JP7052299B2 - How to control unmanned aircraft and unmanned aircraft - Google Patents

Description

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

Patent Document 1 describes "preventing collision accidents of flying objects such as helicopters with obstacles" and "helicopters and ground stations are provided with GPS signal receivers, respectively, and helicopters are used with GPS signals from GPS satellites. In addition, the helicopter and the ground station will be provided with satellite communication devices for transmitting and receiving control data to and from the data communication satellites. Furthermore, the coordinates of obstacles such as steel towers and transmission lines will be detected. If you enter it in advance and the helicopter gets too close to the obstacle, an alarm will be issued or it will be avoided by automatic maneuvering. "

Patent Document 2 states that "an unmanned aircraft is present in a camera that captures a vertical image of an unmanned aircraft and an area in which an area where the unmanned aircraft may crash is superimposed on the image. An image processing unit that detects an avoidance object, a crash avoidance flight control unit that controls the flight of an unmanned aircraft so that the avoidance object is not detected from within the area when the avoidance object is detected, and a crash avoidance flight. It is equipped with a crash possibility area determination unit that changes the area according to the control result of the control unit. "

Patent Document 3 states, "The induced current from the overhead wire flowing through the ground wire of the overhead wire is taken out, converted to DC to charge the storage battery, and the storage battery is used as a power source." A current modifier with a ground wire as the primary winding is provided for current extraction, and the current modifier 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 wound around the core (the primary winding corresponds to the distribution line to be measured). Have been described.

Non-Patent Document 1 describes a power supply device for an aviation obstruction light that utilizes an induced current flowing through an overhead ground wire.

Japanese Unexamined Patent Publication No. 2003-127997 Japanese Unexamined Patent Publication No. 2005-265699 Japanese Unexamined Patent Publication No. 49-95159 Japanese Unexamined Patent Publication No. 2004-103791

"Institute of Electrical Engineers of Japan B", "Development of power supply for aviation fault lights utilizing induced current flowing through overhead ground wire", 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

Conventionally, visual inspection by workers has been the mainstream in patrols and inspections of power transmission and distribution equipment in the electric power infrastructure business. However, when inspecting difficult-to-access places such as mountainous areas, not only does it take time to move to the site, but it often requires a great deal of labor to ascend the tower. Recently, efforts have begun to manage and monitor power transmission equipment using unmanned aerial vehicles such as drones for the purpose of reducing the load on workers, improving safety, and solving the shortage of human resources.

Here, when an unmanned aerial vehicle (drone or the like) is used for inspection work of power transmission and distribution equipment, the problem is that the flight distance and flight time are limited by the capacity and weight of the power storage device (battery). It is also necessary for unmanned aircraft to fly efficiently and safely while avoiding obstacles provided throughout the power transmission and distribution equipment.

The present invention has been made in view of such a background, and a method for controlling an unmanned aircraft and an unmanned aircraft capable of efficiently and safely flying an unmanned aircraft while ensuring a flight distance and a flight time are provided. The purpose is to provide.

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 the lower end of the ring, and the ring body. A current generator having a conductive coil wound along the wire, a ring switchgear that opens and closes the lower end of the ring of the ring body, and a power generated by the conductive coil to generate electric power based on the thrust generator or the flight. A method for controlling an unmanned aviator of a multicopter type, which comprises a power supply device for supplying a control device and a sensor for outputting information indicating a distance between an object existing in the surroundings, wherein the unmanned aviation body is a control method. , A step of descending and approaching the overhead electric current from above the overhead electric current, and by descending with the lower end of the ring of the ring body open larger than the diameter of the overhead electric current, the inside of the ring A step of accommodating an overhead electric wire, a step of closing the lower end of the ring while flying, and an electromagnetic current flowing through the overhead electric wire while flying along the overhead electric wire while accommodating the overhead electric wire inside the ring. A step of supplying the electric power based on the current generated in the conductive coil by the inductive action to the thrust generator or the flight control device, an obstacle provided in the overhead electric wire when flying along the overhead electric wire. When it is detected that the ring body is within a predetermined distance range, the lower end of the ring of the ring body is opened larger than the diameter of the overhead electric current and ascends to separate from the overhead electric current and becomes the overhead electric current. When it is detected that the step of flying to avoid the obstacle along the obstacle and the obstacle is out of the predetermined distance range , the lower end portion of the ring of the ring body is made larger than the diameter of the overhead electric current. By opening and flying down , the overhead electric wire is housed inside the ring, and the current generated in the conductive coil while flying along the overhead wire with the overhead wire housed inside the ring. The step of resuming flight, which supplies the electric power based on the electric current to the thrust generator or the flight control device, is executed.

According to the present invention, since 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 is supplied to the thrust generator or the flight control device, the unmanned aircraft supplies electric power from the overhead electric wire while flying. You can receive it, and you can extend the flight distance and flight time. Therefore, for example, an unmanned vehicle can be flown over a long distance or for a long time without accessing a charging station or the like, and work such as inspection of power transmission and distribution equipment can be 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 will hang on the overhead wire, causing the unmanned flight object to fall or deviate from the flight route. Can be prevented and unmanned aircraft can be flown safely. In addition, when approaching an obstacle provided on the overhead power line, it will fly to avoid it, and after avoiding it, it will resume flight along the overhead power line while receiving power, making unmanned aircraft efficient and safe. Can be flown. As described above, according to the present invention, it is possible to fly an unmanned vehicle efficiently and safely while ensuring a flight distance and a flight time.

Another method of the present invention is a method for controlling the unmanned vehicle, wherein the ring body is provided below the unmanned vehicle, and the unmanned vehicle flies above the obstacle. By doing so, the obstacle is avoided.

According to the present invention, the unmanned vehicle flies above the obstacle when avoiding the obstacle. Therefore, for example, when inspecting the power transmission and distribution equipment, information on the upper side of the overhead electric wire (photographed image, etc.) ) Can be obtained.

Another method of the present invention is a method for controlling the unmanned vehicle, wherein the ring body is provided above the unmanned vehicle, and the unmanned vehicle flies below the obstacle. By doing so, the obstacle is avoided.

According to the present invention, the unmanned vehicle flies below the obstacle when avoiding the obstacle. Therefore, for example, when inspecting the power transmission and distribution equipment, information on the lower side of the overhead electric wire (photographed image, etc.) ) Can be obtained.

Another method of the present invention is the control method of the 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 the state of being in the above position.

According to the present invention, when inspecting a power transmission / distribution facility or the like, the photographed image of the power transmission / distribution equipment such as the overhead power line is efficiently acquired while securing the flight distance and the flight time by receiving the power supply from the overhead power supply. be able to.

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.

As described above, the current generator of the present invention can be easily realized by using a through-type current transformer.

The other one of the present invention is a thrust generator, a flight control device that controls the thrust generator, an annular ring body that can open and close a part of the ring, and a conductive coil wound around the ring body. Based on a current generator having a current generator, a ring switchgear that opens and closes a part of the ring of the ring body, and a current generated in the conductive coil by an electromagnetic induction action of a current flowing through an overhead electric wire housed inside the ring. An unmanned vehicle equipped with a power supply device that supplies electric power to the thrust generator or the flight control device and a sensor that outputs information indicating a distance between an object existing in the surroundings, and is in flight. Control to approach the overhead electric current, control to open a part of the ring of the ring body while flying to accommodate the overhead electric current inside the ring, control to close a part of the ring while flying, inside the ring. While flying along the overhead electric wire while accommodating the overhead electric wire, 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 is used as the thrust generator or the flight control device. When it is detected that the ring body is within a predetermined distance range from an obstacle provided in the overhead electric current while flying along the overhead electric current, the ring body is separated from the overhead electric current. , Control to fly along the overhead wire so as to avoid the obstacle, and when it is detected that the obstacle is out of the predetermined distance range, the overhead wire is housed inside the ring. Control is performed to resume flight by supplying the electric power based on the current generated in the conductive coil to the thrust generator or the flight control device while flying along the overhead electric wire.

Another one of the present invention is the unmanned vehicle, in which the ring body is provided below the unmanned vehicle and controls to avoid the obstacle by flying above the obstacle. I do.

Another one of the present invention is the unmanned vehicle, in which the ring body is provided above the unmanned vehicle and controls to avoid the obstacle by flying below the obstacle. I do.

Another aspect of the present invention is the unmanned flying object, which is provided with a photographing device for photographing the surroundings, and controls to photograph the overhead electric wire while flying with the overhead electric wire housed inside the ring. conduct.

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

Another one of the present invention is the 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 power based on a current generated in the conductive coil. Is further provided with a charge control device for supplying the power storage device.

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 efficiently and safely 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 the principle of a current generator. It is a figure which shows the hardware composition (block diagram) of an unmanned air 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 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 which an unmanned vehicle is charging a battery while inspecting an overhead electric wire. It is a flowchart explaining the flight control process. It is a flowchart explaining the power receiving / inspection process. Explains a series of situations in which an unmanned aircraft interrupts the power receiving / inspection flight when approaching an obstacle on the overhead power line, performs an avoidance flight, connects to the overhead power line again, and resumes the power receiving / inspection flight. It is a figure. It is a figure which shows the other composition of an unmanned air vehicle. A series of unmanned aircraft of other configurations interrupt the power receiving / inspection flight when approaching an obstacle of the overhead power line, perform avoidance flight, connect to the overhead power line again, and resume the power receiving / inspection flight. It is a figure explaining the situation.

Hereinafter, embodiments 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 flying object 3 inspects the power transmission and distribution equipment (for example, diagnosis of the condition of overhead electric wires, power transmission towers, utility poles, etc. (confirmation of scratches, arc marks, bird damage, approaching trees, etc.)). conduct.

The unmanned vehicle 3 is, for example, a multicopter (bicopter, quadcopter, quadcopter, hexacopter, octocopter, etc.), a helicopter, an airplane, a flying robot, or the like. In the following description, it is assumed that the unmanned aircraft 3 is a quadcopter capable of flying by remote control and having an autonomous control mechanism and capable of autonomous flight.

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 having a plurality of stages of plate materials in the vertical direction (z-axis direction) (in this example, two upper and lower stages). The legs 33 are horizontally (fixed to the lower ends of the two leg columns 331 and the leg columns 331, which extend downward to 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 extending 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, a hook-and-loop fastener, a screw, or 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 struts 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 a 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 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 type CT for power supply (Current Transformer) (for example, Patent Documents 3 and 4, non-patent documents 3 and 4). See Patent Document 1).

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 coupled 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.) in which friction with the aerial electric wire 2 housed in the ring is unlikely to occur.

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 flying object 3 (thrust generator 270, flight control device 250, ring opening / closing device 42, and photographing device 282) operates by 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, control of 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, so that the unmanned vehicle 3 operates (posture (pitch, roll, yaw), moves (forwards)). , 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, for example, a microcomputer in which a processor and a storage element are integrally packaged.

The various sensors 253 include, for example, a gyro sensor (angle speed sensor), a 3-axis acceleration sensor, a pressure sensor, a magnetic sensor, an ultrasonic sensor, a distance measuring sensor, a depth camera (TOF: Time Of Flight) camera, and a stereo camera. , 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 And so on.

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

The ultrasonic sensor outputs, for example, a signal indicating the distance between the unmanned vehicle 3 and surrounding objects (power transmission / distribution equipment, obstacles, ground, etc.).

The depth camera outputs information indicating the distance to an object such as an obstacle existing around the unmanned flying object 3.

The GPS signal receiver (GPS) outputs information indicating the current position of the unmanned vehicle 3. For example, by using a GPS signal transmitted from a quasi-zenith satellite received by a 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 sensor is provided, for example, at a predetermined position on the leg 33 of the unmanned flying object 3, and outputs a signal indicating that the predetermined portion of the unmanned flying object 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 of a pressure-sensitive sensor, and performs flight control for avoiding the object or leaving the object.

The wireless communication device 252 directly or indirectly wirelessly communicates with the transmitter 6 existing in a remote place. The wireless communication device 252 receives the wireless signal transmitted from the transmitter 6 and inputs the content of the received wireless signal to the control circuit 251. The transmitter 6 may include a video reception display device (FPV (First Persons View) device or the like) that displays 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 communication circuit (SPI (Serial Peripheral Interface), I2C) for communicating with other configurations of the unmanned vehicle 3 (motor control device 254, charge control device 82, ring opening / closing device 42, photographing device 282, etc.). (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 into 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 to be inspected (an overhead electric wire 2, a power transmission tower, etc.), 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 switchgear 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 various sensors 253 to autonomously control the flight of the unmanned flight object 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 (starting point, inspection route, and 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 is based on the signals input from various sensors 253, and the distance to the overhead electric wire 2 and the approach of an obstacle (whether or not the obstacle exists within a predetermined range from its own current position). Is grasped with high accuracy and in real time. The obstacle is, for example, a power transmission / distribution facility (a power transmission tower, a utility pole, an overhead electric wire 2, and various facilities provided in the overhead electric wire 2). Various facilities provided in the overhead electric wire 2 include, for example, dampers (tortional dampers, pipeless dampers, bate dampers, stock bridge dampers, armor rods, etc.) that suppress the vibration of electric wires due to wind, snow accretion rings, and icing preventers. , Counter weights for preventing twisting, various spacers, eccentric weights, sleeves, various clamps, insulators, etc.

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, shooting direction, zoom magnification control, etc.).

FIG. 6 is a configuration (hardware configuration) of the charge control device 82 shown in FIG. As shown in the figure, the charge control device 82 includes a charge control circuit 811 and a communication circuit 812. The charge control circuit 811 includes a circuit for efficiently charging the battery 260, a voltage monitoring circuit between terminals of the battery 260, various protection circuits, and the like. The charge control circuit 811 efficiently supplies the received power to the battery 260 while monitoring the voltage between the terminals of the battery 260 to charge the battery 260. The charge control circuit 811 charges the battery 260 while controlling, for example, a CVCC (Constant Voltage. Constant Current) method.

The communication circuit 812 communicates with the communication circuit 259 of the flight control device 250. The charge control circuit 811 transmits the information of the battery 260 to the control circuit 251 via the communication circuit 812.

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

FIG. 7 is a diagram illustrating a procedure for accommodating an overhead electric wire 2 inside the ring body 411 while the unmanned vehicle body 3 is flying. The unmanned aircraft 3 first approaches the overhead electric wire 2 from above as shown in (a). 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 is coupled to the aerial electric wire 2.

As shown in FIG. 8, after being coupled to the overhead electric wire 2, the unmanned vehicle 3 charges the battery 260 by the current generated by the electromagnetic induction action by the current flowing through the overhead electric wire 2, and the overhead electric wire 2 extends along the extending direction. 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). As described above, since the inner surface of the ring body 411 is made of a material having a small coefficient of friction with the overhead electric wire 2, the unmanned flying object 3 can smoothly move along the overhead electric wire 2. In the state where the unmanned flying object 3 is 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 insufficient remaining amount of the battery 260 or a failure, the ring body 411 becomes the overhead electric wire 2. Since it is hung, the unmanned aircraft 3 does not fall or deviate from the flight route.

When an object that hinders flight, such as a power transmission tower, approaches, the unmanned vehicle 3 disengages from the overhead wire 2 by breaking the connection between the ring body 411 and the overhead wire 2 by following the procedure shown in FIG. 7 in reverse. ..

FIG. 9 is a flowchart illustrating a process (hereinafter, referred to as flight control process S900) performed by the unmanned vehicle 3 during flight for inspection of power transmission equipment. Hereinafter, the flight control process S900 will be described with reference to the figure.

As shown in the figure, first, at the departure point, the unmanned vehicle 3 stores the flight path 532 by a user registration operation or the like (S911), and charges the battery 260 using the charging equipment provided on the ground (S911). Pre-flight charging) (S912).

Subsequently, the unmanned aircraft 3 takes off from the departure point and starts flying along the flight path 532 (S913). During flight, the 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 target overhead electric wire 2 (S914). For example, when the distance between the current position of the unmanned vehicle 3 and the overhead power line 2 is equal to or less than a preset distance, the unmanned vehicle 3 determines that the vehicle has approached the overhead power line 2.

When the unmanned aircraft 3 determines that it has approached the target overhead power line 2 (S914: YES), it starts the power receiving process and the inspection process (hereinafter referred to as power receiving / inspection process S915) from the overhead power line 2.

FIG. 10 is a flowchart illustrating the details of the power receiving / inspection process S915. Hereinafter, the power receiving / inspection process S915 will be described together with the figure.

As shown in the figure, first, the unmanned flying object 3 connects the ring body 411 to the overhead electric wire 2 by the above-mentioned procedure shown in FIG. 7 (S1011).

Subsequently, the unmanned aircraft 3 starts flying along the overhead electric wire 2 (hereinafter referred to as power receiving / inspection flight) while performing flight control based on the information acquired from various sensors 253, and the power transmission / distribution facility. Processing for inspection (for example, shooting of the overhead electric wire 2, the power transmission tower, and the surrounding situation, transmission of the shot video (video data) to the ground station, etc.) is started (S1012). During the power receiving / inspection flight, the unmanned vehicle 3 controls the separation distance from the overhead electric wire 2 to an appropriate position based on the information acquired from the various sensors 253.

The unmanned vehicle 3 determines in real time whether or not the inspection is completed during the power receiving / inspection flight (S1013). If it is determined that the unmanned aircraft 3 has not completed the inspection (S1013: NO), the process proceeds to S1014. On the other hand, when it is determined that the unmanned aircraft 3 has completed the inspection (S1013: YES), the process proceeds to S1017.

In S1014, the unmanned flying object 3 determines whether or not it has approached an obstacle (whether or not the obstacle exists within a predetermined distance from its current position). When it is determined that the unmanned flying object 3 is approaching an obstacle (S1014: YES), the unmanned flying object 3 opens the ring body 411, separates from the overhead electric wire 2, and interrupts the power receiving / inspection flight (S1015). , A flight for avoiding an obstacle (hereinafter, also referred to as an avoidance flight) is performed along the overhead electric wire 2 (S1016). After that, the process returns to S1011 and the unmanned flying object 3 again connects the ring body 411 to the overhead electric wire 2 (S1011) and resumes the power receiving / inspection flight (S1012).

In FIG. 11, the unmanned vehicle 3 approaches the obstacle B provided on the overhead power line 2, separates from the overhead power line 2, interrupts the power receiving / inspection flight, performs an avoidance flight, and then reappears to the overhead power line 2. It is a figure explaining a series of situations from the combination to the resumption of a power receiving / inspection flight.

As shown in the figure, when the unmanned vehicle 3 approaches (a) an obstacle B during a power receiving / inspection flight, (b) opens the ring body 411 and separates from the aerial electric wire 2 to perform a power receiving / inspection flight. It interrupts and ascends the approaching obstacle B to a height that can be avoided. At this time, how much the unmanned vehicle 3 rises is automatically determined, for example, based on the values input from the various sensors 253 by the unmanned vehicle 3. Further, for example, the user may be able to set in advance how much the unmanned vehicle 3 rises in the unmanned vehicle 3 or the transmitter 6 according to the situation at the site or the like.

Subsequently, the unmanned flying object 3 (c) flies over the obstacle along the overhead power line 2, and (d) descends at a sufficient distance from the obstacle B and approaches the overhead power line 2. At this time, how much the unmanned vehicle 3 is separated from the obstacle B to start descending is automatically determined, for example, based on the values input from the various sensors 253 by the unmanned vehicle 3. .. Further, for example, depending on the situation at the site or the like, the user starts the descent when the unmanned aircraft 3 is separated from the obstacle B in advance (for example, how long the descent is started). May be set to the unmanned aircraft 3 or the transmitter 6.

After that, (e) the unmanned flying object 3 connects the ring body 411 to the overhead electric wire 2 again, and resumes the power receiving / inspection flight.

Returning to FIG. 10, in S1017, the unmanned flying object 3 opens the ring body 411 by the above-mentioned procedure, separates from the overhead electric wire 2, and ends the power receiving / inspection flight along the overhead electric wire 2 (S1014).

Returning to FIG. 9, in S918, the unmanned aircraft 3 determines whether or not the timing of return has arrived. The timing of the return is, for example, when all the scheduled inspection work (power receiving / inspection flight along all the planned overhead power lines 2) is completed or when some trouble occurs, from the ground station. It arrives when a return instruction is received.

If the timing of return is not reached (S918: NO), the process returns to S914. If the timing of return is reached (S918: YES), the process proceeds to S919, the unmanned aircraft 3 starts the flight for return, and when it reaches the sky above the landing site, it controls for landing. Land at the landing site (S920).

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 the flight distance (flight time) of the unmanned vehicle 3 can be obtained. ) Can be extended. 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 work 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 aerial electric wire 2, so that the unmanned vehicle body 3 falls or deviates from the flight route. It 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, according to the configuration and method of the present embodiment, when the unmanned flying object 3 is performing a power receiving / inspection flight along the overhead electric wire 2, when it approaches an obstacle B provided in the overhead electric wire 2, it automatically performs. The flight is separated from the overhead electric wire 2 and an avoidance flight is performed along the overhead electric wire 2, and after avoiding the obstacle B, a power receiving / inspection flight is performed again. Therefore, the unmanned flying object 3 can efficiently proceed with the inspection work by avoiding the obstacle B even when the obstacle B is provided on the overhead electric wire 2.

By the way, the above description is for facilitating the understanding of the present invention, and does not limit the present invention. The present invention can be modified and improved without departing from the spirit thereof, and it goes without saying that the present invention includes an equivalent thereof. 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.

Each of the above configurations, functional units, processing units, processing means, and the like may be realized by hardware, for example, by designing a part or all of them with 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 do not necessarily show all the control lines and information lines in the implementation. 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.

Further, 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. For example, as shown in FIG. 12, the current generator 41 is unmanned. It may be provided on the upper part of the flying object 3. In this case, the unmanned flying object 3 approaches the overhead electric wire 2 from below the overhead electric wire 2 while flying, and connects the ring body 411 to the overhead electric wire 2. By doing so, for example, it is possible to take a picture from the lower side of the overhead electric wire 2.

In this case, for example, the obstacle B can be avoided as shown in FIG. That is, during the power receiving / inspection flight, when (a) approaching the obstacle B, (b) the ring body 411 is opened and separated from the overhead electric wire 2 to interrupt the power receiving / inspection flight and avoid the approaching obstacle B. Descend to the height possible. At this time, how much the unmanned vehicle 3 descends is automatically determined based on, for example, the values input from the various sensors 253 by the unmanned vehicle 3. Further, for example, the user may be able to set in advance how much the unmanned vehicle 3 rises in the unmanned vehicle 3 or the transmitter 6 according to the situation at the site or the like.

Subsequently, the unmanned flying object 3 (c) flies under the obstacle along the overhead power line 2, and (d) ascends at a sufficient distance from the obstacle B and approaches the overhead power line 2 (avoidance flight). ). At this time, the extent to which the unmanned vehicle 3 is separated from the obstacle B to start climbing is automatically determined, for example, based on the values input from the various sensors 253 by the unmanned vehicle 3. .. Further, for example, depending on the situation at the site or the like, the user starts ascending in advance when the unmanned flying object 3 is separated from the obstacle B (for example, after how much time has passed, the ascending starts. May be set to the unmanned aircraft 3 or the transmitter 6.

After that, (e) the unmanned flying object 3 connects the ring body 411 to the overhead electric wire 2 again, and resumes the power receiving / inspection flight.

2 Overhead wire, 3 unmanned aircraft, 31 pedestal, 41 current generator, 42 ring switchgear, 82 charge control device, 240 power supply device, 250 flight control device, 251 control circuit, 260 battery, 270 thrust generator, 282 Imaging device, 411 ring body, 412 conductive coil, 415 hole, 416 inlet, 513 flight control unit, 515 ring switchgear control unit, 532 flight path, 811 charge control circuit, S900 flight control process, S915 power reception / inspection process. , B Obstacle

Claims (11)

Thrust generator and
A flight control device that controls the thrust generator,
An annular ring body that can open and close the lower end of the ring, and a current generator having a conductive coil wound along the ring body.
A ring opening / closing device that opens / closes the lower end 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.
A sensor that outputs information indicating the distance to surrounding objects,
It is a control method of a multicopter type unmanned aircraft equipped with
The unmanned aircraft
Steps to fly down and approach the overhead power line from above the overhead power line ,
A step of accommodating an overhead electric wire inside the ring by flying down with the lower end of the ring of the ring body opened larger than the diameter of the overhead electric wire.
A step to close the lower end of the ring while flying,
While flying along the overhead wire with the overhead wire housed inside the ring, the thrust generator or the thrust generator or the electric power based on the current generated in the conductive coil by the electromagnetic induction action of the current flowing through the overhead wire. Steps to supply the flight control device,
When it is detected that the distance is within a predetermined distance from an obstacle provided on the overhead electric wire while flying along the overhead electric wire , the lower end of the ring of the ring body is set to the lower end of the ring of the overhead electric wire. A step of separating from the overhead electric wire by opening larger than the diameter and flying ascending, and flying along the overhead electric wire to avoid the obstacle.
as well as,
When it is detected that the obstacle is out of the predetermined distance range , the lower end of the ring of the ring body is opened larger than the diameter of the overhead electric wire and the overhead electric wire is made to fly down to the inside of the overhead electric wire. And supplies the electric power based on the current generated in the conductive coil to the thrust generator or the flight control device while flying along the overhead electric wire in a state where the overhead electric wire is accommodated inside the ring. Steps to resume flight,
How to control an unmanned aircraft to perform. Thrust generator and
A flight control device that controls the thrust generator,
An annular ring body that can open and close the upper end of the ring, and a current generator having a conductive coil wound along the ring body.
A ring opening / closing device that opens / closes the upper end 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.
A sensor that outputs information indicating the distance to surrounding objects,
It is a control method of a multicopter type unmanned aircraft equipped with
The unmanned aircraft
Steps to fly up and approach the overhead power line from below the overhead power line ,
A step of accommodating an overhead electric wire inside the ring by ascending and flying with the upper end of the ring of the ring body opened larger than the diameter of the overhead electric wire.
Steps to close the top of the ring while flying,
While flying along the overhead electric wire with the overhead electric wire housed inside the ring, the thrust generator or the thrust generator or 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 Steps to supply the flight control device,
When it is detected that the distance is within a predetermined distance from an obstacle provided on the overhead electric wire while flying along the overhead electric wire , the upper end portion of the ring of the ring body is set on the overhead electric wire. A step of separating from the overhead electric wire by opening larger than the diameter and flying down, and flying along the overhead electric wire to avoid the obstacle.
as well as,
When it is detected that the obstacle is out of the predetermined distance range , the upper end of the ring of the ring body is opened larger than the diameter of the overhead electric wire and ascends to fly inside the overhead electric wire. And supplies the electric power based on the current generated in the conductive coil to the thrust generator or the flight control device while flying along the overhead electric wire in a state where the overhead electric wire is accommodated inside the ring. Steps to resume flight,
How to control an unmanned aircraft to perform. The method for controlling an unmanned aircraft according to claim 1 or 2 .
The unmanned aircraft is equipped with a photographing device for photographing the surroundings.
Further executing the step of photographing the overhead electric wire while the unmanned vehicle flies with the overhead electric wire housed inside the ring.
How to control an unmanned aircraft. The method for controlling an unmanned aircraft according to claim 1 or 2 .
The current generator is configured using a through-type current transformer.
How to control an unmanned aircraft. Thrust generator and
A flight control device that controls the thrust generator,
An annular ring body that can open and close the lower end of the ring, and a current generator having a conductive coil wound along the ring body.
A ring opening / closing device that opens / closes the lower end of the ring of the ring body,
A power supply device that supplies 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 housed inside the ring to the thrust generator or the flight control device.
A sensor that outputs information indicating the distance to surrounding objects,
It is a multicopter type unmanned aircraft equipped with
Control to fly down and approach the overhead power line from above the overhead power line ,
Control to accommodate the overhead wire inside the ring by flying down with the lower end of the ring of the ring body open larger than the diameter of the overhead wire.
Control to close the lower end of the ring while flying,
While flying along the overhead electric wire with the overhead electric wire housed inside the ring, the thrust generator or the thrust generator or 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 Control to supply to the flight control device,
When it is detected that the distance is within a predetermined distance from an obstacle provided in the overhead electric wire while flying along the overhead electric wire , the lower end of the ring of the ring body is set to the lower end of the ring of the overhead electric wire. A control that separates from the overhead power line by opening larger than the diameter and flying ascending, and flies along the overhead power line to avoid the obstacle.
as well as,
When it is detected that the obstacle is out of the predetermined distance range , the lower end of the ring of the ring body is opened larger than the diameter of the overhead electric wire and the overhead electric wire is made to fly down to the inside of the overhead electric wire. And supplies the electric power based on the current generated in the conductive coil to the thrust generator or the flight control device while flying along the overhead electric wire in a state where the overhead electric wire is accommodated inside the ring. Control to resume flight,
An unmanned aircraft that does. Thrust generator and
A flight control device that controls the thrust generator,
An annular ring body that can open and close the lower end of the ring, and a current generator having a conductive coil wound along the ring body.
A ring opening / closing device that opens / closes the upper end of the ring of the ring body,
A power supply device that supplies 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 housed inside the ring to the thrust generator or the flight control device.
A sensor that outputs information indicating the distance to surrounding objects,
It is a multicopter type unmanned aircraft equipped with
Control to fly up and approach the overhead power line from below the overhead power line ,
Control to accommodate the overhead power line inside the ring by flying ascending with the upper end of the ring of the ring body opened larger than the diameter of the overhead power line.
Control to close the upper end of the ring while flying,
While flying along the overhead electric wire with the overhead electric wire housed inside the ring, the thrust generator or the thrust generator or 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 Control to supply to the flight control device,
When it is detected that the distance is within a predetermined distance from an obstacle provided on the overhead electric wire while flying along the overhead electric wire , the upper end portion of the ring of the ring body is set on the overhead electric wire. Control to separate from the overhead power line by opening wider than the diameter and flying down , and to fly along the overhead power line to avoid the obstacle.
as well as,
When it is detected that the obstacle is out of the predetermined distance range , the upper end of the ring of the ring body is opened larger than the diameter of the overhead electric wire and ascends to fly inside the overhead electric wire. And supplies the electric power based on the current generated in the conductive coil to the thrust generator or the flight control device while flying along the overhead electric wire in a state where the overhead electric wire is accommodated inside the ring. Control to resume flight,
An unmanned aircraft that does. The unmanned aircraft according to claim 5 or 6 .
Equipped with a shooting device to shoot the surroundings
Control is performed to photograph the overhead electric wire while flying with the overhead electric wire housed inside the ring.
Unmanned flying object. The unmanned aircraft according to claim 5 or 6 .
The current generator is configured using a through-type current transformer.
Unmanned flying object. The unmanned aircraft according to any one of claims 5 to 8 .
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,
Unmanned flying object. The unmanned aircraft according to any one of claims 5 to 8 .
Provided is a user interface that accepts the setting of information that specifies the amount of climb when flying to avoid the obstacle.
Unmanned flying object. The unmanned aircraft according to any one of claims 5 to 8 .
Provided is a user interface that accepts the setting of information that specifies the timing of shifting from the flight avoiding the obstacle to the flight along the overhead electric wire while receiving the power supply from the overhead electric wire.
Unmanned flying object.

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