JP6954021B2 - How to control an unmanned aircraft - Google Patents

Description

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

Patent Document 1 states, "Providing a transportation system using an unmanned aircraft that overcomes restrictions such as distance and time and expands the range that can be delivered to improve convenience." It is a transportation system using a movable unmanned vehicle, and the unmanned vehicle flies while being equipped with a container for storing luggage to be transported, and the container receives power supplied to the unmanned vehicle. A power storage unit for storing the aircraft is provided, and the power storage unit provided in the container is charged at the relay base when not moving. "

Patent Document 2 describes, "Providing an overhead wire inspection system and method using an unmanned helicopter capable of automatically inspecting trees approaching an overhead wire.", "While autonomously flying, an overhead wire An unmanned helicopter equipped with a flight control system for flying to the inspection point and an information gathering system for collecting various information including images of the inspection point and distance measurement data, and various types from the unmanned helicopter while controlling the flight of the unmanned helicopter. A control center equipped with a flight control / information collection system that collects and processes information, and a three-dimensional image created by creating a three-dimensional image from the images of inspection points and distance measurement data collected by the information collection system of an unmanned helicopter. And various data used for inspection by the approaching tree inspection means and the approaching tree inspection means to check whether there is an abnormality in the overhead wire at the inspection point based on the processed 3D image are stored. The storage device is provided. "

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

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

Patent Document 5 states that "power is supplied to a plurality of drones by using a power supply cable for a drone group composed of a plurality of drones", and "a drone group flies by driving and controlling a motor means". Multiple drones capable of posture control, a wired cable that connects adjacent drones of multiple drones and connects multiple drones in a network, and at least one drone of multiple drones at one end It has a power supply cable to be connected and a power supply means connected to the other end side of the power supply cable and arranged on the ground. In a drone group, a plurality of drones are driven from the power supply means through a power supply cable and a wired cable. The power for this is supplied to each drone from the power supply means. "

Non-Patent Document 1 describes a "drone highway concept" that supports safe flight of a drone by creating a three-dimensional map based on data on the positions and heights of transmission towers and overhead power lines.

Non-Patent Document 2 describes a power supply device for aviation obstruction lights that utilizes an induced current flowing through an overhead ground wire.

JP-A-2017-105242 Japanese Unexamined Patent Publication No. 2005-265699 Japanese Unexamined Patent Publication No. 49-95159 Japanese Unexamined Patent Publication No. 2004-103791 JP-A-2017-52389 "ITmedia NEWS", [online], released at 19:35 on March 29, 2017, "" Drone Highway "to prevent collision with fictitious electric wires" TEPCO and Zenrin to jointly develop ", TEPCO Holdings Zenrin, [2017 Search on September 15], Internet <URL: http://www.itmedia.co.jp/news/articles/1703/29/news146.html> "Institute of Electrical Engineers of Japan B", "Development of power supply for aviation obstacle lights utilizing induced current flowing in overhead ground line", Published 2008/12/19, Vol. 121, No. 8, Tatsufumi Yamaguchi, Osamu Naganuma, Matsuoka Masanori, Seiji Takano, Tsuneji Maezaki, Kazuyuki Tomonaga, Hiroshi Nakamura, Institute of Electrical Engineers of Japan, TEPCO

When an unmanned aerial vehicle (drone, etc.) is to be used for operations such as inspection of transportation systems and overhead electric wires as in Patent Documents 1 and 2, the flight distance and flight time depend on the capacity and weight of the power storage device (battery). Is limited, which is a problem. Recently, as described in Non-Patent Document 1, a "drone highway concept" has been proposed in which an overhead electric wire is used as a "road guide" to enable a drone to fly safely and reliably to a destination. However, in this case, the issue is how to supply electric power to the unmanned aerial vehicle during long-distance flight.

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

One of the present inventions for achieving the above object is a thrust generator, a flight control device for controlling the thrust generator, an annular ring body capable of opening and closing a part of the ring, and the ring body. A current generator having a conductive coil wound around the ring, a ring opening / closing device that opens / closes a part of the ring of the ring body, and a thrust generator or a flight control device that applies electric power based on the current generated in the conductive coil. A method of controlling an unmanned aviation body comprising a power supply device for supplying the two unmanned aviation bodies to the power supply device of one of the unmanned aviation bodies to the other of the unmanned aviation bodies. Electrically connected via a cable so that power can be supplied to the supply device, the two unmanned vehicles fly in a formation and approach an overhead electric wire while maintaining the above state. A step of opening a part of the ring of each ring body to accommodate an overhead electric wire inside each ring, a step of closing a part of each ring while flying, and flowing through the overhead electric wire. A step of supplying the electric power based on the electric current generated in the conductive coil by the electromagnetic induction action of the current to the thrust generator or the flight control device, along the overhead electric wire in a state where the overhead electric wire is housed inside the ring. Perform the steps to fly.

According to the present invention, since power based on the current generated in the conductive coil by the electromagnetic induction action of the current flowing through the overhead electric wire is supplied to the thrust generator or the flight control device, it is possible to receive power supply from the overhead electric wire while flying. The flight distance and flight time of two unmanned aircraft can be extended. Therefore, for example, two unmanned vehicles can be flown over a long distance or for a long time without accessing a charging station or the like, and operations such as inspection of power transmission and distribution equipment can be efficiently performed. In addition, if the buoyancy is lost due to insufficient remaining capacity of the power storage device (battery) or a failure, or if a gust of wind occurs, the ring body hangs on the overhead wire, causing two unmanned flying objects to fall or deviate from the flight route. It can be prevented from being stowed, and two unmanned aircraft can be safely flown. If the power of one unmanned vehicle is insufficient, power can be supplied from the other unmanned vehicle. In addition, by flying a plurality of unmanned aircraft in formation, many tasks can be efficiently performed at one time. As described above, according to the present invention, it is possible to safely and efficiently fly an unmanned vehicle while securing a flight distance and a flight time.

Another one of the present invention is the method for controlling an unmanned flying object, in which the two unmanned flights are carried out when flying along the overhead electric wire with the overhead electric wire housed inside the ring. When the thrust of one of the unmanned aviators is lost, the step of pulling the unmanned aviator by the other unmanned aviator via the cable is further performed.

According to the present invention, even if the thrust of one unmanned air vehicle is lost, the flight can be continued by the other unmanned air vehicle, and operations such as inspection of power transmission equipment can be efficiently performed.

The other one of the present invention is the method for controlling the unmanned flying object, in which the two unmanned flights are carried out when flying along the overhead electric wire with the overhead electric wire housed inside the ring. When the thrust of the unmanned air vehicle in one of the bodies is lost, a part of the ring of the ring body of each of the two unmanned air vehicles is opened to connect the two unmanned air vehicles to the overhead electric wire. A step of detaching from the aircraft and a step of the other unmanned aircraft flying while suspending the one unmanned aircraft are further executed.

According to the present invention, even if the thrust of one unmanned air vehicle is lost, one unmanned air vehicle can be safely recovered by the other unmanned air vehicle.

Another method of the present invention is a method for controlling the unmanned vehicle, wherein each of the two unmanned vehicles is said to be from a power supply device of one of the unmanned vehicles to the other of the unmanned vehicles. Powers the ring switchgear.

According to the present invention, even when the other unmanned vehicle cannot supply power to its own ring switchgear, the ring switchgear of the other unmanned vehicle can be supplied with power from one unmanned vehicle. Therefore, the other unmanned air vehicle can be separated from the overhead electric wire, and the other unmanned air vehicle can be reliably recovered.

Another method of the present invention is a method for controlling an unmanned air vehicle, wherein the unmanned air vehicle is provided with a photographing device for photographing the surroundings, and the unmanned air vehicle accommodates an overhead electric wire inside the ring. The step of photographing the overhead electric wire is further executed while flying in this state.

The other one of the present invention is the control method of the unmanned vehicle, and the current generator is configured by using a through-type current transformer.

The other one of the present invention is the control method of the unmanned flying object, and one of the two unmanned flying bodies is a pedestal portion provided with the flight control device and the pedestal portion to the pedestal portion. The current generator includes a plurality of arms extending in the outer peripheral direction of the portion with a predetermined length and provided with the thrust generator, and a plurality of leg struts extending below the pedestal portion. A part of the ring is provided downward in the space surrounded by the plurality of leg columns.

The other one of the present invention is the control method of the unmanned flying object, and one of the two unmanned flying bodies is a pedestal portion provided with the flight control device and the pedestal portion to the pedestal portion. A plurality of arms extending in the outer peripheral direction of the portion with a predetermined length and provided with the thrust generator are provided, and the current generator is provided above the pedestal portion with a part of the ring facing upward. Be done.

Another method of the present invention is the method for controlling an unmanned flying object, wherein the unmanned flying object has a pedestal portion on which the flight control device is provided and a predetermined length from the pedestal portion in the outer peripheral direction of the pedestal portion. The unmanned one of the two unmanned aircraft is provided with a plurality of arms extending and provided with the thrust generator and a plurality of leg struts extending below the pedestal portion. The current generator of the aircraft is provided in a space surrounded by the plurality of pedestals with a part of the ring facing downward, and the unmanned aircraft of the other of the two unmanned aircraft. The current generator is provided above the pedestal portion with a part of the ring facing upward.

According to the present invention, for example, a wide range can be photographed by an imaging device mounted on each of the unmanned flying objects, and a large amount of information can be efficiently acquired.

Another method of the present invention is the method for controlling an unmanned vehicle, wherein the power supply device is a power storage device that supplies power to the thrust generator or the flight control device, and a current generated in the conductive coil. A charge control device for supplying electric power based on the above to the power storage device is further provided.

In addition, the problems disclosed in the present application and the solutions thereof will be clarified by the column of the form for carrying out the invention and the drawings.

According to the present invention, an unmanned vehicle can be safely and efficiently flown while ensuring a flight distance and a flight time.

It is a front view of an unmanned aircraft. It is a perspective view of an unmanned aircraft viewed from diagonally above the front. It is a figure explaining the structure and principle of a current generator. It is a figure which shows the hardware composition (block diagram) of an unmanned vehicle, and a transmitter. It is a figure which shows the function (software configuration) which a control circuit has. It is a figure which shows the structure (hardware structure) of a charge control device. It is a figure explaining the connection relationship of the power supply device of two unmanned aircraft. It is a figure which shows the state which connected the charge control device of own machine and the charge control device of another machine with a cable. It is a figure explaining the procedure of accommodating an overhead electric wire inside a ring body while an unmanned flying body is flying. It is a figure which shows the state in which an overhead electric wire is accommodated in a ring body, and is connected to an overhead electric wire in a state where two unmanned air vehicles are connected by a cable. It is a figure which shows a state that an unmanned vehicle is charging a battery while inspecting an overhead electric wire. It is a flowchart explaining a flight control process. It is a figure which shows a state in which an unmanned air vehicle whose flight thrust is maintained continues to fly while towing an unmanned air vehicle which loses its flight thrust and is suspended from an overhead electric wire. It is a figure which shows how the other unmanned air vehicle whose flight thrust is maintained hangs and takes back the unmanned air vehicle which lost the flight thrust. It is a figure which shows the other composition of an unmanned air vehicle. An unmanned aircraft with a current generator at the bottom and an unmanned aircraft with a current generator at the top are electrically connected by a cable, and each ring is connected to an overhead electric wire to fly them in formation. It is a figure which shows the state of being.

Hereinafter, modes for carrying out the invention will be described. In the following description, the same or similar configurations may be designated by a common reference numeral and the description thereof may be omitted.

1 and 2 show the appearance of the unmanned vehicle 3 described as an embodiment of the present invention. FIG. 1 is a front view of the unmanned flying object 3, and FIG. 2 is a perspective view of the unmanned flying object 3 as viewed from diagonally above the front. The unmanned vehicle 3 inspects the power transmission and distribution equipment (for example, diagnoses the state of overhead electric wires, transmission towers, utility poles, etc. (checks for scratches, arc marks, bird damage, presence of approaching trees, etc.)).

The unmanned vehicle 3 is, for example, a multicopter (bicopter tricopter, quadcopter, hexacopter, octocopter, etc.), a helicopter, an airplane, a flying robot, or the like. In the following description, it is assumed that the unmanned vehicle 3 is a quadcopter capable of flying by remote control and having an autonomous control mechanism and capable of autonomous flight. In this embodiment, two unmanned aircraft 3 having the configurations described below are made to fly in formation.

As its basic skeleton (frame), the unmanned vehicle 3 extends horizontally at angles of 45 °, 135 °, 225 °, and 315 °, respectively, with reference to the pedestal portion 31 and the + y direction from the pedestal portion 31. A leg portion 33 (including a leg strut 331 and a horizontal leg 332, which will be described later, also referred to as a skid) provided so as to extend downward (−z direction) of the pedestal portion 31. .. The arm 32 and the leg 33 are configured by using, for example, a tubular (cylindrical, square tubular, etc.) or truss-shaped member. These are composed of, for example, resin, metal, or the like.

The pedestal portion 31 has a structure (in this example, two upper and lower stages) having a plurality of stages of plate members in the vertical direction (z-axis direction). The legs 33 are horizontally (fixed to the lower ends of the two leg struts 331 and the leg struts 331, which extend downward with a predetermined length while opening the legs in the left-right direction (± x-axis direction) from the pedestal portion 31 respectively. It has a horizontal leg 332 that extends in a predetermined length (for example, the length in the front-rear direction (y-axis direction) of the unmanned vehicle 3) in the y-axis direction.

A flight control device 250 and a photographing device 282 are provided on the upper stage of the pedestal portion 31. Further, a battery 260 (power storage device), a charge control device 82, which will be described later, and the like are provided in the lower stage of the pedestal portion 31. These are fixed to the pedestal portion 31 using, for example, double-sided tape, hook-and-loop fasteners, screws, and the like.

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

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

FIG. 3 is a diagram illustrating the structure and principle of the current generator 41. The current generator 41, together with the charge control device 82 and the battery 260, constitutes a power supply device 240 that supplies drive power to each configuration of the unmanned vehicle 3.

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

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

The charge control device 82 converts the alternating current input through the conductive coil 412 into direct current and uses it as the charging current of the battery 260. It should be noted that such a configuration of the current generator 41 can also be realized by using, for example, an existing penetrating CT (current transformer) for a power supply (for example, Patent Documents 3 and 4, non-patent documents 3 and 4). See Patent Document 2).

The inner surface of the ring body 411 is made of a material having a small coefficient of friction with the overhead electric wire 2. Therefore, the unmanned flying object 3 can fly (move) along the overhead electric wire 2 while the ring body 411 is connected to the overhead electric wire 2. The shape of the ring body 411 is not necessarily limited, but it is preferable that the ring body 411 has a shape (for example, an annular shape, an elliptical ring shape, etc.) that does not easily cause friction with the overhead electric wire 2 housed in the ring.

FIG. 4 shows the hardware configuration (block diagram) of the unmanned aircraft 3 and the transmitter 6 used by the user. As shown in the figure, the unmanned vehicle 3 includes a flight control device 250, a thrust generator 270, a power supply device 240 (current generator 41, charge control device 82, battery 260), a ring opening / closing device 42, and a photographing device. 282 is provided. Each configuration of the unmanned vehicle 3 (thrust generator 270, flight control device 250, ring opening / closing device 42, and photographing device 282) operates by the electric power supplied from the power supply device 240. The drive power may be supplied to each of the above configurations from the battery 260 or directly from the charge control device 82.

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

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

The control circuit 251 includes a processor (CPU, MPU, etc.) and a storage device (RAM, ROM, NVRAM, external storage device, etc.) and functions as an information processing device. The control circuit 251 may be realized as a microcomputer by integrally packaging a processor and a storage element, for example.

The various sensors 253 include, for example, a gyro sensor (angle velocity sensor), a 3-axis acceleration sensor, a pressure sensor, a magnetic sensor, an ultrasonic sensor, a depth camera (Time Of Flight (TOF) camera, a stereo camera, and a laser radar). LiDAR: Laser imaging Detection and Ranging), infrared depth sensor, ultrasonic sensor, etc.), GPS signal (GPS: Grobal Positioning System) receiver (hereinafter, also referred to as GPS), pressure sensitive sensor, infrared sensor, etc.

The gyro sensor outputs, for example, a signal indicating the tilt of the unmanned vehicle 3 in the front-rear and left-right directions and the angular velocity of rotation. The 3-axis acceleration sensor detects, for example, the acceleration of the unmanned vehicle 3 (acceleration in each direction of front-back, left-right, up-down). The barometric pressure sensor outputs a signal indicating the barometric pressure. The information of the barometric pressure sensor is used, for example, when obtaining the altitude, ascending / descending speed, etc. of the unmanned flying object 3. The magnetic sensor outputs, for example, a signal indicating the direction in which the axis of the unmanned vehicle 3 is currently facing.

For example, an ultrasonic sensor outputs a signal indicating a distance between an unmanned vehicle 3 and surrounding objects (power transmission and distribution equipment, obstacles, the ground, etc.). The depth camera outputs information indicating the distance to an object existing around the unmanned flying object 3.

The GPS signal receiver (GPS) outputs information indicating the current position of the unmanned aircraft 3. For example, by using the GPS signal sent from the quasi-zenith satellite received by the GPS signal receiving device (GPS), the current position of the unmanned flying object 3 can be specified in real time with an error of about several cm. ..

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

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

Various I / F 258s are interfaces for receiving information from users and providing information to users, and include, for example, push buttons, switches, touch panels, LEDs, speakers, and the like.

The communication circuit 259 is a circuit (SPI (Serial Peripheral Interface), I2C (SPI (Serial Peripheral Interface)) for communicating with other configurations (motor control device 254, charge control device 82, ring opening / closing device 42, photographing device 282, etc.) of the unmanned vehicle 3. Inter-Integrated Circuit), RS-232C, USB (Universal Serial Bus), etc.) are included.

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

The ring opening / closing device 42 controls the opening / closing of the ring body 411 when the ring body 411 is attached to the overhead electric wire 2. It includes a mechanism (a servomotor controlled by a control circuit 251, a mechanical opening / closing mechanism, etc.) for performing opening / closing control of the introduction port 416 provided in the unit. In this example, the ring body 411 is composed of a pair of left and right semicircular members, and the ring opening / closing device 42 forms an introduction port 416 for the overhead electric wire 2 on the lower side of the ring body 411 by splitting the ring body 411 in two. It is a structure to do.

The photographing device 282 communicates with, for example, a camera (video camera or digital camera), a camera control mechanism, a gimbal (2-axis gimbal, 3-axis gimbal, etc.) for keeping the shooting direction of the camera constant, and a ground station. Includes communication devices and the like. The photographing device 282 photographs an image of an object (an overhead electric wire 2, a transmission tower, etc.) to be inspected, and wirelessly transmits the photographed image (video data) to a ground station. The ground station, for example, performs image processing, analysis by AI (Artificial Intelligence), or the like on the image received from the unmanned aircraft 3 to grasp the state of the inspection target. The photographing device 282 may have a function of recording (recording) a photographed image (video data) on a recording medium.

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

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

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

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

The flight control unit 513 controls the thrust generator 270 based on the information acquired from the various sensors 253 to autonomously control the flight of the unmanned aircraft 3. This autonomous flight control may be performed automatically or semi-automatically using, for example, AI technology. During passive control such as manual control, the flight control unit 513 controls the thrust generator 270 in response to an instruction from the transmitter 6 received by the wireless communication device 252 to control the flight attitude and operation of the unmanned aircraft 3. To control.

The flight control unit 513 flies unmanned along a preset flight path (a departure point, an inspection route, and a flight path connecting each landing point) based on signals (for example, GPS signals) input from various sensors 253. Fly body 3. The flight path may be manually set or automatically set using AI technology or the like. Further, the flight control unit 513 grasps the distance to the overhead electric wire 2 with high accuracy and in real time based on the signals input from the various sensors 253.

The ring switchgear control unit 515 controls the opening and closing of the ring switchgear 42 (for example, controls the servomotor of the ring switchgear 42).

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

FIG. 6 shows a detailed configuration of the charge control device 82 shown in FIG. As shown in FIG. 4, the charge control device 82 is a charge control device for another unmanned aircraft 3 (hereinafter, also referred to as another aircraft) when the two unmanned aircraft 3 perform formation flight described later. It has a function of communicating with the 82 and a function of supplying the power of the battery 260 of the own machine to another machine. As shown in FIG. 6, the charge control device 82 includes a charge control circuit 811 and a communication circuit 812.

FIG. 7 is a diagram illustrating the connection relationship between the power supply devices 240 of the two unmanned aircraft 3 (own aircraft and other aircraft). As shown in the figure, the charge control device 82 of the own unit and the charge control device 82 of the other unit are electrically connected by a cable (hereinafter, referred to as cable C) including a control / communication line and a power supply line. Has been done. In the present embodiment, the formation flight is performed with the two unmanned aircraft 3 connected by the cable C in this way. The cable C is preferably made of a flexible material in order to suppress the influence on the flight control and attitude control of the unmanned vehicle 3. Further, as will be described later, the cable C is not easily cut so that when one unmanned vehicle 3 loses thrust due to an obstacle or the like, the other unmanned vehicle 3 can suspend one unmanned vehicle 3. It is preferable that it has sufficient strength. Further, in order to reduce the damage of the cable C and prevent the cable C from coming into contact with another object and damaging the other object, the cable C may be covered with a cover such as a bellows hose, for example.

Returning to FIG. 6, the charge control circuit 811 includes a circuit for efficiently charging the battery 260 of the own machine and the other machine, a monitoring circuit of the voltage between the terminals of the battery 260 of the own machine and the other machine, various protection circuits, and the like. Be prepared. The charge control circuit 811 efficiently supplies the received power to the battery 260 of the own machine or the other machine while monitoring the voltage between the terminals of the battery 260 of the own machine or the other machine, so that the battery 260 of the own machine or the other machine Charge. The charge control circuit 811 charges the battery 260 of the own machine or another machine while controlling, for example, the CVCC (Constant Voltage. Constant Current) method. The charge control circuit 811 charges the battery 260 of its own unit or another unit with the electric power supplied from the current generator 41. Further, the charge control circuit 811 can also charge the battery 260 of another unit by the electric power of the battery 260 of its own unit.

The communication circuit 812 communicates with the communication circuit 259 of the flight control device 250 of the own aircraft and the charge control device 82 of the other aircraft. The charge control circuit 811 transmits information on the battery 260 of the own unit or another unit to the control circuit 251 via the communication circuit 812. Further, the charge control circuit 811 acquires the voltage between terminals of the battery 260 of another device via the communication circuit 812.

FIG. 8 shows a state in which the charge control device 82 of the own unit and the charge control device 82 of the other unit are connected by a cable C. In order to suppress the influence of one unmanned vehicle 3 on the flight control and attitude control of the other unmanned vehicle 3, it is preferable to keep the cable C in a state where the cable C is not always tense during the flight of the unmanned vehicle 3. For example, each unmanned flying object 3 performs precise position control using the information of various sensors 253, so that the cable C can fly in formation in a loosened state.

[Combination with overhead power lines]
The two unmanned aviators 3 fly in a formation while maintaining the state of being connected by the cable C, approach the imaginary electric wire 2 from above the imaginary electric wire 2, and insert the imaginary electric wire 2 into the ring hole 415 of each ring body 411. It is housed and combined with the overhead power line 2 while maintaining the formation flight.

FIG. 9 is a diagram illustrating a procedure in which an overhead electric wire 2 is housed inside a ring body 411 while each of the two unmanned flying bodies 3 is flying. As shown in (a), the unmanned vehicle 3 first approaches the overhead electric wire 2 from above. Subsequently, as shown in (b), the unmanned flying object 3 opens a part of the ring of the ring body 411 and descends, and accommodates the overhead electric wire 2 in the hole 415 of the ring body 411. Then, as shown in (c), the unmanned flying object 3 closes the ring body 411 and connects with the overhead electric wire 2.

As shown in FIG. 10, the two unmanned vehicle 3s fly while being connected by the cable C, approach the overhead electric wire 2, accommodate the overhead electric wire 2 in the ring body 411, and connect the overhead electric wire 2 to the overhead electric wire 2. ..

As shown in FIG. 11, after the two unmanned flying objects 3 are coupled to the overhead electric wire 2, the overhead electric wire 2 extends while charging the battery 260 by the current generated by the electromagnetic induction action by the current flowing through the overhead electric wire 2. Fly along the direction of discharge and inspect the overhead power line 2 and the like (for example, take a picture of the power transmission and distribution equipment to be inspected and the surrounding conditions).

During the formation flight along the overhead power line 2, the two unmanned aircraft 3 have appropriate positions for the separation distance from the overhead power line 2 and the distance from other aircraft based on the information acquired from each of the various sensors 253. Control in real time so that

As described above, since the inner surface of the ring body 411 is made of a material having a small coefficient of friction with the overhead electric wire 2, both of the two unmanned flying objects 3 can move smoothly along the overhead electric wire 2. can. In the state where the two unmanned flying objects 3 are connected to the overhead electric wire 2 in this way, for example, even if the buoyancy is lost or a gust of wind blows due to a shortage or failure of the battery 260, the ring body 411 becomes the overhead electric wire 2. Since it is hung, it will not fall or deviate from the flight route.

When an object that interferes with flight, such as a power transmission tower, approaches, the two unmanned aircraft 3 are imaginary by breaking the connection of the overhead electric wires 2 to the ring body 411 by following the procedure shown in FIG. 9 in reverse. Separate from the electric wire 2.

[Flight control processing]
FIG. 12 is a flowchart illustrating a process (hereinafter, referred to as flight control process S1200) performed by two unmanned aircraft 3 connected by a cable C during formation flight for inspection. Hereinafter, the flight control process S1200 will be described with reference to the drawings.

As shown in the figure, first, at the departure point, the two unmanned aircraft 3 memorize the flight path 532 by the user registration operation or the like (S1211), and use the charging equipment provided on the ground to use the battery 260. (Charging before flight) (S1212). When setting the flight path 532, the user sets the distance between the two unmanned aircraft 3 during formation flight.

Subsequently, the two unmanned aircraft 3 take off from the departure point while flying in formation while being connected by the cable C, and start the formation flight along the flight path 532 (S1213). During the flight, each unmanned vehicle 3 grasps its current position in real time based on the information of various sensors 253 such as GPS, and determines whether or not it has approached the overhead electric wire 2 (S1214). For example, when the distance between the current position and the overhead power line 2 is equal to or less than a preset distance, the two unmanned vehicle bodies 3 are determined to have approached the overhead power line 2.

When the two unmanned flying bodies 3 determine that they have approached the overhead electric wire 2 (S1214: YES), the ring body 411 is coupled to the overhead electric wire 2 by the above-mentioned procedure shown in FIG. 9 (S1215).

Subsequently, the two unmanned aircraft 3 start flying along the overhead power line 2 based on the information acquired from various sensors 253, and inspect the power transmission and distribution equipment (photographing the overhead power line 2 and shooting images (video data). ) To the ground station, etc.) is started (S1216). At this time, for example, by setting the photographing device 282 so that the photographing ranges of the two unmanned flying objects 3 are as different as possible, the photographing time can be shortened and the efficiency can be reduced. You can shoot well.

Even if the unmanned flying object 3 loses the thrust required for flight due to some abnormality such as a dead battery or a failure during flight, the ring body 411 of the unmanned flying object 3 remains connected to the overhead electric wire 2. Therefore, the unmanned aircraft 3 is suspended from the overhead electric wire 2.

As shown in FIG. 13, when one of the unmanned aircraft 3 loses the thrust required for flight due to some abnormality, for example, the other unmanned aircraft 3 whose flight thrust is maintained. However, by continuing the flight while towing one unmanned flying object 3 while being connected to one unmanned flying object 3 suspended from the overhead electric wire 2 by the cable C, operations such as inspection of power transmission and distribution equipment are performed. Can be carried out continuously. In such a case, for example, the power supply device 240 of the other unmanned vehicle 3 charges the one unmanned vehicle 3 by supplying power to the one unmanned vehicle 3 via the cable C. It may be possible to return to a state in which it can fly (try to return).

Further, for example, as shown in FIG. 14, in such a case, the other unmanned aircraft 3 stops the inspection of the power transmission and distribution equipment, releases the connection between the ring body 411 and the overhead electric wire 2, and separates from the overhead electric wire 2. Then, one of the failed unmanned aircraft 3 may be suspended and brought back to the landing site. In this case, it is necessary to release the connection between the ring body 411 and the overhead electric wire 2 for one of the unmanned flying objects 3, but the electric power required for that purpose (the electric power for operating the ring opening / closing device 42) and the transmitter The electric power for communicating with 6 (assuming that the ring opening / closing device 42 is remotely operated from the transmitter 6) can also be supplied from the other unmanned vehicle 3 via the cable C.

Returning to FIG. 12, during the inspection, the two unmanned aircraft 3 make a formation flight along the overhead power line 2 and determine in real time whether or not it is time to separate from the overhead power line 2 (S1217). The timing of disconnecting from the overhead electric wire 2 is, for example, when the unmanned vehicle 3 approaches an obstacle (transmission tower, snow accretion ring, anti-twist damper, etc.), or the current position is set in advance in the flight path 532. It will come when the inspection of the section to be inspected is completed.

When the timing of disconnecting from the overhead power line 2 arrives (S1217: YES), the two unmanned aircraft 3 each open the ring body 411 and separate from the overhead power line 2 (S1218). If the timing to separate from the overhead power line 2 has not arrived (S1217: NO), the two unmanned aircraft 3 continue to fly along the overhead power line 2 as they are.

Subsequently, the two unmanned aircraft 3 determine whether or not the timing of returning is reached (S1219). The timing of the return will come, for example, when all the scheduled inspection work has been completed, when some kind of failure has occurred, or when a return instruction has been received from the ground station.

If the timing of return has not arrived (S1219: NO), the process returns to S1214 and the two unmanned aircraft 3 continue to fly for inspection. If the timing of return is reached (S1219: YES), the process proceeds to S1220, and the two unmanned aircraft 3 start the flight for return (S1220), and when they reach the sky above the landing site, they land. And land at the landing site (S1221).

As described in detail above, according to the configuration and method of the present embodiment, the unmanned vehicle 3 can receive electric power from the overhead electric wire 2 while flying, and can extend the flight distance and flight time. .. Therefore, for example, the unmanned vehicle 3 can be flown for a long distance or for a long time without accessing a charging station or the like, and operations such as inspection of power transmission and distribution equipment can be efficiently performed. In addition, when the buoyancy is lost due to insufficient remaining capacity of the battery 260 or a failure, or when a gust of wind occurs, the ring body 411 hangs on the overhead electric wire 2, so that the unmanned flying body 3 falls or deviates from the flight route. This can be prevented and the unmanned vehicle 3 can be safely flown. As described above, according to the configuration and method of the present embodiment, the unmanned flying object 3 can be safely flown while securing the flight distance and the flight time.

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

If the power of one unmanned vehicle 3 is insufficient, power can be supplied from the other unmanned vehicle 3. Further, by flying a plurality of unmanned aircraft 3 in formation, many tasks can be efficiently performed at one time. As described above, according to the configuration and method of the present embodiment, the unmanned flying object 3 can be safely and efficiently flown while securing the flight distance and the flight time.

By the way, the above description is for facilitating the understanding of the present invention, and does not limit the present invention. It goes without saying that the present invention can be modified and improved without departing from the spirit thereof, and the present invention includes its equivalents. For example, the above-described embodiment has been described in detail in order to explain the present invention in an easy-to-understand manner, and is not necessarily limited to the one including all the described configurations. Further, it is possible to add / delete / replace a part of the configuration of the above embodiment with another configuration.

For example, in the above embodiment, the unmanned flying object 3 is configured to approach from above the overhead electric wire 2 and connect the ring body 411 to the overhead electric wire 2. However, for example, as shown in FIG. 15, the current generator 41 May be provided on the upper part of the unmanned air vehicle 3, and the ring body 411 may be connected to the overhead electric wire 2 by approaching the overhead electric wire 2 from below the overhead electric wire 2 while flying. In this way, for example, it is possible to take a picture from the lower side of the overhead electric wire 2.

Further, for example, as shown in FIG. 16, an unmanned aircraft 3 having a current generator 41 at the bottom and an unmanned aircraft 3 having a current generator 41 at the top are electrically connected by a cable C, and each of them is connected. The ring body 411 may be connected to the overhead electric wire 2 so that both of them fly in formation. In this case, for example, the aerial electric wire 2 can be photographed from different directions by the photographing device 282 mounted on both of them, and a large amount of information can be efficiently acquired.

Further, in the above embodiment, two unmanned aircraft 3 are connected by a cable C to fly in formation, but more unmanned aircraft 3 may be connected by a cable C to fly in formation.

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

In each of the above figures, the control lines and information lines are shown as necessary for explanation, and not all the control lines and information lines in the implementation are necessarily shown. For example, in practice almost all configurations may be considered interconnected.

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

2 Overhead power line, 3 Unmanned air vehicle, 6 Transmitter, C cable, 41 Current generator, 42 Ring switchgear, 82 Charge control device, 240 Power supply device, 250 Flight control device, 251 control circuit, 260 battery, 270 thrust Generator, 282 Imaging device, 411 Ring body, 412 Conductive coil, 415 holes, 416 inlet, 513 Flight control unit, 515 Ring switchgear control unit, 811 Charge control circuit, 812 communication circuit, S1200 Flight control processing

Claims (10)

Thrust generator and
A flight control device that controls the thrust generator and
An annular ring body that can open and close a part of the ring, and a current generator having a conductive coil wound around the ring body.
A ring opening / closing device that opens / closes a part of the ring of the ring body,
A power supply device that supplies electric power based on the current generated in the conductive coil to the thrust generator or the flight control device.
It is a control method of an unmanned aircraft equipped with
The two unmanned vehicles are electrically connected via a cable so that the power supply device of one of the unmanned aircraft can supply power to the power supply device of the other unmanned vehicle. death,
The two unmanned aircraft
Steps to fly in formation and approach overhead power lines while maintaining the above state,
A step of opening a part of the ring of each ring body while flying and accommodating an overhead electric wire inside each ring.
Steps to close a part of each of the rings while flying, and
A step of supplying the electric power based on the current generated in the conductive coil by the electromagnetic induction action of the current flowing through the overhead electric wire to the thrust generator or the flight control device.
A step of flying along the overhead wire with the overhead wire housed inside the ring.
How to control an unmanned aircraft to perform. The method for controlling an unmanned aircraft according to claim 1.
When the overhead wire is housed inside the ring and the flight is carried out along the overhead wire, the thrust of one of the two unmanned aviators is lost. Further performing a step of pulling the unmanned vehicle by the other unmanned vehicle via the cable.
How to control an unmanned aircraft. The method for controlling an unmanned aircraft according to claim 1.
When the thrust of one of the two unmanned aviators is lost while flying along the imaginary wire with the imaginary wire housed inside the ring, the said The step of opening a part of the ring of the ring body of each of the two unmanned aircraft to separate the two unmanned aircraft from the overhead wire, and the other unmanned aircraft disengaging the one unmanned aircraft. Steps to fly while hanging,
How to control an unmanned aircraft to further execute. The method for controlling an unmanned aircraft according to claim 1.
Each of the two unmanned vehicles supplies power from one of the unmanned vehicle's power supply devices to the other of the unmanned vehicle's ring switchgear.
How to control an unmanned aircraft. The method for controlling an unmanned aircraft according to any one of claims 1 to 4.
The unmanned aircraft is equipped with a photographing device for photographing the surroundings, and is equipped with a photographing device.
The unmanned vehicle further executes the step of photographing the overhead electric wire while flying with the overhead electric wire housed inside the ring.
How to control an unmanned aircraft. The method for controlling an unmanned aircraft according to any one of claims 1 to 4.
The current generator is configured using a through-type current transformer.
How to control an unmanned aircraft. The method for controlling an unmanned aircraft according to any one of claims 1 to 4.
One of the two unmanned aircraft mentioned above
The pedestal on which the flight control device is provided and
A plurality of arms extending from the pedestal portion in the outer peripheral direction of the pedestal portion with a predetermined length and provided with the thrust generator, and
A plurality of leg struts that extend below the pedestal and
With
The current generator is provided in a space surrounded by the plurality of leg struts with a part of the ring facing downward.
How to control an unmanned aircraft. The method for controlling an unmanned aircraft according to any one of claims 1 to 4.
One of the two unmanned aircraft mentioned above
The pedestal on which the flight control device is provided and
A plurality of arms extending from the pedestal portion in the outer peripheral direction of the pedestal portion with a predetermined length and provided with the thrust generator, and
With
The current generator is provided above the pedestal portion with a part of the ring facing upward.
How to control an unmanned aircraft. The method for controlling an unmanned aircraft according to any one of claims 1 to 4.
The unmanned aircraft
The pedestal on which the flight control device is provided and
A plurality of arms extending from the pedestal portion in the outer peripheral direction of the pedestal portion with a predetermined length and provided with the thrust generator, and
A plurality of leg struts that extend below the pedestal and
With
The current generator of one of the two unmanned aircraft is provided in a space surrounded by the plurality of leg struts with a part of the ring facing downward.
The current generator of the unmanned vehicle, which is the other of the two unmanned vehicles, is provided above the pedestal portion with a part of the ring facing upward.
How to control an unmanned aircraft. The method for controlling an unmanned aircraft according to any one of claims 1 to 4.
The power supply device is
A power storage device that supplies electric power to the thrust generator or the flight control device,
A charge control device that supplies electric power based on the current generated in the conductive coil to the power storage device, and
Further prepare
How to control an unmanned aircraft.

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