cord, the radio control helicopter is directed to the other steel tower. And tow while releasing the tow string wound around the reel device in accordance with the flight, drop the reel device near the other steel tower, and then pull the tow string wound around the dropped reel device. It is disclosed that a messenger wire is pulled through a pulling rope connected to one end of the messenger wire, and the messenger wire is bridged between both steel towers.

  Moreover, generally in the wire removal work of a transmission line, an electric wire is replaced in order of a wire rope and a nylon rope, and finally one nylon rope (final rope) will be in the state stretched between each steel tower. If there are no obstacles in the span, this final rope is lowered to the ground and collected. In addition, when there is a horizontal overload such as a road or a distribution line, the use of an aerial work vehicle avoids contact with the horizontal overload and collects the final rope.

  However, when there is an important overpass such as a railway or expressway in the span or where there are restrictions that cannot be entered, the above method cannot be applied, so a special method such as a method using a balloon. The last rope is removed.

JP-A-6-276634

  However, according to the invention described in Patent Document 1, a reel device that winds a tow string installed in a radio control helicopter, or a drum that winds a pilot rope installed in the lower part of an unmanned helicopter body is used as a radio control helicopter. When it is dropped from the ground and dropped onto the ground, it will fall naturally, so there is a problem that the fall location cannot be specified and the work may be dangerous.

  In addition, the final rope removal method using unmanned helicopters and balloons is greatly affected by wind, and there is a problem that the construction often has to be interrupted.

  Accordingly, an object of the present invention is to provide a pilot rope extending method, a final rope removing method, and an unmanned multicopter used therefor that are safe and hardly affected by wind.

In order to solve the above-mentioned problem, the invention related to the method of extending the pilot rope according to claim 1 is, for example, as shown in FIGS.
A method of extending a pilot rope that extends a pilot rope wound around a drum arranged on the ground using an unmanned multicopter that operates according to a radio signal from a control device,
Attach one end of the pilot rope to an unmanned multicopter attachment / detachment device that can be attached / detached by radio signal,
While unwinding the pilot rope from the drum, raise the unmanned multicopter, let the unmanned multicopter fly in the horizontal direction so that the pilot rope is hung from the opposite side of the other tower to the pulley attached to the upper part of one tower,
Pull out the pilot rope from the drum and let the unmanned multicopter fly to the other tower while hanging the pilot rope on the pulley of one tower.
A pilot rope is hung on the pulley attached to the upper part of the other tower, and an unmanned multicopter is allowed to fly to the next tower. one end of the rope Disconnect from unmanned Maruchikoputa,
The attachment / detachment device has an attachment / detachment mechanism that fixes and separates one end of the pilot rope, and a drive unit that drives the attachment / detachment mechanism according to a radio signal to attach and remove the pilot rope,
When attaching one end of the pilot rope to the unmanned multicopter, operate the drive unit according to the radio signal to fix one end of the pilot rope to the attachment / detachment mechanism,
When separating the pilot rope, the drive unit is operated according to a radio signal to separate one end of the pilot rope from the attachment / detachment mechanism .

According to the invention related to the method of extending the pilot rope according to claim 1, since the unmanned multicopter that operates according to the radio signal from the control device is used, the method of extending the pilot rope that is not easily affected by the wind is provided. be able to.

  In addition, one end of the pilot rope is attached to an attachment / detachment device for an unmanned multicopter that can be attached / detached by radio signal, and the unmanned multicopter is lifted while the pilot rope is unwound from the drum. Fly the unmanned multicopter laterally so that the pilot rope is hung from the opposite side of the tower, pay out the pilot rope from the drum, and fly the unmanned multicopter to the other tower while hanging the pilot rope on the pulley of one tower, The pilot rope is hung on the pulley attached to the top of the other tower, and the unmanned multicopter is allowed to fly to the next tower, so there is no need to install a drum with the pilot rope wound around the unmanned multicopter. Wire drawing is possible.

  Furthermore, after the pilot rope is fixed to the upper part of the other steel tower, the attaching / detaching device is operated by a radio signal to disconnect one end of the pilot rope from the unmanned multicopter, so that the pilot rope can be safely extended without dropping the drum. .

The invention according to the method for extending the pilot rope according to claim 2 is, for example, as shown in FIGS.
The attachment / detachment mechanism has a pair of spaced apart support fittings, and a rod-like attachment / detachment bar that is inserted into one support fitting and can contact the other support fitting ,
The drive unit moves the detachable bar in a left-right direction in plan view according to a radio signal ,
When attaching the pilot rope, with the detachable bar away from the other bracket, insert the annular part formed at one end of the pilot rope into the detachable bar, operate the drive unit according to the radio signal, and move the detachable bar Let it abut against the other bracket,
When detaching the pilot rope, the drive unit is operated so that the detachable bar is separated from the other bracket, the detachable bar is moved away from the other bracket, and one end of the pilot rope is separated from the unmanned multicopter. To do.

According to the pilot rope extending method according to claim 2, when attaching the pilot rope, the annular portion formed at one end of the pilot rope with the detachable bar away from the other metal fitting Insert into the detachable bar, operate the drive unit according to the radio signal, move the detachable bar to contact the other bracket,
When detaching the pilot rope, the drive unit is operated so that the detachable bar is separated from the other bracket, and the detachable bar is moved away from the other bracket so that one end of the pilot rope can be separated from the unmanned multicopter. The pilot rope can be attached and detached easily.

The invention related to the method of extending the pilot rope according to claim 3 is, for example, as shown in FIG.
The unmanned multicopter has a camera for shooting still images or moving images in the flight direction and below, and a transceiver that wirelessly transmits an image signal output from the camera to a transceiver of the ground station,
The image signal transmitted from the camera during the flight of the unmanned multicopter is displayed on the display device of the ground station, and after the pilot rope is hung on the pulley of one tower, the camera is made to fly toward the other tower. .

According to the invention relating to the method of extending a pilot rope according to claim 3, the unmanned multicopter wirelessly transmits a camera for shooting a still image or a moving image in the flight direction and below, and an image signal output from the camera. Has a transceiver to transmit to the ground station transceiver,
The image signal transmitted from the camera during the flight of the unmanned multicopter is displayed on the display device of the ground station, and after hanging the pilot rope on the pulley of one tower, the camera is made to fly toward the other tower, so the camera etc. The unmanned multicopter can be surely made to fly to other steel towers without being entangled with the pilot rope, and the pilot rope can be safely extended and disconnected.
In addition, by confirming the image during the work by the camera, "The pilot rope was securely hooked on the pulley" at the first tower or the middle tower, and "The pilot rope was securely secured" at the final tower. "Is also safer in that the operator can recognize".

The invention according to the method for removing the final rope according to claim 4, for example, as shown in FIGS.
A method for removing a final rope using an unmanned multicopter that operates according to a radio signal from a control device, and removing a final rope stretched between steel towers,
Attach one end of the connecting rope to the detachable device of the unmanned multicopter that can be attached and detached by radio signal, raise the unmanned multicopter to the top of one steel tower, connect one end of the final rope and the other end of the connecting rope,
While unwinding the other end of the last rope on the drum arranged on the ground on the other steel tower side, let the unmanned multicopter fly above the other steel tower,
After the unmanned multicopter arrives above the other steel tower, lower the unmanned multicopter to the vicinity of the top of the other steel tower while winding the other end of the final rope around the drum, and then operate the attachment / detachment device with a radio signal to connect the rope. It is characterized by separating one end of the robot from the unmanned multicopter.

According to the invention relating to the final rope removal method described in claim 4, a pilot rope extending method that is less susceptible to wind is provided by using an unmanned multicopter that operates in accordance with a radio signal from the control device. be able to.

In addition, one end of the connecting rope is attached to an attachment / detachment device of an unmanned multicopter that can be attached and detached by radio signal, the unmanned multicopter is raised on the upper part of one steel tower, and one end of the final rope and the other end of the connecting rope are connected,
While unwinding the other end of the last rope on the drum arranged on the ground on the other steel tower side, let the unmanned multicopter fly above the other steel tower,
After the unmanned multicopter arrives above the other steel tower, lower the unmanned multicopter to the vicinity of the top of the other steel tower while winding the other end of the final rope around the drum, and then operate the attachment / detachment device with a radio signal to connect the rope. By separating one end of the robot from the unmanned multicopter, the final rope can be safely removed without dropping the drum.

The invention relating to the method of removing the final rope according to claim 5 is, for example, as shown in FIGS.
The attachment / detachment device includes a pair of spaced apart support fittings, a rod-like attachment / detachment bar that is inserted into one support attachment and can come into contact with the other support attachment, and a drive unit that moves the attachment / detachment bar in the left-right direction in plan view according to a radio signal Have
When attaching the connecting rope, with the attaching / detaching bar away from the other metal fitting, the annular part formed at one end of the connecting rope is inserted into the attaching / detaching bar, the drive part is operated according to the radio signal, and the attaching / detaching bar To move it against the other bracket,
When detaching the connecting rope, operate the drive unit so that the detachable bar is separated from the other bracket, move the detachable bar away from the other bracket, and disconnect one end of the linking rope from the unmanned multicopter. Features.

  According to the invention relating to the final rope removal method described in claim 5, when the connecting rope is cut, the drive unit is operated so that the detachable bar is separated from the other metal fitting, and the detachable bar is moved to move the other rope. Since one end of the connecting rope can be separated from the unmanned multicopter, the connecting rope can be easily attached and detached.

The invention according to the method for removing the final rope according to claim 6, for example, as shown in FIGS.
The unmanned multicopter has a camera for shooting still images or moving images in the flight direction and below, and a transceiver that wirelessly transmits an image signal output from the camera to a transceiver of the ground station,
The image signal transmitted from the camera during the flight of the unmanned multicopter is displayed on the display device of the ground station. After connecting one end of the final rope and the other end of the connecting rope, the camera is directed toward the other steel tower and the final rope is lifted It is characterized by flying while.

According to the invention relating to the final rope removal method according to claim 6, the unmanned multicopter wirelessly transmits a camera for taking a still image or a moving image in the flight direction and below and an image signal output from the camera to the ground. A transceiver that transmits to the transceiver of the station,
The image signal transmitted from the camera during the flight of the unmanned multicopter is displayed on the display device of the ground station. After connecting one end of the final rope and the other end of the connecting rope, the camera is directed toward the other steel tower and the final rope is lifted Therefore, the unmanned multicopter can be surely made to fly to other steel towers without tangling the pilot rope to the camera or the like, and the pilot rope can be safely extended and disconnected.
In addition, since the image being worked by the camera can be confirmed, safety can be improved in that the operator can recognize that the final rope and the connecting rope are securely connected in the first steel tower.

The invention according to the unmanned multicopter used in the method for extending the pilot rope according to claim 7 and the method for removing the final rope includes, for example, as shown in FIGS.
The body,
A plurality of arms extending radially from the periphery of the body;
A plurality of propellers arranged in a circular shape in plan view attached to a plurality of arms;
A lower part of the main body having a pair of spaced apart support brackets, a bar-shaped detachable bar that is inserted into one of the support brackets and can be brought into contact with the other support bracket, and a drive unit that moves the detachable bar in a horizontal direction in a plan view according to a radio signal A detachable device arranged in the center;
A camera that is arranged in the flight direction at the bottom of the main body and for shooting still images or videos in the flight direction and below;
It has a transmitter / receiver which wirelessly transmits an image signal output from a camera to a transmitter / receiver of a ground station.

  According to the invention relating to the unmanned multicopter used in the method for extending the pilot rope and the method for removing the final rope according to claim 7, the main body, the plurality of arms extending radially from the periphery of the main body, and the plurality of arms Since it has the several propeller arrange | positioned at the planar view circle | round | yen attached, it is hard to receive to the influence of the wind from a specific direction.

  Also, a main body having a pair of spaced apart support brackets, a rod-shaped detachable bar that is inserted into one of the support brackets and can be brought into contact with the other support bracket, and a drive unit that moves the detachable bar in a horizontal direction in a plan view according to a radio signal Since the attachment / detachment device is arranged at the center of the lower portion, the final rope can be attached / detached easily.

  Furthermore, it has a camera that is arranged in the flight direction of the lower part of the body and that captures still images or moving images in the flight direction and below, and a transceiver that wirelessly transmits image signals output from the camera to the transceiver of the ground station Therefore, it is possible to fly the unmanned multicopter while confirming the flight direction and the downward direction.

  According to the present invention, it is possible to provide a method for extending a pilot rope that is safe and hardly affected by wind, a method for removing a final rope, and an unmanned multicopter used therefor.

It is a schematic diagram which shows an example of the method of extending the pilot rope according to the present invention. It is a side view which shows an example of the unmanned multicopter used for the method of extending the pilot rope according to the present invention. It is a top view which shows an example of the unmanned multicopter used for the method of extending the pilot rope according to the present invention. It is a bottom view which shows the camera and attachment / detachment apparatus which are attached to the base of the unmanned multicopter used for the method of extending the pilot rope according to the present invention. It is II sectional drawing of FIG. The operation | movement of an attachment / detachment apparatus is shown, (a) is a perspective view which shows the example by which the pilot rope was attached to the attachment / detachment apparatus, (b) is a perspective view which shows the example by which a pilot rope is cut | disconnected from an attachment / detachment apparatus. . It is a side view which shows the camera and attachment / detachment apparatus which are attached to the base of the unmanned multicopter used for the method of extending the pilot rope according to the present invention. It is a schematic diagram which shows the pulley attached to the steel tower upper part used for the wire drawing method of the pilot rope which concerns on this invention. It is a schematic diagram which shows the drum used for the method of extending the pilot rope according to the present invention. It is a figure which shows the example which attaches a pilot rope to the unmanned multicopter used for the extending method of the pilot rope which concerns on this invention, and raises an unmanned multicopter. It is a figure which shows the example which attaches a pilot rope to the unmanned multicopter used for the extending method of the pilot rope which concerns on this invention, hangs a pilot rope on the pulley of one steel tower, and makes an unmanned multicopter fly to the other steel tower. It is a figure which shows the example which attaches a pilot rope to the unmanned multicopter used for the extending method of the pilot rope which concerns on this invention, hangs a pilot rope on the pulley of the other steel tower, and makes an unmanned multicopter fly to the next steel tower. It is a schematic diagram which shows another example of the method of extending the pilot rope according to the present invention. It is a schematic diagram which shows an example of the removal method of the last rope which concerns on this invention. It is a schematic diagram which shows an example of the removal method of the last rope which concerns on this invention, and is a figure which shows the example which attaches and raises a rope for connection to an unmanned multicopter. It is a schematic diagram which shows an example of the removal method of the last rope which concerns on this invention, and is a figure which shows the example which connects the rope for connection attached to the unmanned multicopter with the last rope of one steel tower, and raises it above a steel tower. It is a schematic diagram which shows an example of the removal method of the last rope which concerns on this invention, and is a figure which shows the example which flies an unmanned multicopter to the other steel tower, winding up the last rope with the drum arrange | positioned on the ground of the other steel tower side It is. It is a schematic diagram which shows an example of the removal method of the last rope which concerns on this invention, and the example which made the unmanned multicopter fly above the other steel tower while winding up the last rope with the drum arrange | positioned on the ground of the other steel tower side FIG. It is the model which shows an example of the removal method of the last rope which concerns on this invention, and the example which lowered | hung the unmanned multicopter to the other steel tower top vicinity, winding up the last rope with the drum arrange | positioned on the ground of the other steel tower side FIG. It is a schematic diagram which shows an example of the removal method of the last rope which concerns on this invention, and is a figure which shows the example which cut | disconnected the last rope from the unmanned multicopter lowered | hung near the other steel tower top part. It is a schematic diagram which shows an example of the removal method of the last rope which concerns on this invention, and is a figure which shows the example which dropped the unmanned multicopter on the ground near the other steel tower top. It is a figure which shows the example of a display of the screen of the display apparatus which concerns on this invention. It is a schematic diagram which shows an example of the removal method of the last rope which concerns on this invention, and is a figure which shows the example which attaches a connecting rope to the last rope of one steel tower.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

<Embodiment>
1. Pilot Rope Drawing Method FIGS. 1 to 12 show an embodiment of a pilot rope drawing method according to the present invention.

  The method for extending a pilot rope according to the present invention uses an unmanned multicopter 5 that operates in accordance with a radio signal from a control device 3 of a ground station 1 and is wound around a drum 7 arranged on the ground. This is a method of drawing 9 between steel towers.

  The unmanned multicopter 5 includes an attachment / detachment device 13 in the center of the lower portion of the main body 11. This detachable device 13 can be operated by a radio signal.

  Then, one end of the pilot rope 9 is attached to an attachment / detachment device 13 that can be attached / detached by radio signals (FIG. 10), the unmanned multicopter 5 is raised while the pilot rope 9 is fed out of the drum 7 (FIG. 10), The unmanned multicopter 5 is caused to fly in the horizontal direction so that the pilot rope 9 is hung on the pulley 17 attached to the upper arm bracket 20 from the opposite side of the other tower 19 (FIG. 10).

  At this time, the pilot rope 9 is fed out from the drum 7 and the unmanned multicopter 5 is caused to fly to the other steel tower 19 while hanging the pilot rope 9 on the pulley 17 of the one steel tower 15 (FIG. 11). After the pilot rope 9 is hung on the pulley 17a attached to the armature 20a of the aircraft and the unmanned multicopter 5 is allowed to fly to the next tower 21 (FIG. 12), or the pilot rope 9 is fixed to the upper part of the other tower 19 This is performed by operating the attachment / detachment device 13 with a radio signal to disconnect one end of the pilot rope 9 from the unmanned multicopter (FIG. 11).

  The pilot rope 9 is made of a lightweight nylon thread or the like and hardly hangs down to the ground. Moreover, there is a distance of about 450 m between the steel towers, and the unmanned multicopter 5 is made to fly at an altitude of about 80 to 100 m on the ground.

  As shown in FIGS. 2 and 3, the unmanned multicopter 5 is arranged in a circular shape in a plan view attached to the main body 11, a plurality of rod-shaped arms 23 extending radially from the periphery of the main body 11, and the plurality of arms 23. A box 31 containing a plurality of propellers 25, a ground station transceiver 27 of the ground station 1 attached to the lower part of the main body 11, and a transceiver 29 for transmitting and receiving radio signals, and a pedestal 33 provided under the box 31 The detachable device 13 and the camera 35 are attached to the camera.

  Specifically, the unmanned multicopter 5 includes a posture control and stabilization device (not shown), a battery, an amplifier, a precise and reliable mechanism by computer control that receives GPS radio waves, and the like.

  It also has a power source with a 22.2 V storage battery and eight propellers with a diameter of 0.38 m.

  And it is about 1.05m in length and 6kg in weight, small and light, easy to carry in the field, and easy to adapt to the work system in the field. Moreover, the load weight can be up to 5 kg, the cruising time is 15 minutes, the working radius is 1 km, and it is possible to bridge between 4 to 8 steel towers per day.

  As shown in FIGS. 2, 4, and 5, the attachment / detachment device 13 is disposed at the center of the lower portion of the main body 11, and is inserted into a pair of spaced apart support brackets 37, 39 and one support bracket 37. A bar-shaped detachable bar 41 that can come into contact with the metal fitting 39 and a drive unit 43 that moves the detachable bar 41 in the left-right direction in plan view according to a radio signal from the ground station 1 are provided.

  The drive unit 43 includes a servo motor 45 fixed to the upper portion of the pedestal 33, and a circular rotating plate 49 attached to the tip of the rotation shaft 47 of the servo motor 45. The turntable 49 is provided with long holes 51 that extend radially from the center of the turntable 49 in order to fix one end of the detachable bar 41 movably.

  The detachable bar 41 has bolts inserted into the long holes 51 and holes provided at the end portions of the detachable bar 41 and is movably fixed via nuts.

  When the turntable 49 is rotated clockwise, the detachable bar 41 is brought into contact with the other support fitting 39. At this time, the detachable bar 41 is located on the outer peripheral side of the long hole 51 of the rotating disk 49.

  Further, when the turntable 49 is rotated counterclockwise, the detachable bar 41 is separated from the other support fitting 39. At this time, the detachable bar 41 is located away from the outer peripheral side of the long hole 51 and is located on the center side of the rotating disk 49.

  When attaching the pilot rope 9 to the attachment / detachment device 13, the annular portion formed at one end of the pilot rope 9 is inserted into the attachment / detachment bar 41 in a state where the attachment / detachment bar 41 is separated from the other support fitting 39, and the radio signal Thus, the drive unit 43 is operated to move the attachment / detachment bar 41 so as to contact the other support fitting 39.

  Further, when the pilot rope 9 is separated from the attachment / detachment device 13, the attachment / detachment bar 41 is separated from the other support fitting 39, and one end of the pilot rope 9 is separated from the unmanned multicopter 5.

  The operator operates the control device 3 and moves the attachment / detachment bar 41 of the attachment / detachment device 13 provided in the unmanned multicopter 5 by the operation of the drive unit 43, thereby realizing attachment and detachment of the pilot rope 9. .

  The camera 35 of the unmanned multicopter 5 is arranged in the flight direction below the main body 11. The camera 35 can move in the vertical direction in accordance with a radio signal from the control device 3, and captures still images or moving images in the flight direction and below, and the transceiver 29 wirelessly receives the image signal output from the camera 35. Transmit to the ground station transceiver 27. The display device 55 displays a still image or a moving image received by the ground station transceiver 27. For example, as shown in FIG. 22, on the screen of the display device 55, the reception strength of radio waves, the strength of control signals, the height of the unmanned multicopter 5, the distance from the operator, the horizontal speed, the height speed, Display speed, speed, etc. On the ground, the operator and another person in charge confirm the image and give the operator necessary instructions, and the operator uses the control device 3 to operate the unmanned multicopter 5.

  When the unmanned multicopter 5 flies, the image signal transmitted through the transmitter / receiver 29 is displayed on the display device 55 of the ground station 1, and after the pilot rope 9 is hung on the pulley 17 of one tower 15, The pilot uses the control device 3 to fly the unmanned multicopter 5 toward the steel tower.

<Embodiment>
2. Final Rope Removal Method FIGS. 14 to 21 and FIG. 23 show an embodiment of the final rope removal method according to the present invention.

  Between the steel towers, there are obstacles 57 such as houses. The final rope removal method according to the present invention is stretched between steel towers using an unmanned multicopter 5 that operates according to a radio signal from the control device 3 of the ground station 1 while avoiding an obstacle 57 such as a house. The final rope 59 is removed.

  First, one end of the connecting rope 61 is attached to the attachment / detachment device 13 arranged at the center of the lower part of the main body 11 of the unmanned multicopter 5 (FIG. 15), and the unmanned multicopter 5 is raised above the one steel tower 15a. One end of the final rope 59 is connected to the other end of the connecting rope 61 at the upper part of the steel tower 15a (FIG. 16). Specifically, as shown in FIG. 23A, the unmanned multicopter 5 is caused to fly over the upper portion of one steel tower 15 a so that the annular tip of the connecting rope 61 approaches the hook 59 a at the tip of the final rope 59. The end of the final rope 59 is fixed with a string 60 or the like. As shown in FIG. 23 (b), after the worker at the top of one of the steel towers 15a connects the annular tip of the connecting rope 61 and the hook 59a, as shown in FIG. 23 (c), the worker The string 60 and the like are removed, and the final rope is separated from one of the steel towers. Thereafter, the unmanned multicopter 5 is caused to fly above the other steel tower 19a while winding the other end of the final rope 59 around the drum 7 disposed on the ground on the other steel tower 19a side (FIGS. 17 and 18).

  After the unmanned multicopter 5 arrives above the other steel tower 19a, the unmanned multicopter 5 is lowered to the vicinity of the top of the other steel tower while winding the other end of the final rope 59 around the drum 7 (FIG. 19). The attachment / detachment device 13 is operated by a wireless signal, and one end of the connecting rope 61 is separated from the unmanned multicopter 5 (FIG. 20).

<Modification 1>
In the said embodiment, the example which makes the unmanned multicopter 5 fly in the horizontal direction so that the pilot rope 9 may be hung from the other side of the other steel tower 19 in the method of extending the pilot rope 9 was explained.

  However, the present invention is not limited to this. An operator is allowed to wait at the upper part of one steel tower 15, and after the worker has hung the pilot rope 9 from the opposite side of the other steel tower 19, the unmanned multicopter 5 is caused to fly in the lateral direction. Also good.

<Modification 2>
In the said embodiment, the example which attaches the end of the pilot rope 9 to the attachment / detachment apparatus 13 in the method of extending the pilot rope 9 was demonstrated.

  However, the present invention is not limited to this. A pilot rope of about 5 m is attached to the attachment / detachment device 13, the unmanned multicopter 5 is raised near the top of one steel tower 15, the unmanned multicopter 5 is suspended in the air above the steel tower, and the unmanned multicopter An operator may connect one end of the pilot rope 9 wound around the drum 7 to the tip of the pilot rope 9 suspended from 5.

<Modification 3>
In the above embodiment, the example in which the pilot rope 9 is extended using one drum 7 has been described.

  However, the present invention is not limited to this, and a plurality of drums 7 around which the pilot rope 9 is wound may be used as shown in FIG.

  Further, as shown in FIG. 13, the drums 7a and 7b are arranged between one steel tower 15 and the other steel tower 19, first the pilot rope 9a is laid on the upper part of the one steel tower 15, and then the other is installed at the same place. The drum 7b may be disposed, the pilot rope 9b may be hung on the other steel tower 19, and then the pilot rope 9a and the pilot rope 9b may be coupled at the drums 7a and 7b.

<Modification 4>
In the above embodiment, the unmanned multicopter 5 including eight propellers having a total length of 1.05 m and a diameter of 0.38 m has been described.

  However, the specification of the unmanned multicopter 5 is not limited to this, and the unmanned multicopter 5 in which the number of propellers is increased or decreased depending on the work content and the propeller diameter is changed may be used.

DESCRIPTION OF SYMBOLS 1 Ground station 3 Control device 5 Unmanned multicopter 7, 7a, 7b Drum 9, 9a, 9b Pilot rope 11 Main body 13 Detachment device 15, 15a One tower 17, 17a, 17b, 17c Pulley 19, 19a The other tower 20, 20a Arms 21 Next steel tower 23 Arm 25 Propeller 27 Ground station transceiver 29 Transceiver 31 Box 33 Base 35 Camera 37 One support bracket 39 Other support bracket 41 Detachment bar 43 Drive section 45 Servo motor 47 Rotating shaft 49 Rotating disc 51 Long hole 53 Support metal fitting 55 Display device 57 Obstacle 59 Final rope 59a Hook 60 String 61 Connecting rope

Claims (7)

A method of extending a pilot rope that extends a pilot rope wound around a drum arranged on the ground using an unmanned multicopter that operates according to a radio signal from a control device,
Attach one end of the pilot rope to an unmanned multicopter attachment / detachment device that can be attached / detached by radio signal,
While unwinding the pilot rope from the drum, raise the unmanned multicopter, let the unmanned multicopter fly in the horizontal direction so that the pilot rope is hung from the opposite side of the other tower to the pulley attached to the upper part of one tower,
Pull out the pilot rope from the drum and let the unmanned multicopter fly to the other tower while hanging the pilot rope on the pulley of one tower.
A pilot rope is hung on the pulley attached to the upper part of the other tower, and an unmanned multicopter is allowed to fly to the next tower. one end of the rope Disconnect from unmanned Maruchikoputa,
The attachment / detachment device has an attachment / detachment mechanism that fixes and separates one end of the pilot rope, and a drive unit that drives the attachment / detachment mechanism according to a radio signal to attach and remove the pilot rope,
When attaching one end of the pilot rope to the unmanned multicopter, operate the drive unit according to the radio signal to fix one end of the pilot rope to the attachment / detachment mechanism,
A method for extending a pilot rope, characterized in that when the pilot rope is cut off, one end of the pilot rope is cut off from the attachment / detachment mechanism by operating the drive unit according to a radio signal . The attachment / detachment mechanism has a pair of spaced apart support fittings, and a rod-like attachment / detachment bar that is inserted into one support fitting and can contact the other support fitting ,
The drive unit moves the detachable bar in a left-right direction in plan view according to a radio signal ,
When attaching the pilot rope, with the detachable bar away from the other bracket, insert the annular part formed at one end of the pilot rope into the detachable bar, operate the drive unit according to the radio signal, and move the detachable bar Let it abut against the other bracket,
When detaching the pilot rope, the drive unit is operated so that the detachable bar is separated from the other bracket, the detachable bar is moved away from the other bracket, and one end of the pilot rope is separated from the unmanned multicopter. The method of extending a pilot rope according to claim 1. The unmanned multicopter has a camera for shooting still images or moving images in the flight direction and below, and a transceiver that wirelessly transmits an image signal output from the camera to a transceiver of the ground station,
The image signal transmitted from the camera during the flight of the unmanned multicopter is displayed on the display device of the ground station, and after the pilot rope is hung on the pulley of one tower, the camera is made to fly toward the other tower. The method for extending a pilot rope according to claim 1 or 2. A method for removing a final rope using an unmanned multicopter that operates according to a radio signal from a control device, and removing a final rope stretched between steel towers,
Attach one end of the connecting rope to the detachable device of the unmanned multicopter that can be attached and detached by radio signal, raise the unmanned multicopter to the top of one steel tower, connect one end of the final rope and the other end of the connecting rope,
While unwinding the other end of the last rope on the drum arranged on the ground on the other steel tower side, let the unmanned multicopter fly above the other steel tower,
After the unmanned multicopter arrives above the other steel tower, lower the unmanned multicopter to the vicinity of the top of the other steel tower while winding the other end of the final rope around the drum, and then operate the attachment / detachment device with a radio signal to connect the rope. A method of removing the final rope, characterized in that one end of the rope is separated from the unmanned multicopter. The attachment / detachment device includes a pair of spaced apart support fittings, a rod-like attachment / detachment bar that is inserted into one support attachment and can come into contact with the other support attachment, and a drive unit that moves the attachment / detachment bar in the left-right direction in plan view according to a radio signal Have
When attaching the connecting rope, with the attaching / detaching bar away from the other metal fitting, the annular part formed at one end of the connecting rope is inserted into the attaching / detaching bar, the drive part is operated according to the radio signal, and the attaching / detaching bar To move it against the other bracket,
When detaching the connecting rope, operate the drive unit so that the detachable bar is separated from the other bracket, move the detachable bar away from the other bracket, and disconnect one end of the linking rope from the unmanned multicopter. The method for removing the final rope according to claim 4, wherein the final rope is removed. The unmanned multicopter has a camera for shooting still images or moving images in the flight direction and below, and a transceiver that wirelessly transmits an image signal output from the camera to a transceiver of the ground station,
The image signal transmitted from the camera during the flight of the unmanned multicopter is displayed on the display device of the ground station. After connecting one end of the final rope and the other end of the connecting rope, the camera is directed toward the other steel tower and the final rope is lifted The final rope removal method according to claim 4, wherein the final rope is made to fly. An unmanned multicopter used for a method of extending a pilot rope and a method of removing a final rope,
The body,
A plurality of arms extending radially from the periphery of the body;
A plurality of propellers arranged in a circular shape in plan view attached to a plurality of arms;
A lower part of the main body having a pair of spaced apart support brackets, a bar-shaped detachable bar that is inserted into one of the support brackets and can be brought into contact with the other support bracket, and a drive unit that moves the detachable bar in a horizontal direction in a plan view according to a radio signal A detachable device arranged in the center;
A camera that is arranged in the flight direction at the bottom of the main body and for shooting still images or videos in the flight direction and below;
An unmanned multicopter comprising a transceiver that wirelessly transmits an image signal output from a camera to a transceiver of a ground station.

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