JP6583311B2 - Unmanned flying vehicle, flight control method, and program - Google Patents

Description

  Embodiments described herein relate generally to an unmanned flying object, a flight control method, and a program.

  A technique is known in which an unmanned flying object such as a drone autonomously flies to the vicinity of a power facility such as a transmission line, and images an inspection point of the power facility. A person who checks the power equipment uses an image captured by the unmanned flying object for checking the power equipment.

  Regarding flight control of unmanned vehicles, even when heavy cargo is mounted on a flying vehicle, the plane of rotation of two horizontal rotors can be easily tilted with a small moment of force, and heavy cargo is mounted. A technique for easily steering a flying object from front to back and from side to side is known (see, for example, Patent Document 1).

Japanese Patent Laid-Open No. 2001-039397

Investigations on the transport of luggage by unmanned flying vehicles and verification tests are underway, but measures to avoid disasters that may occur when abnormalities occur in unmanned flying vehicles have not been fully studied.
The present invention has been made in view of the above points, and an object thereof is to avoid a disaster caused by an unmanned flying vehicle in which an abnormality has occurred.

One aspect of the present invention is an unmanned flying vehicle, wherein the detection unit detects that an abnormality has occurred in the unmanned flying vehicle , and any one of an overhead ground wire, a high-voltage wire, a low-voltage wire, and a communication wire. When the estimation unit that estimates a relative position between the unmanned flying object and the detection unit detects that an abnormality has occurred in the unmanned flying object, the unmanned flying object is based on the relative position, A calculation unit that calculates a flight path toward one of the aerial ground line, the high-voltage line, the low-voltage line, and the communication line, and controls the flight of the unmanned flying object based on the flight path An unmanned flying object including a flight control unit.
In the unmanned flying vehicle of one aspect of the present invention, the estimation unit is configured to generate the unmanned flight from any one of the aerial ground wire, the high-voltage line, the low-voltage line, and the communication line based on an image captured by the imaging unit. Estimate the relative position with the body.
In one embodiment of an unmanned flying body according to the present invention, the estimating unit, the base station located in power equipment from a radio wave to be transmitted, estimates the relative position between the unmanned flying body and the power equipment .
The unmanned flying vehicle of one aspect of the present invention includes a hook unit attached to the unmanned flying vehicle, and the estimation unit includes the hook unit in the order of the overhead ground wire, the high-voltage line, the low-voltage line, and the communication line. The relative position between the object to be hooked and the unmanned flying object is estimated.
In the unmanned flying vehicle of one aspect of the present invention, the calculation unit calculates the flight path based on environmental status information.
One aspect of the present invention is a flight control method executed by an unmanned air vehicle, the step of detecting that an abnormality has occurred in the unmanned air vehicle, an overhead ground wire, a high-voltage wire, a low-voltage wire, and a communication wire. When it is detected that an abnormality has occurred in the unmanned flying object in the step of estimating a relative position between any one and the unmanned flying object, and the detecting step, The unmanned flying object calculates a flight path toward one direction of the aerial ground line, the high-voltage line, the low-voltage line, and the communication line, and the unmanned flying object based on the flight path. And a step of controlling the flight.
According to one aspect of the present invention, in the computer provided in the unmanned air vehicle, the step of detecting that an abnormality has occurred in the unmanned air vehicle , and any one of the overhead ground wire, the high-voltage wire, the low-voltage wire, and the communication wire, When it is detected that an abnormality has occurred in the unmanned flying object in the step of estimating the relative position between the unmanned flying object and the detecting step, the unmanned flying object is based on the relative position, A step of calculating a flight path toward one of the aerial ground line, the high-voltage line, the low-voltage line, and the communication line ; and controlling the flight of the unmanned vehicle based on the flight path Is a program that executes steps.

  According to the embodiment of the present invention, it is possible to avoid a disaster caused by an unmanned flying vehicle in which an abnormality has occurred.

It is a figure which shows an example of the external appearance schematic diagram of the unmanned flying object which concerns on embodiment. It is a figure which shows an example of the path | route which the unmanned flying body which concerns on embodiment flies. It is a functional block diagram which shows the unmanned flying object which concerns on embodiment. It is a figure which shows an example of the path | route which the unmanned flying body which concerns on embodiment flies. It is a figure which shows an example of the hook part of the unmanned flying body which concerns on embodiment. It is a flowchart which shows operation | movement of the unmanned flying object which concerns on embodiment. It is a figure which shows the unmanned flying body which concerns on a modification. It is a figure which shows an example of the path | route which the unmanned flying body concerning a modification flies. It is a functional block diagram which shows the unmanned flying object which concerns on a modification.

Next, modes for carrying out the present invention will be described with reference to the drawings. Embodiment described below is only an example and embodiment to which this invention is applied is not restricted to the following embodiment.
Note that components having the same function are denoted by the same reference symbols throughout the drawings for describing the embodiments, and the repetitive description will be omitted.

(Embodiment)
FIG. 1 is a diagram illustrating an example of a schematic external view of an unmanned flying object according to an embodiment.
The unmanned flying object 100 includes a motor 102a, a motor 102b, a motor 102c, a motor 102d, a rotor 104a, a rotor 104b, a rotor 104c, and a rotor 104d.
The motor 102a, the motor 102b, the motor 102c, and the motor 102d rotate the corresponding rotor 104a, the rotor 104b, the rotor 104c, and the rotor 104d, respectively, to give lift and propulsion to the unmanned flying object 100.
Further, by controlling the drive current supplied to each of the motor 102a, the motor 102b, the motor 102c, and the motor 102d, the flight altitude, direction, and traveling direction of the unmanned flying object 100 can be controlled.

The unmanned flying object 100 includes an imaging unit 108 such as a camera. The imaging unit 108 images a landscape around the unmanned flying object 100. In the unmanned flying object 100 according to the embodiment, the imaging direction of the imaging unit 108 and the nose direction HDG of the unmanned flying object 100 are the same. In this case, the imaging unit 108 images a landscape in front of the unmanned flying object 100.
The unmanned flying object 100 includes a hook part 106a, a hook part 106b, a hook part 106c, and a hook part 106d.
The hook part 106a, the hook part 106b, the hook part 106c, and the hook part 106d are used to catch an object when an abnormality occurs in the unmanned flying object 100 and it flies toward the object. It is. When at least one of the hook part 106a, hook part 106b, hook part 106c, and hook part 106d of the unmanned flying object 100 is caught by some object, it is possible to reduce the unmanned flying object 100 from colliding with the ground. For this reason, it is possible to reduce a disaster that may occur due to the occurrence of an abnormality in the unmanned flying object 100. Furthermore, when an abnormality occurs in the unmanned flying object 100 and the vehicle descends, it can be prevented from hitting a person.

  Hereinafter, an arbitrary motor among the motors 102a, 102b, 102c, and 102d is referred to as a motor 102. An arbitrary rotor among the rotor 104a, the rotor 104b, the rotor 104c, and the rotor 104d is referred to as the rotor 104. Of the hook part 106a, the hook part 106b, the hook part 106c, and the hook part 106d, an arbitrary hook is referred to as a hook part 106.

FIG. 2 is a diagram illustrating an example of a route on which the unmanned flying object according to the embodiment flies.
The unmanned flying object 100 according to the embodiment flies in the vicinity of the electric power equipment and the like. Here, the power equipment will be described. An example of the power facility includes a distribution pole utility pole UP. The distribution line utility pole UP supports the distribution line WR. The distribution line WR includes an overhead ground wire OGW, a high voltage line HPL, a low voltage line LPL, and a high voltage underline HLL. The low voltage line LPL may include a power line PL and a light line LL.
The aerial ground wire OGW is a facility that mainly protects an aerial electric line for power transmission, distribution, and the like from lightning. For example, in the case of an overhead power transmission line, an overhead ground wire OGW is provided by connecting a grounded conductor metal wire (metal wire) in the direction of the electric wire so as to connect the upper part of the transmission tower.

The high voltage line HPL is an electric wire that supplies electric power at a high voltage from a distribution substation. The high voltage power supplied by the high voltage line HPL is, for example, 6600V.
The high voltage underline HLL is an electric wire that connects the high voltage line HPL and the transformer TR. The electric power supplied from the high voltage line HPL is output to the transformer TR via the high voltage pull-down line HLL.
The transformer TR steps down the supplied high voltage power to a low voltage. The power stepped down by the transformer TR is, for example, 100V or 200V. The voltage stepped down by the transformer TR is supplied to the low voltage line LPL. The low voltage line LPL supplies the electric power stepped down by the transformer TR to the consumer.

The transformer TR is attached to the distribution line utility pole UP via a metallic fixture. The electric power supplied to the distribution line WR is stepped down through the transformer TR. The electric power that has been stepped down via the transformer TR is supplied to the consumer via the lead-in line LW.
Hereinafter, description will be made using an XYZ orthogonal coordinate system as necessary. Here, the Z axis is a direction perpendicular to the ground surface, the X axis is a direction parallel to the distribution direction of the distribution line WR, and the Y axis is a direction orthogonal to the distribution direction of the distribution line WR. Specifically, the X axis is a direction parallel to the high voltage line HPL and the low piezoelectric lamp line LPL supported by the distribution line utility pole UP. An XY plane formed by the X axis and the Y axis is parallel to the ground surface.

In the example illustrated in FIG. 2, the unmanned flying object 100 flies in the direction DR (X direction) above the overhead ground wire OGW or in the vicinity of the distribution line WR. When the unmanned flying object 100 detects an abnormality while flying, the unmanned flying object 100 outputs an imaging command to the imaging unit 108, and the relative relationship between the power equipment included in the image captured by the imaging unit 108 and the unmanned flying object 100. The position is estimated, and the flight path is determined in the direction of the power equipment based on the estimated relative position. The unmanned flying object 100 flies by controlling the rotor according to the determined flight path.
Thereafter, the unmanned flying object 100 outputs an imaging command to the imaging unit 108 again, and the relative position between the aerial ground wire OGW and the power transmission line WR and the unmanned flying object 100 included in the image captured by the imaging unit 108. Based on the estimated relative position, the flight path is determined in the direction of the overhead ground wire OGW and the power transmission line WR. The unmanned flying object 100 flies by controlling the rotor according to the determined flight path.
When the unmanned flying object 100 flies in the direction of the overhead ground wire OGW or the power transmission line WR, it is assumed that the hook portion 106 attached to the unmanned flying object 100 is caught by the overhead ground wire OGW or the transmission line WR. Therefore, it is possible to prevent the unmanned flying object 100 from colliding with the ground.

(Unmanned flying object)
FIG. 3 is a functional block diagram illustrating the unmanned flying object according to the embodiment. The unmanned flying object 100 according to the embodiment includes a motor 102, a communication unit 103, a rotor 104, a positioning unit 105, a hook unit 106, an imaging unit 108, a sensor 110, a power supply unit 112, and a control unit 114.
In this example, the motor 102, the communication unit 103, the rotor 104, the positioning unit 105, the hook unit 106, the imaging unit 108, the sensor 110, and the power supply unit 112 are realized by dedicated hardware.
The control unit 114 functions as the abnormality detection unit 116, the estimation unit 118, the calculation unit 120, the flight control unit 122, and the latch unit control unit 123. The control unit 114 includes a CPU (Central Processing Unit) and a memory, and realizes functions such as an abnormality detection unit 116, an estimation unit 118, a calculation unit 120, a flight control unit 122, a latch control unit 123, and the like. The function is realized by the CPU executing a program to do this.

The communication unit 103 communicates with a control device (controller) (not shown) that controls the unmanned flying object 100. For example, the communication unit 103 communicates with a base station of a mobile phone network of a communication method such as LTE (Long Term Evolution), and communicates with a control device via a backbone network line of the mobile phone network.
The positioning unit 105 includes a global navigation satellite system (Global Navigation System (s): GNSS) such as a GPS (Global Positioning System) and a quasi-zenith satellite (QZS). To do. The positioning unit 105 includes an altimeter, and measures the position in the vertical direction using the altimeter. The positioning unit 105 performs positioning of the unmanned flying object 100 and outputs a positioning result to the control unit 114. The positioning result includes one or both of a horizontal position (latitude and longitude) and a vertical position (altitude).
The sensor 110 measures an environmental condition such as a wind direction and a wind speed, and outputs a measurement result of the environmental condition to the control unit 114.
The power supply unit 112 includes a battery that is a power supply for the unmanned flying object 100 and a power supply monitoring unit that monitors the remaining charge of the battery. The power supply unit 112 outputs information indicating the remaining battery charge to the control unit 114.

The abnormality detection unit 116 detects an abnormality of the unmanned flying object 100. Specifically, the abnormality detection unit 116 acquires information indicating the remaining charge of the battery output from the power supply unit 112, and detects an abnormality when the acquired remaining charge of the battery is less than the remaining battery charge threshold. It is determined that
Moreover, the abnormality detection part 116 determines with it being abnormal when one of the motors 102 stops.
Moreover, the abnormality detection part 116 determines with it being abnormal, when communication with a control apparatus becomes impossible. When detecting an abnormality of unmanned flying object 100, abnormality detection unit 116 outputs abnormality detection information including information indicating that an abnormality has been detected to estimation unit 118 and calculation unit 120.

When the abnormality detection information output by the abnormality detection unit 116 is acquired, the estimation unit 118 outputs an imaging command to the imaging unit 108 and acquires image information of an image obtained by the imaging unit 108 imaging. The estimation unit 118 processes the acquired image information to identify the object, and estimates the relative position between the identified object and the unmanned flying object 100.
The imaging unit 108 captures one or a plurality of surrounding landscapes according to the imaging command, and outputs image information of one or a plurality of images obtained by the imaging to the control unit 114. The estimation unit 118 acquires one or more pieces of image information output from the imaging unit 108.

The estimation unit 118 specifies an object such as a power facility or a communication line by processing the acquired one or more pieces of image information. As described above, the power equipment includes at least one of the overhead ground wire OGW, the high voltage line HPL, and the low voltage line LPL. The estimation unit 118 processes at least one of the acquired image information to identify at least one of the overhead ground wire OGW, the high voltage line HPL, and the low voltage line LPL, and identifies the identified object and the unmanned flying object 100. The relative position between is estimated. The estimation unit 118 acquires altitude information from the positioning unit 105 as necessary, and identifies at least one of the overhead ground wire OGW, the high-voltage line HPL, and the low-voltage line LPL based on the acquired altitude information. It may be.
When three or more power transmission lines are included in the image, the estimation unit 118 preferably specifies one of the three or more power transmission lines excluding both ends. When the obtained image information is processed, the estimation unit 118 specifies the communication line when the overhead ground wire OGW, the high-voltage line HPL, and the low-voltage line LPL cannot be specified.
The estimation unit 118 processes the acquired image information to identify at least one of the aerial ground wire OGW, the high voltage line HPL, the low voltage line LPL, and the communication line, and identifies the identified object and the unmanned flying object 100. The relative position between is estimated. The estimation unit 118 outputs information indicating the estimation result of the relative position between the identified target object and the unmanned flying object 100 to the calculation unit 120.

  The calculation unit 120 acquires information indicating the estimation result of the relative position between the specified object output from the estimation unit 118 and the unmanned flying object 100, and the relative between the specified object and the unmanned flying object 100. Based on the position estimation result, the unmanned flying object 100 calculates a flight path toward the identified object. Specifically, when obtaining the abnormality detection information output from the abnormality detection unit 116, the arithmetic unit 120 outputs a measurement command to the sensor 110. The sensor 110 measures an environmental condition such as a wind direction and a wind speed according to the measurement command, and outputs the measurement result of the environmental condition to the control unit 114. The calculation unit 120 acquires the measurement result of the environmental situation output by the sensor 110.

Based on the information indicating the estimation result of the relative position between the identified object and the unmanned flying object 100 and the measurement result of the environmental situation, the calculation unit 120 moves the unmanned flying object 100 in the direction of the identified object. Calculate the flight path to go. The calculation unit 120 outputs information indicating the flight path toward the identified target object to the flight control unit 122.
The flight control unit 122 controls the flight of the unmanned flying object 100 by controlling the drive current supplied to the motor 102. When the flight control unit 122 acquires the information indicating the flight path output from the calculation unit 120, the flight control unit 122 controls the flight of the unmanned flying object 100 based on the acquired information indicating the flight path.
The latch unit control unit 123 controls a later-described latch unit 106-3 included in the hook unit 106.

FIG. 4 is a diagram illustrating an example of a route on which the unmanned flying object according to the embodiment flies.
When the identified object is the aerial ground line OGW, the flight control unit 122 controls the flight of the unmanned flying object 100, so that the unmanned flying object 100 flies in the direction of the aerial ground line OGW. As a result, as shown in (1) of FIG. 4, it is assumed that the hook portion 106 of the unmanned flying object 100 is caught by the overhead ground wire OGW.
When the identified object is the high-voltage line HPL, the flight control unit 122 controls the flight of the unmanned flying object 100, so that the unmanned flying object 100 flies in the direction of the high-voltage line HPL. As a result, as shown in (2) of FIG. 4, it is assumed that the hook portion 106 of the unmanned flying object 100 is caught by the high-voltage line HPL.

When the identified object is the low-voltage line LPL, the flight control unit 122 controls the flight of the unmanned flying object 100, so that the unmanned flying object 100 flies in the direction of the low-voltage line LPL. As a result, as shown in (3) of FIG. 4, it is assumed that the hook portion 106 of the unmanned flying object 100 is caught by the low-voltage line LPL.
When the identified object is the communication line CC, the flight control unit 122 performs flight control of the unmanned flying object 100, so that the unmanned flying object 100 flies in the direction of the communication line CC. As a result, as shown in (4) of FIG. 4, it is assumed that the hook portion 106 of the unmanned flying object 100 is caught by the communication line CC.

The hook part 106 of the unmanned flying object 100 will be described.
Drawing 5 is a figure showing an example of a hook part of an unmanned flying object concerning an embodiment. As shown in FIG. 5, the hook portion 106 of the unmanned flying object 100 includes a hook body 106-1, a bar 106-2, and a latch portion 106-3.
The hook body 106-1 is a part that is caught by some object. The bar 106-2 is a part for attaching the hook body 106-1 to the unmanned flying object 100. The latch part 106-3 maintains the hooked state by protruding when the hook body 106-1 is hooked on some object. The latch portion 106-3 can be stored in the hook body 106-1, and is configured to protrude when the hook body 106-1 is caught by some object and a load is applied to the hook body 106-1. The protruding latch unit 106-3 transmits a latch unit storage signal from the control device that controls the unmanned flying object 100, and the latch unit storage unit 123 receives the transmitted latch unit storage signal to receive the latch unit control unit 123. However, the latch part 106-3 is accommodated in the hook main body 106-1.

The unmanned flying object 100 flies in a state where the latch part 106-3 is housed in the hook body 106-1 (FIG. 5 (1)). When the unmanned flying object 100 detects an abnormality, the unmanned flying object 100 flies in the direction of the specified object in a state where the latch part 106-3 is housed in the hook body 106-1.
When the hook main body 106-1 is caught by the specified object, the latch control unit 123 automatically protrudes the latch part 106-3 from the hook main body 106-1 (FIG. 5 (2)). That is, until the hook body 106-1 is caught by the specified object, the latch unit 106-3 is accommodated in the hook body 106-1, and when the hook body 106-1 is caught by the specified object, the latch unit 106-1 is latched. -3 automatically protrudes from the hook body 106-1.
By storing the latch portion 106-3 in the hook body 106-1 until the hook body 106-1 is caught by the specified object, the hook body 106-1 can be easily caught by the specified object. Further, when the hook body 106-1 is caught by the specified object, the latch part 106-3 automatically protrudes from the hook body 106-1 so that the opening can be narrowed. Therefore, the object that specifies the unmanned flying object 100 is specified. It can make it hard to fall off things.

The unmanned flying object 100 caught on the object is collected as follows. A person who collects the unmanned flying object 100 can know the site where the unmanned flying object 100 is caught by reporting that the unmanned flying object 100 is caught.
A person who collects the unmanned flying object 100 goes to the site where the unmanned flying object 100 is caught and operates the control device to transmit a latch unit storage signal.
When the unmanned flying object 100 receives the latch part storage signal transmitted from the control device, the latch part control part 123 stores the latch part 106-3 in the hook body 106-1 (FIG. 5 (3)). . Since the latch portion 106-3 is stored in the hook main body 106-1, the opening of the hook main body 106-1 is widened, so that the unmanned flying object 100 falls from the object and can be collected.

<Operation of unmanned flying vehicle>
FIG. 6 is a flowchart showing the operation of the unmanned flying object according to the embodiment. The unmanned flying object 100 flies in the vicinity of the electric power equipment.
(Step S <b> 102) The abnormality detection unit 116 of the unmanned flying object 100 detects an abnormality of the unmanned flying object 100. The abnormality detection unit 116 detects an abnormality such as that the remaining charge of the battery is less than the remaining battery charge threshold, that one of the motors 102 has stopped, or that communication with the control device is no longer possible. To do. The abnormality detection unit 116 outputs the abnormality detection information to the estimation unit 118 and the calculation unit 120.
(Step S104) When the estimation unit 118 of the unmanned flying object 100 acquires the abnormality detection information output from the abnormality detection unit 116, the estimation unit 118 determines whether or not the imaging unit 108 operates. Specifically, the estimation unit 118 outputs an imaging command to the imaging unit 108, determines that the imaging unit 108 is activated when the imaging unit 108 captures an image, and determines that the imaging unit 108 does not operate when imaging is not performed. judge. When the imaging unit 108 is not operated, the process proceeds to step S106, and when the imaging unit 108 is operated, the process proceeds to step S108.

(Step S <b> 106) If the estimation unit 118 determines that the imaging unit 108 does not operate, the estimation unit 118 stands by. As a result, the unmanned flying object 100 continues to fly as it is. In this case, it is preferable to fly in the direction of some object. By configuring in this way, the hook portion 106 can be hooked on a certain object, so that the unmanned flying object 100 can be reduced from falling on the ground.
(Step S108) When it is determined that the imaging unit 108 is operating, the estimation unit 118 estimates the relative position of the power facility with respect to the unmanned flying object 100 based on the power facility included in the image captured by the imaging unit 108. The estimation unit 118 outputs information indicating the estimation result of the relative position of the power equipment to the calculation unit 120. When the calculation unit 120 acquires the abnormality detection information output from the abnormality detection unit 116, the calculation unit 120 acquires the environmental state measurement result from the sensor 110.
(Step S110) The computing unit 120 computes a flight path toward the direction of the power equipment based on the relative position estimation result and the environmental situation measurement result. The calculation unit 120 outputs information indicating a flight path toward the power facility to the flight control unit 122. The flight control unit 122 controls the flight of the unmanned flying object 100 by controlling the rotor 104 based on the information indicating the flight path.

(Step S112) In a situation where the unmanned flying object 100 is flying in the direction of the power equipment, the estimation unit 118 outputs an imaging command to the imaging unit 108 and acquires image information output by the imaging unit 108. . The estimation unit 118 determines whether or not an imaginary ground line is detected in the image captured by the imaging unit 108. If an overhead ground line is detected, the process proceeds to step S114, and if no overhead ground line is detected, the process proceeds to step S116.
(Step S114) When the estimation unit 118 determines that an imaginary ground line is detected in the image captured by the imaging unit 108, the estimation unit 118 determines the imaginary ground line for the unmanned flying object 100 based on the imaginary ground line included in the image. Estimate relative position. The estimation unit 118 outputs information indicating the estimation result of the relative position to the calculation unit 120. The computing unit 120 computes a flight path in which the unmanned flying object 100 heads in the direction of the imaginary ground line based on the relative position estimation result. The calculation unit 120 outputs information indicating a flight route toward the direction of the imaginary ground wire to the flight control unit 122. The flight control unit 122 controls the flight of the unmanned flying object 100 by controlling the rotor 104 based on the information indicating the flight path.

(Step S116) When the estimation unit 118 determines that an imaginary ground wire is not detected in the image captured by the imaging unit 108, the estimation unit 118 determines whether a high-voltage line is detected in the image captured by the imaging unit 108. If a high voltage line is detected, the process proceeds to step S118. If a high voltage line is not detected, the process proceeds to step S120.
(Step S118) When the estimation unit 118 determines that a high-voltage line is detected in the image captured by the imaging unit 108, the estimation unit 118 calculates the relative position of the high-voltage line with respect to the unmanned flying object 100 based on the high-voltage line included in the image. presume. The estimation unit 118 outputs information indicating the estimation result of the relative position to the calculation unit 120. The computing unit 120 computes a flight path in which the unmanned flying object 100 heads in the direction of the high-voltage line based on the estimation result of the relative position. The calculation unit 120 outputs information indicating the flight route toward the direction of the high voltage line to the flight control unit 122. The flight control unit 122 controls the flight of the unmanned flying object 100 by controlling the rotor 104 based on the information indicating the flight path.
(Step S120) When the estimation unit 118 determines that a high voltage line is not detected in the image captured by the imaging unit 108, the estimation unit 118 determines whether a low voltage line is detected in the image captured by the imaging unit 108. If a low voltage line is detected, the process proceeds to step S122. If a low voltage line is not detected, the process proceeds to step S124.

(Step S122) When the estimation unit 118 determines that a low-voltage line is detected in the image captured by the imaging unit 108, the estimation unit 118 calculates the relative position of the low-voltage line with respect to the unmanned flying object 100 based on the low-voltage line included in the image. presume. The estimation unit 118 outputs information indicating the estimation result of the relative position to the calculation unit 120. The computing unit 120 computes a flight path in which the unmanned flying object 100 heads in the direction of the low-voltage line based on the relative position estimation result. The calculation unit 120 outputs information indicating the flight path toward the low-voltage line to the flight control unit 122. The flight control unit 122 controls the flight of the unmanned flying object 100 by controlling the rotor 104 based on the information indicating the flight path.
(Step S124) When the estimation unit 118 determines that a low-voltage line is not detected in the image captured by the imaging unit 108, the estimation unit 118 determines whether a communication line is detected in the image captured by the imaging unit 108. If a communication line is detected, the process proceeds to step S126. If a communication line is not detected, the process proceeds to step S128.
(Step S126) When the estimation unit 118 determines that a communication line is detected in the image captured by the imaging unit 108, the estimation unit 118 determines the relative position of the communication line with respect to the unmanned flying object 100 based on the communication line included in the image. presume. The estimation unit 118 outputs information indicating the estimation result of the relative position to the calculation unit 120. The computing unit 120 computes the flight path that the unmanned flying object 100 heads in the direction of the communication line based on the relative position estimation result. The calculation unit 120 outputs information indicating a flight route toward the direction of the communication line to the flight control unit 122. The flight control unit 122 controls the flight of the unmanned flying object 100 by controlling the rotor 104 based on the information indicating the flight path.

  (Step S128) When it is determined that the communication line is not detected in the image captured by the imaging unit 108, the estimation unit 118 determines the hook unit 106 such as a tree, a roof of a building, or a building from the image captured by the imaging unit 108. Detect other objects that can be caught. The estimation unit 118 estimates the relative positions of other objects with respect to the unmanned flying object 100. The estimation unit 118 outputs information indicating the estimation result of the relative position to the calculation unit 120. The computing unit 120 computes a flight path in which the unmanned flying object 100 is directed toward other objects based on the relative position estimation result. The calculation unit 120 outputs information indicating the flight path toward the other object to the flight control unit 122. The flight control unit 122 controls the flight of the unmanned flying object 100 by controlling the rotor 104 based on the information indicating the flight path.

In the above-described embodiment, the case where the imaging direction of the imaging unit 108 included in the unmanned flying object 100 matches the nose direction HDG of the unmanned flying object 100 has been described, but the present invention is not limited to this example. For example, the imaging unit 108 may be configured to be movable and the imaging direction may be changed. In this case, the flight path is calculated on the basis of the imaging direction of the imaging unit 108 with respect to the nose direction HDG of the unmanned flying object 100.
In the above-described embodiment, the distribution line utility pole UP has been described as an example of the power facility, but the present invention is not limited to this example. For example, the power equipment includes a tower, a transmission line, a power plant, a substation, and the like.

In the above-described embodiment, the case where the unmanned flying object 100 is hooked on any one of the overhead ground wire OGW, the high-voltage line HPL, the low-voltage line LPL, and the communication line has been described. However, the present invention is not limited to this example. For example, you may make it perform flight control so that the unmanned flying object 100 may be hooked on a bracelet. Further, for example, the flight control may be performed so that the unmanned flying object 100 is hooked on infrastructure equipment such as a mobile phone base station, a telephone pole, and a TV antenna.
In the above-described embodiment, the case where the unmanned flying object 100 includes the hook part 106a, the hook part 106b, the hook part 106c, and the hook part 106d has been described, but the present invention is not limited to this example. For example, the number of hook portions may be one to three, or may be five or more. Also, the position where the hook portion 106 is attached may be a surface other than the side surface such as the upper part of the unmanned flying vehicle.

In the above-described embodiment, the unmanned flying object 100 estimates the position of the overhead ground wire OGW and the power transmission line WR included in the image captured by the imaging unit 108, and the estimated position of the overhead ground wire OGW and the power transmission line WR. Although the case where the flight path is determined in the direction of has been described, the present invention is not limited to this example. For example, the unmanned flying object 100 may estimate the position of the distribution line included in the image captured by the imaging unit 108 and determine the flight path in the direction of the estimated position of the distribution line.
In the above-described embodiment, the case where communication is performed between the unmanned flying object 100 and the control device via the mobile phone network is described, but the present invention is not limited to this example. For example, communication may be performed between the unmanned flying object 100 and the control device via a wireless LAN, the Internet, or the like.
In the above-described embodiment, the case where the unmanned flying object 100 includes the sensor 110 and uses the measurement result of the environmental state measured by the sensor 110 has been described. However, the present invention is not limited to this example. For example, you may make it transmit the information which shows an environmental condition from the base station with which the electric power installation was equipped. The unmanned flying object 100 may receive information indicating the environmental situation transmitted by the base station, and perform flight control based on the received measurement result of the environmental situation.

In the above-described embodiment, the case where the unmanned flying object 100 flies in a state where the latch part 106-3 is housed in the hook body 106-1 has been described, but the present invention is not limited to this example. For example, the latch unit 106-3 may be configured to protrude from the hook body 106-1 in a stepwise manner. Then, the unmanned flying object 100 may fly with the latch part 106-3 slightly protruding from the hook body 106-1.
In the above-described embodiment, a case has been described in which the person who collects the unmanned flying object 100 can know the site where the unmanned flying object 100 is caught by reporting that the unmanned flying object 100 is caught. Not limited to. For example, you may make it transmit the collection request | requirement containing the information which requests | requires collection | recovery from the unmanned flying object 100 caught on the target object. This collection request is received by the base station attached to the power pole UP for distribution lines, and notified to the person who collects the unmanned flying object 100.

In the above-described embodiment, the case where the unmanned flying object 100 detects an object to be hooked in the order of the overhead ground wire, the high-voltage wire, the low-voltage wire, and the communication wire has been described, but the present invention is not limited to this example. For example, the unmanned flying object 100 may detect a target to which the hook unit 106 is hooked in the order of an aerial ground wire, a low-voltage line, and a communication line, or the hook unit 106 is hooked in the order of a high-voltage line, a low-voltage line, and a communication line. An object may be detected.
In the above-described embodiment, as a result of the flight control of the unmanned flying object 100 in the direction of the overhead ground wire, when the hook portion 106 is not caught by the overhead ground wire, any one of the high voltage line, the low pressure line, and the communication line is used. The flight control may be performed in the direction of the detected one.
When the unmanned flying object 100 performs flight control in the direction of the high voltage line, if the hook unit 106 is not caught by the high voltage line, the low voltage line or the communication line is detected, and flight control is performed in the direction in which the detection is possible. May be performed.
Further, as a result of the flight control of the unmanned flying object 100 in the direction of the low-voltage line, when the hook unit 106 is not caught by the low-voltage line, the communication line is detected and the flight control is performed in the direction of the communication line. May be.
In addition, as a result of the flight control of the unmanned flying object 100 in the direction of the communication line, when the hook unit 106 is not caught by the communication line, it rises again, and the overhead ground line, the high-voltage line, the low-voltage line, and the communication line Of these, flight control may be performed in the direction of the detected one.

According to the unmanned flying object 100 according to the embodiment, the hook part 106 of the unmanned flying object 100 can be hooked on the object before the abnormal unmanned flying object 100 in which an abnormality has occurred falls to the ground. That is, the unmanned flying object 100 can be captured before it crashes on the ground. For this reason, it is possible to avoid a disaster that may occur when the unmanned flying object crashes on the ground. Moreover, it can prevent that the unmanned flying object 100 falls on a person. The unmanned flying object 100 caught on the object can be dropped by transmitting a latch part storing signal from the control device.
Further, when there are three or more power transmission lines, the unmanned flying object 100 performs flight control in any direction of the power transmission lines excluding both ends of the three or more power transmission lines. By configuring in this way, even if the flight path of the unmanned vehicle 100 deviates from the power transmission line excluding both ends, it will only move in one direction of the power transmission lines at both ends. It is assumed that the hook portion 106 is caught by any power transmission line.

  Furthermore, according to the unmanned flying object 100 according to the embodiment, a target object is specified by processing a plurality of acquired image information, and a relative position between the specified target object and the unmanned flying object 100 is estimated. With this configuration, the relative position can be obtained regardless of positioning by the global navigation satellite system or the like. In addition, the object is identified by processing a plurality of acquired image information, and the relative position between the identified object and the unmanned flying object 100 is estimated, so that the relative position is obtained by a global navigation satellite system or the like. The measurement error can be reduced compared with the case of obtaining.

<Modification (Part 1)>
The unmanned flying object 100 according to the modification is different from the unmanned flying object 100 according to the above-described embodiment in the process of the estimation unit 118 and the process of the calculation unit 120.
In addition to the processing of the estimation unit 118 of the unmanned flying object 100 according to the above-described embodiment, the estimation unit 118 of the unmanned flying object 100 according to the modification performs the following process.
The estimation unit 118 of the unmanned flying object 100 according to the modified example determines the arrangement of the detected high voltage line HPL or low voltage line LPL when the high voltage line HPL or the low voltage line LPL is detected from the image captured by the imaging unit 108. . Specifically, the estimation unit 118 determines whether the specified high-voltage line HPL or low-voltage line LPL is arranged in parallel to the ground surface or arranged in a direction perpendicular to the ground surface. judge. The estimation unit 118 outputs information indicating the determination result of the arrangement to the calculation unit 120.

The calculation unit 120 of the unmanned flying object 100 according to the modification performs the following processing in addition to the processing of the calculation unit 120 of the unmanned flying object 100 according to the above-described embodiment.
The calculation unit 120 of the unmanned flying object 100 according to the modified example acquires information indicating the estimation result of the relative position between the target and the unmanned flying object 100 output by the estimation unit 118 and information indicating the determination result of the arrangement. Then, based on the information indicating the acquired relative position estimation result, the information indicating the determination result of the arrangement, and the measurement result of the environmental situation, the unmanned flying object 100 calculates a flight path toward the specified target object. .

When the arrangement determination result indicates that the arrangement determination result indicates that the arrangement is arranged in parallel to the ground surface, the calculation unit 120 moves toward the sky above the high-voltage line HPL or the low-voltage line LPL arranged in parallel, and then descends. It is obtained by calculating the flight path.
In addition, when the determination result of the arrangement indicates that the arrangement determination result indicates that the arrangement is arranged vertically with respect to the ground surface, the arithmetic unit 120 is inclined with respect to the high-voltage line HPL or the low-voltage line LPL arranged vertically. It is obtained by calculating the flight path from the upward direction to the diagonally downward direction. The calculation unit 120 outputs information indicating the flight path toward the identified target object to the flight control unit 122.

In the above-described modification, when the unmanned flying object 100 detects the high voltage line HPL or the low voltage line LPL from the image captured by the imaging unit 108, the arrangement of the detected high voltage line HPL or low voltage line LPL is determined. Although described, it is not limited to this example.
For example, you may make it transmit the map information represented by two dimensions or three dimensions from the base station with which the electric power installation was equipped. Then, the unmanned flying object 100 may determine the arrangement of the high-voltage line HPL or the low-voltage line LPL by receiving the map information expressed in two dimensions or three dimensions transmitted by the base station.
Further, for example, arrangement information of the high-voltage line HPL or the low-voltage line LPL may be transmitted from a base station provided in the power facility. Then, the unmanned flying object 100 may determine the arrangement of the high voltage line HPL or the low voltage line LPL by receiving the arrangement information of the high voltage line HPL or the low voltage line LPL transmitted from the base station.

  According to the unmanned flying object 100 according to the modified example, the flight path can be changed according to the arrangement of the high-voltage line HPL or the low-voltage line LPL. Can be easily hooked to LPL.

<Modification (Part 2)>
The unmanned flying object 100 according to the modified example is obtained by changing the length of the bar 106-2 portion of the hook portion 106 in the unmanned flying object 100 according to the modified example described above.
FIG. 7 is a functional block diagram showing an unmanned flying object according to a modification.
The unmanned flying object 100 according to the modification includes a hook control unit 124 in the control unit 114 of the unmanned flying object 100 according to the above-described embodiment.
The estimation unit 118 outputs information indicating the arrangement determination result to the hook unit control unit 124. When the hook unit control unit 124 acquires the information indicating the arrangement determination result output from the estimation unit 118, the hook unit control unit 124 indicates that the acquired arrangement determination result indicates that the arrangement determination result is arranged in parallel to the ground surface. An imaging command is output to 108, and image information of the target object output by the imaging unit 108 is acquired. The hook controller 124 estimates the intervals between the plurality of high-voltage lines HPL included in the high-voltage line HPL or the intervals between the plurality of low-voltage lines included in the low-voltage line LPL by processing the acquired image information.

The hook part control unit 124 adjusts the length of the bar 106-2 of the hook part 106 based on the estimation result of the intervals between the plurality of high voltage lines or the estimation result of the intervals between the plurality of low voltage lines. Specifically, the hook control unit 124 opposes so that the length between both ends of the two opposing hook portions 106 is less than the estimation result of the high-voltage line interval or the estimation result of the low-voltage line interval. The length of the bar 106-2 of the two hook portions 106 is adjusted. By configuring in this way, it is possible to prevent both of the two opposing hook portions 106 from being caught by the adjacent high voltage line or low voltage line, so that the unmanned flying object 100 is short-circuited between the adjacent high voltage line or low voltage line. Can be prevented.
FIG. 8 is a diagram illustrating an example of a route on which an unmanned flying object according to a modified example flies. The unmanned flying object 100 according to the modified example flies in the direction of the specified object in a state where the lengths of the bars 106-2 of the two opposing hook portions 106 are adjusted. As a result, it is possible to prevent both of the two hook portions 106 of the unmanned flying vehicle 100 from being caught by the adjacent high voltage line HPL or low voltage line LPL.

In the above-described modification, the case where the lengths of the bars 106-2 of the two hook portions 106 to be opposed are adjusted has been described, but the present invention is not limited to this example. For example, the bar 106-2 of the hook unit 106 may be rotated. Then, by changing the direction of the opening of the two opposing hook portions 106, both the two opposing hook portions 106 are prevented from being caught by the adjacent high-voltage line HPL or low-voltage line LPL. Also good.
According to the unmanned flying object 100 according to the modified example, both of the two hook portions 106 facing each other can be prevented from being caught by the adjacent high-voltage line HPL or low-voltage line LPL. It is possible to prevent a short circuit of the low voltage line.

<Modification (Part 3)>
The unmanned flying object 100 according to the modified example acquires the position information of the unmanned flying object 100 from a radio wave such as a beacon transmitted by a base station such as an access point AP in the unmanned flying object 100 according to the modified example described above. Is.
FIG. 9 is a functional block diagram showing an unmanned flying object according to a modification.
The unmanned flying object 100 according to the modification includes the communication unit 107 in the unmanned flying object 100 according to the above-described embodiment.
The communication unit 107 receives a radio wave such as a beacon transmitted by the access point AP installed in each of the plurality of distribution line utility poles UP, and measures the reception intensity of the received beacon. The beacon includes base station position information. The communication unit 107 outputs position information included in the beacon and information indicating the measurement result of the reception intensity of the beacon to the estimation unit 118. For example, the communication unit 107 receives radio waves transmitted by each of the plurality of access points AP using an IEEE 802.11 series communication method.

The estimation unit 118 acquires a plurality of position information and beacon reception intensity measurement results output by the communication unit 107. The estimation unit 118 estimates the position of the unmanned flying object 100 based on a plurality of acquired position information and the measurement result of the beacon reception intensity. Specifically, when acquiring the abnormality detection information output from the abnormality detection unit 116, the estimation unit 118 acquires a plurality of pieces of position information and measurement results of beacon reception intensity from the communication unit 107, and a plurality of pieces of acquired position information. And the position of the unmanned flying object 100 are estimated by the principle of triangulation based on the measurement result of the received intensity of the beacon. The estimation unit 118 outputs information indicating the estimation result of the position of the unmanned flying object 100 to the calculation unit 120.
According to the unmanned flying object 100 according to the modified example, since the position of the unmanned flying object 100 can be estimated without using the image captured by the imaging unit 108, the estimated position of the unmanned flying object 100 even when the field of view is not very good. Based on the above, flight control can be performed.
In the modification described above, the relative position estimated based on the position information included in the radio wave transmitted by the base station and the information indicating the measurement result of the reception intensity of the beacon, and the image obtained by imaging by the imaging unit 108 When the difference between the relative position obtained from the information is equal to or greater than the threshold, it may be determined that an abnormality of the unmanned flying object 100 has occurred.

  While the embodiments and the modifications thereof have been described above, these embodiments and the modifications thereof are presented as examples, and are not intended to limit the scope of the invention. These embodiments and modifications thereof can be implemented in various other forms, and various omissions, replacements, changes, and combinations can be made without departing from the spirit of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are also included in the invention described in the claims and the equivalents thereof.

The unmanned flying object described above may be realized including a computer. In that case, a program for realizing the function of each functional block is recorded on a computer-readable recording medium. The program recorded on the recording medium may be read by a computer system and executed by the CPU. The “computer system” here includes hardware such as an OS (Operating System) and peripheral devices.
The “computer-readable recording medium” refers to a portable medium such as a flexible disk, a magneto-optical disk, a ROM, and a CD-ROM. The “computer-readable recording medium” includes a storage device such as a hard disk built in the computer system.

Furthermore, the “computer-readable recording medium” may include a medium that dynamically holds a program for a short time. What holds the program dynamically for a short time is, for example, a communication line when the program is transmitted via a network such as the Internet or a communication line such as a telephone line.
In addition, the “computer-readable recording medium” may include a medium that holds a program for a certain period of time, such as a volatile memory inside a computer system that serves as a server or a client. The program may be for realizing a part of the functions described above. Further, the program may be a program that can realize the above-described functions in combination with a program already recorded in the computer system. The program may be realized using a programmable logic device. The programmable logic device is, for example, an FPGA (Field Programmable Gate Array).

The above unmanned flying vehicle has a computer inside. Each process of the unmanned flying vehicle described above is stored in a computer-readable recording medium in the form of a program, and the above-described processing is performed by the computer reading and executing this program.
Here, the computer-readable recording medium means a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, or the like. Alternatively, the computer program may be distributed to the computer via a communication line, and the computer that has received the distribution may execute the program.
The program may be for realizing a part of the functions described above.
Furthermore, what can implement | achieve the function mentioned above in combination with the program already recorded on the computer system, what is called a difference file (difference program) may be sufficient.

DESCRIPTION OF SYMBOLS 100 ... Unmanned flying object, 102, 102a, 102b, 102c, 102d ... Motor, 103, 107 ... Communication part, 104, 104a, 104b, 104c, 104d ... Rotor, 105 ... Positioning part, 106, 106a, 106b, 106c, 106d ... hook part, 106-1 ... hook body, 106-2 ... bar, 106-3 ... latch part, 108 ... imaging part, 110 ... sensor, 112 ... power supply part, 114 ... control part, 116 ... abnormality detection part, 118: Estimation unit, 120 ... Calculation unit, 122 ... Flight control unit, 123 ... Latch unit control unit, 124 ... Hook unit control unit

Claims (7)

An unmanned flying vehicle,
A detection unit that detects that an abnormality has occurred in the unmanned flying vehicle;
An estimation unit that estimates a relative position between any one of an overhead ground wire, a high-voltage line, a low-voltage line, and a communication line and the unmanned flying object;
When the detection unit detects that an abnormality has occurred in the unmanned flying object, based on the relative position, the unmanned flying object becomes the overhead ground wire, the high-voltage line, the low-voltage line, and the communication line. A calculation unit for calculating a flight path toward one of the directions,
An unmanned air vehicle, comprising: a flight control unit that controls the flight of the unmanned air vehicle based on the flight path. The estimation unit estimates the relative position between any one of the overhead ground wire, the high-voltage line, the low-voltage line, and the communication line and the unmanned flying object from an image captured by the imaging unit. The unmanned flying vehicle according to claim 1. The estimating unit, power from a radio wave from the base station located sends to the equipment, and estimates the relative position between the unmanned flying body and the power equipment, an unmanned flying body according to claim 1. Hook part attached to the unmanned flying object
With
The estimation unit estimates the relative position between an object to be hooked and the unmanned flying object in the order of the overhead ground wire, the high-voltage line, the low-voltage line, and the communication line. The unmanned flying object according to any one of claims 3 to 4 . The unmanned flying object according to any one of claims 1 to 4, wherein the calculation unit calculates the flight path based on environmental status information . A flight control method executed by an unmanned flying vehicle,
Detecting that an abnormality has occurred in the unmanned flying vehicle;
Estimating a relative position between any one of an overhead ground wire, a high-voltage wire, a low-voltage wire, and a communication wire and the unmanned flying object;
When detecting that an abnormality has occurred in the unmanned flying vehicle in the detecting step, based on the relative position, the unmanned flying vehicle is configured such that the overhead ground wire, the high-voltage wire, the low-voltage wire, and the communication Calculating a flight path toward one of the lines;
Controlling the flight of the unmanned air vehicle based on the flight path;
A flight control method. In the computer equipped with the unmanned flying vehicle,
Detecting that an abnormality has occurred in the unmanned flying vehicle;
Estimating a relative position between any one of an overhead ground wire, a high-voltage wire, a low-voltage wire, and a communication wire and the unmanned flying object;
When detecting that an abnormality has occurred in the unmanned flying vehicle in the detecting step, based on the relative position, the unmanned flying vehicle is configured such that the overhead ground wire, the high-voltage wire, the low-voltage wire, and the communication Calculating a flight path toward one of the lines;
Controlling the flight of the unmanned air vehicle based on the flight path;
A program that executes

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