JP7077672B2 - Flight path identification program, flight path identification method, flight control device and flight control system - Google Patents

Description

The present invention relates to a flight path identification program, a flight path identification method, a flight control device, and a flight control system.

In recent years, efforts have been made toward the realization of an automatic cargo delivery service using a so-called drone, which is a small unmanned aerial vehicle. For example, there is a device that autonomously flies a drone to a delivery destination by using GPS (Global Positioning System).

As a prior art, the approach of a contact avoidance target (for example, a crane) to an electromagnetic field generator (for example, a transmission line) is detected, and an alarm signal is generated and wirelessly transmitted when the contact avoidance target approaches within a predetermined distance. There is a wireless approach warning device including a means for receiving an alarm signal and a means for issuing an alarm based on the alarm signal.

Japanese Unexamined Patent Publication No. 2005-14896

However, with the prior art, it is difficult to control the drone to move while keeping the height constant when the drone is made to fly autonomously. For example, it is difficult to accurately grasp the height of the drone only from the GPS position information.

In one aspect, the invention aims to accurately move an unmanned aerial vehicle along a wire.

In one embodiment, the relative positional relationship between the unmanned aerial vehicle and the electric wire is determined based on the strength of the magnetic field generated from the electric wire measured by each sensor provided in each of a plurality of directions with respect to the unmanned aerial vehicle. The unmanned aerial vehicle is moved to a preset relative position between the unmanned aerial vehicle and the electric wire in the horizontal direction of the cross section of the electric wire based on the specified specific result, and the unmanned aerial vehicle is moved to the position of the electric wire to be the movement path. Based on the route information for specifying the position and the position information of the unmanned aerial vehicle, the unmanned aerial vehicle is routed along the movement route while maintaining the relative positional relationship between the electric wire as a result of the movement and the unmanned aerial vehicle. A flight path identification program is provided to move along.

According to one aspect of the invention, the unmanned aerial vehicle can be accurately moved along the wires.

FIG. 1 is an explanatory diagram showing an embodiment of a flight path specifying method according to an embodiment. FIG. 2 is an explanatory diagram showing a system configuration example of the flight control system 200. FIG. 3 is a block diagram showing a hardware configuration example of the flight control device Ti. FIG. 4 is a block diagram showing a functional configuration example of the flight control device Ti. FIG. 5 is an explanatory diagram showing the positional relationship between the drone Di and the electric wire in the case of flying over the sky. FIG. 6 is an explanatory diagram showing the positional relationship between the drone Di and the electric wire in the case of flight on the left side. FIG. 7 is an explanatory diagram (No. 1) showing the positional relationship between the drone Di and the electric wire. FIG. 8 is an explanatory diagram (No. 2) showing the positional relationship between the drone Di and the electric wire. FIG. 9 is a flowchart (No. 1) showing an example of the flight path specifying processing procedure of the flight control device Ti. FIG. 10 is a flowchart (No. 2) showing an example of the flight path specifying processing procedure of the flight control device Ti. FIG. 11 is a flowchart (No. 3) showing an example of the flight path specifying processing procedure of the flight control device Ti. FIG. 12 is a flowchart (No. 4) showing an example of the flight path specifying processing procedure of the flight control device Ti. FIG. 13 is a flowchart (No. 5) showing an example of the flight path specifying processing procedure of the flight control device Ti.

Hereinafter, embodiments of a flight path identification program, a flight path identification method, a flight control device, and a flight control system according to the present invention will be described in detail with reference to the drawings.

(Embodiment)
FIG. 1 is an explanatory diagram showing an embodiment of a flight path specifying method according to an embodiment. In FIG. 1, the flight control device 101 is a computer mounted on the unmanned aerial vehicle 110 and controlling the flight of the unmanned aerial vehicle 110. The unmanned aerial vehicle 110 is a so-called drone capable of autonomous flight under the control of the flight control device 101.

The unmanned aerial vehicle 110 flies by driving a plurality of propellers (four propellers in the example of FIG. 1) by a motor. Specifically, for example, the unmanned aerial vehicle 110 detects the tilt and rotation of the airframe by a gyro sensor, and adjusts the output of the motor so as to keep the airframe horizontal based on the detected data. Further, the unmanned aerial vehicle 110 flies back and forth, left and right, or up and down by tilting the aircraft and changing the output of the motor. The unmanned aerial vehicle 110 may be capable of flight control by remote control by wireless communication.

When making a drone fly autonomously, it is important to control the height of the drone. If the height of the drone can be controlled, it is possible to fly while avoiding houses, buildings, electric lines, road signs, traffic lights, and the like. It also makes it easier to find routes that can avoid collisions with other drones.

However, it is difficult to obtain accurate altitude information with GPS. In addition, it is conceivable to mount a camera on the drone and specify the height (altitude) from the image taken by the camera, but privacy may be reflected in the image of the camera, such as the faces of neighboring residents. It is not realistic due to issues such as protection and portrait rights.

Here, the electric wire is for connecting two points and conducting electricity. For example, an electric wire is a transmission line or a distribution line forming an electric line. An electric line is an electric power facility including an electric wire and its support / ancillary equipment. Electric wires are used to supply electric power to homes and businesses, and exist in the vicinity of many buildings and factories.

Therefore, it is effective to treat the electric wire like a road when performing an automatic delivery service using a drone. In addition, a magnetic field is generated in a circular shape around the electric wire through which the current flows in a plane perpendicular to the direction of the current. It is known that the strength of the magnetic field decreases in inverse proportion to the square of the distance from the electric wire.

Therefore, in the present embodiment, a flight path specifying method for accurately moving the unmanned aerial vehicle 110 along the electric wire by using the magnetic field (magnetic field) generated from the electric wire will be described. First, the sensor C provided in the unmanned aerial vehicle 110 for measuring the strength of the magnetic field generated from the electric wire will be described.

The unmanned aerial vehicle 110 is provided with sensors C in each of a plurality of directions with respect to the unmanned aerial vehicle 110. The sensor C is a device that measures the strength of the magnetic field. Specifically, for example, the sensor C1 is provided in the upward direction of the unmanned aerial vehicle 110, the sensor C2 is provided in the downward direction of the unmanned aerial vehicle 110, and the sensor C3 is provided in the left direction of the unmanned aerial vehicle 110. The sensor C4 is provided in the right direction.

More specifically, for example, in the unmanned aerial vehicle 110, a rod 111 extending in the vertical direction and a rod 112 extending in the horizontal direction are provided substantially orthogonal to each other. Sensors C1 and C2 are attached to both ends of the rod 111. Sensors C3 and C4 are attached to both ends of the rod 112. The lengths of the rods 111 and 112 may be the same or different. However, in the following description, it is assumed that the lengths of the rod 111 and the rod 112 are equal.

Further, the rod 111 and the rod 112 intersect at the center of each of the rods 111 and 112, and the intersection coincides with the reference point of the unmanned aerial vehicle 110. The reference point of the unmanned aerial vehicle 110 may be, for example, the center of gravity of the unmanned aerial vehicle 110, or may be the center of the front or back of the unmanned aerial vehicle 110. In the example of FIG. 1, the reference point of the unmanned aerial vehicle 110 is the center of the back surface of the unmanned aerial vehicle 110.

That is, the distance from the reference point of the unmanned aerial vehicle 110 to the sensor C1 (upward) and the distance from the reference point of the unmanned aerial vehicle 110 to the sensor C2 (downward) are substantially the same. Further, the distance from the reference point of the unmanned aerial vehicle 110 to the sensor C3 (to the left) and the distance from the reference point of the unmanned aerial vehicle 110 to the sensor C4 (to the right) are substantially the same.

Next, a processing example of the flight control device 101 will be described. The flight control device 101 performs a first movement control process and a second movement control process. The first movement control process is a process for adjusting the relative position of the unmanned aerial vehicle 110 with respect to the electric wire. The second movement control process is a process for moving the unmanned aerial vehicle 110 along the electric wire that is the movement path.

Here, it is assumed that the unmanned aerial vehicle 110 is moved directly above the electric wire. Further, the unmanned aerial vehicle 110 is first moved to a position directly above the electric wire by a manual remote control by wireless communication. The first movement control process and the second movement control process may be executed in parallel or may be executed alternately.

First movement control processing The flight control device 101 acquires measurement results indicating the strength of the magnetic field generated from the electric wire, which is measured by each sensor C provided in each of a plurality of directions with respect to the unmanned aerial vehicle 110. Specifically, for example, the flight control device 101 acquires measurement results indicating the strength of the magnetic field generated from the electric wire measured by the sensors C1 to C4 from the sensors C1 to C4.

Next, the flight control device 101 identifies the relative positional relationship between the unmanned aerial vehicle 110 and the electric wire based on the acquired measurement results of each sensor C. Specifically, for example, the flight control device 101 identifies the position of the unmanned aerial vehicle 110 in the horizontal direction in the cross section of the electric wire based on the acquired measurement result of each sensor C.

Here, the position of the unmanned aerial vehicle 110 in the horizontal direction in the cross section of the electric wire is preset. That is, the target range of the position where the unmanned aerial vehicle 110 should be with respect to the electric wire is set in advance. The cross section of the electric wire is the plane of the cut end when the electric wire is cut at a right angle to the center line of the electric wire. Then, the flight control device 101 moves the unmanned aerial vehicle 110 to a position relative to the unmanned aerial vehicle 110 and the electric wire set in the horizontal direction in the horizontal direction of the cross section of the electric wire based on the specified specific result.

The amount of movement of the unmanned aerial vehicle 110 is determined by the current position of the unmanned aerial vehicle 110 with respect to the preset relative position between the unmanned aerial vehicle 110 and the electric wire. Therefore, the flight control device 101 may gradually move the unmanned aerial vehicle 110 so that the relative positional relationship between the unmanned aerial vehicle 110 and the electric wire becomes a preset positional relationship, for example. That is, the flight control device 101 may repeat the process of moving the unmanned aerial vehicle 110 by a predetermined amount if the positional relationship is not set in advance as a result of moving the unmanned aerial vehicle 110 by a predetermined amount.

Specifically, for example, the flight control device 101 is provided for the sensor C4 provided in the right direction of the unmanned aerial vehicle 110 with respect to the measurement result of the sensor C3 provided in the left direction of the unmanned aerial vehicle 110 in the left-right direction of the unmanned aerial vehicle 110. Calculate the ratio of the measurement results of. It can be said that the larger the measurement result of the sensor C4 is compared with the measurement result of the sensor C3, the closer the sensor C4 is to the electric wire, that is, the unmanned aerial vehicle 110 is located on the left side of the electric wire. On the other hand, the larger the measurement result of the sensor C3 is compared to the measurement result of the sensor C4, the closer the sensor C3 is to the electric wire, that is, the unmanned aerial vehicle 110 is located on the right side of the electric wire.

Therefore, the flight control device 101 moves the unmanned aerial vehicle 110 to the left or right by a predetermined amount according to the calculated ratio (measurement result of the sensor C4 / measurement result of the sensor C3). The predetermined amount can be arbitrarily set, and is set to, for example, several centimeters to several meters. Further, the predetermined amount may be changed according to the ratio. For example, the predetermined amount may be increased as the ratio becomes larger or smaller than 1.

That is, the flight control device 101 uses the measurement results of the sensors C3 and C4 to adjust the position of the unmanned aerial vehicle 110 with respect to the electric wire so as to be directly above the electric wire.

Further, the flight control device 101 determines the measurement result of the sensor C1 provided in the upward direction of the unmanned aerial vehicle 110 and the measurement result of the sensor C2 provided in the downward direction of the unmanned aerial vehicle 110 in the vertical direction of the unmanned aerial vehicle 110. Based on this, the distance between the electric wire below the unmanned aerial vehicle 110 and the unmanned aerial vehicle 110 is calculated.

The specific processing content for calculating the distance between the unmanned aerial vehicle 110 and the electric wire based on the measurement result of the sensor C1 and the measurement result of the sensor C2 will be described later with reference to FIG.

Then, the flight control device 101 moves the unmanned aerial vehicle 110 upward or downward by a predetermined amount according to the calculated distance between the unmanned aerial vehicle 110 and the electric wire. The predetermined amount can be arbitrarily set, and is set to, for example, several centimeters to several meters. Further, as the distance between the unmanned aerial vehicle 110 and the electric wire increases, the predetermined amount may be increased.

That is, the flight control device 101 adjusts the position of the unmanned aerial vehicle 110 with respect to the electric wire so that the height of the unmanned aerial vehicle 110 from the electric wire falls within a predetermined range by using the measurement results of the sensors C1 and C2. ..

As a result, the flight control device 101 utilizes the measurement results of the sensors C1 to C4 so that the relative positional relationship between the unmanned aerial vehicle 110 and the electric wire becomes a preset positional relationship. The position of 110 can be adjusted.

Second movement control process The flight control device 101 is relative to the electric wire and the unmanned aerial vehicle 110, which is the result of being moved by the first movement control process based on the route information and the position information of the unmanned aerial vehicle 110. The unmanned aerial vehicle 110 is moved along the movement route while maintaining a good positional relationship. Here, the route information is information for specifying the position of the electric wire serving as the movement route. The route information is information that can specify the position of each node or each link, for example, with a utility pole or a steel tower as a node and an electric wire between utility poles or a steel tower as a link.

In the example of FIG. 1, the route information is information for specifying the positions of the electric wires 121 to 125 forming the movement route 120 from the starting point to the destination point. The position information of the unmanned aerial vehicle 110 is information indicating the current position of the unmanned aerial vehicle 110, for example, the latitude / longitude indicating the position of a certain point on the earth. The position information of the unmanned aerial vehicle 110 is acquired by using, for example, GPS. Further, the position information of the unmanned aerial vehicle 110 may be acquired by using, for example, a quasi-zenith satellite system.

As described above, according to the flight control device 101, the position of the unmanned aerial vehicle 110 with respect to the electric wire can be controlled by using the strength of the magnetic field generated from the electric wire, and the unmanned aerial vehicle 110 can be accurately moved along the electric wire as a movement path. Can be moved. This makes it possible to automatically drive the unmanned aerial vehicle 110 in areas (for example, residential areas) where shooting is restricted due to issues such as privacy protection and portrait rights, even if the camera is not installed. can.

(System configuration example of flight control system 200)
Next, a system configuration example of the flight control system 200 according to the embodiment will be described. In the following description, the case where the flight control system 200 is applied to the automatic delivery service will be described as an example.

FIG. 2 is an explanatory diagram showing a system configuration example of the flight control system 200. In FIG. 2, the flight control system 200 includes flight control devices T1 to Tn (n: a natural number of 2 or more) and a management device 201. The flight control devices T1 to Tn are mounted on the drones D1 to Dn, respectively. In the flight control system 200, the flight control devices T1 to Tn and the management device 201 are connected via a wired or wireless network 210. The network 210 is, for example, the Internet, a LAN (Local Area Network), a WAN (Wide Area Network), or the like.

In the following description, any flight control device among the flight control devices T1 to Tn may be referred to as "flight control device Ti" (i = 1, 2, ..., N). Further, among the drones D1 to Dn, the drone equipped with the flight control device Ti may be referred to as "drone Di". The flight control device Ti corresponds to the flight control device 101 shown in FIG. Further, the drone Di corresponds to the unmanned aerial vehicle 110 shown in FIG.

The flight control device Ti is mounted on the drone Di and controls the flight of the drone Di. The flight control device Ti has a positioning function. Specifically, for example, the flight control device Ti measures the position by radio waves from a plurality of GPS satellites. However, as the satellite, for example, the satellite of the quasi-zenith satellite system may be used.

The drone Di is an unmanned aerial vehicle capable of autonomous flight under the control of the flight control device Ti. As shown in FIG. 1, the drone Di is provided with sensors C1 to C4 in each of the vertical direction and the horizontal direction. Each sensor C1 to C4 measures the strength of the magnetic field periodically (for example, at intervals of 10 seconds to 20 seconds) or at a predetermined timing.

Further, the drone Di may have a container for home delivery and may have a function of automatically loading and unloading luggage in the container. However, loading and unloading of luggage can also be done manually. The sensors C1 to C4 are connected to the flight control device Ti by wire or wirelessly.

The management device 201 is a computer having an electric wire map DB (database) 220 and having a function of searching a movement route. The management device 201 is, for example, a server or a PC (Personal Computer). The movement path is formed by one or more wires. Electric wires are distribution lines and transmission lines.

The electric wire map DB 220 includes electric wire information for specifying the position of the electric wire for each electric wire forming the electric line. For example, the electric wire information is information that can specify the position of each node or each link by using a utility pole or a steel tower as a node and an electric wire between utility poles or a steel tower as a link. The electric wire information may include, for example, information indicating whether or not the electric wire has limited passage in one direction. In the case of an electric wire whose passage is limited to one direction, the electric wire information includes information indicating in which direction the electric wire can pass.

Specifically, for example, the management device 201 may search for the shortest route from the starting point to the destination point as a moving route with reference to the electric wire map DB 220. Further, the management device 201 may refer to the electric wire map DB 220 and search for a movement route through which only the electric wire whose passage is limited to one direction passes from the starting point to the destination point.

The starting point and the destination point are specified, for example, by the user of the management device 201. As a search algorithm for the movement route, for example, an existing search algorithm for searching the optimum route from the starting point to the destination point is used based on the road network information in which the intersection or the like is a node and the road section between the nodes is a link. be able to.

Further, in the flight control system 200, when the drone Di is made to fly autonomously, the drone Di is first moved to a position directly above the electric wire (or to the left or right side of the electric wire) by manual communication (for example, collection and delivery). It shall be performed by remote control of the worker).

(Hardware configuration example of flight control device Ti)
FIG. 3 is a block diagram showing a hardware configuration example of the flight control device Ti. In FIG. 3, the flight control device Ti includes a CPU (Central Processing Unit) 301, a memory 302, an I / F (Interface) 303, an input device 304, and a GPS receiver 305. Further, each component is connected by a bus 300.

Here, the CPU 301 controls the entire flight control device Ti. The CPU 301 may have a plurality of cores. The memory 302 includes, for example, a ROM (Read Only Memory), a RAM (Random Access Memory), a flash ROM, and the like. Specifically, for example, a flash ROM or ROM stores various programs, and RAM is used as a work area of CPU 301. The program stored in the memory 302 is loaded into the CPU 301 to cause the CPU 301 to execute the coded process.

The I / F 303 is connected to the network 210 through a communication line, and is connected to an external computer (for example, the management device 201 shown in FIG. 2) via the network 210. The I / F 303 controls the interface between the network 210 and the inside of the device, and controls the input / output of data from an external computer.

The input device 304 has keys for inputting characters, numbers, various instructions, and the like, and inputs data. The input device 304 may be, for example, a touch panel type input pad or a numeric keypad. The GPS receiver 305 receives radio waves from GPS satellites and outputs position information of the flight control device Ti (drone Di). The position information is, for example, coordinate information of latitude and longitude that identifies one point on the earth.

The flight control device Ti may have, for example, an HDD (Hard Disk Drive), an SSD (Solid State Drive), a display, or the like, in addition to the above-mentioned components. Further, the management device 201 shown in FIG. 2 can also be realized by the same hardware configuration as the flight control device Ti. Further, the flight control device Ti may have, for example, various sensors (gyro sensor, barometric pressure sensor, etc.) for detecting the aircraft operating state of the drone Di and performing attitude control.

(Example of functional configuration of flight control device Ti)
FIG. 4 is a block diagram showing a functional configuration example of the flight control device Ti. In FIG. 4, the flight control device Ti includes an acquisition unit 401, a first movement control unit 402, and a second movement control unit 403. The acquisition unit 401 to the second movement control unit 403 are functions that serve as control units. Specifically, for example, by causing the CPU 301 to execute a program stored in the memory 302 shown in FIG. 3, or I The function is realized by / F303. The processing result of each functional unit is stored in, for example, the memory 302.

The acquisition unit 401 acquires the route information that specifies the position of the electric wire that is the movement route. Here, the route information is information that specifies the position of the electric wire that is the movement route from the starting point to the destination point. Specifically, for example, the acquisition unit 401 acquires the route information for specifying the position of the electric wire as the movement route by receiving the route information from the management device 201 shown in FIG.

Further, the acquisition unit 401 acquires a measurement result indicating the strength of the magnetic field generated from the electric wire, which is measured by each sensor C provided in each of a plurality of directions with respect to the drone Di. Specifically, for example, the acquisition unit 401 acquires measurement results indicating the strength of the magnetic field generated from the electric wire measured by the sensors C1 to C4 from the sensors C1 to C4.

The acquisition timing of the measurement result can be arbitrarily set. For example, the acquisition unit 401 may acquire the measurement result from the sensors C1 to C4 each time the strength of the magnetic field is measured by the sensors C1 to C4. Further, the acquisition unit 401 acquires the latest measurement results from the sensors C1 to C4 by periodically transmitting an acquisition request to the sensors C1 to C4 (for example, at intervals of 10 seconds to 15 seconds). You may do it.

Further, the acquisition unit 401 acquires the position information of the drone Di. Here, the position information of the drone Di is information indicating the position of the drone Di on the plane. Specifically, for example, the acquisition unit 401 acquires the position information of the drone Di by acquiring the position information of the own device output from the GPS receiver 305 shown in FIG.

The first movement control unit 402 moves the drone Di by a predetermined amount in a predetermined direction based on the acquired measurement result of each sensor C. Specifically, for example, the first movement control unit 402 identifies the relative positional relationship between the drone Di and the electric wire based on the acquired measurement results of each sensor C. More specifically, the first movement control unit 402 identifies the position of the drone Di in the horizontal direction in the cross section of the electric wire, for example, based on the acquired measurement result of each sensor C. Then, the first movement control unit 402 moves the drone Di to a position relative to the predetermined drone Di and the electric wire in the horizontal direction of the cross section of the electric wire based on the specified specific result.

Hereinafter, a control example of the first movement control unit 402 according to the passage method of locating the drone Di with respect to the electric wire and allowing the drone Di to pass will be described. As a traffic method, for example, there are sky traffic, left traffic, and right traffic. Over-the-air traffic is a traffic system that passes directly above an electric wire. Left-side traffic is a traffic system that passes on the left side of the electric wire (the electric wire is on the right side in the traveling direction of the drone Di). Right-hand traffic is a traffic system that passes on the right side of the electric wire (the electric wire is on the left side in the traveling direction of the drone Di). The relative positional relationship between the drone Di and the electric wire is set according to the passage method.

The first movement control unit 402 for passing over the sky is the measurement result of the sensor C4 provided to the right of the drone Di with respect to the measurement result of the sensor C3 provided to the left of the drone Di in the left-right direction of the drone Di. Calculate the ratio r _LR . The ratio r _LR is a value obtained by dividing the measurement result of the sensor C4 provided in the right direction of the drone Di by the measurement result of the sensor C3 provided in the left direction of the drone Di.

Then, when the calculated ratio r _LR is equal to or higher than the threshold value α, the first movement control unit 402 moves the drone Di to the right by a predetermined amount. Further, when the calculated ratio r _LR is equal to or less than the threshold value β, the first movement control unit 402 moves the drone Di to the left by a predetermined amount. Here, the predetermined amount for moving the drone Di in the left-right direction can be arbitrarily set, and is set to, for example, about several centimeters to several meters.

The threshold values α and β can be arbitrarily set, and are set according to the target direction in which the drone Di should be with respect to the electric wire. Here, the threshold values α and β are set to values at which it can be determined that the drone Di is directly above the electric wire if the ratio r _LR is larger than the threshold value β and smaller than the threshold value α. For example, the threshold value α is set to a value of about 1.05. Further, the threshold value β is set to a value of about 0.95.

Further, the first movement control unit 402 calculates the distance l _U between the drone Di and the electric wire below the drone Di in the vertical direction of the drone Di. More specifically, for example, the first movement control unit 402 includes the measurement result of the sensor C1 provided in the upward direction of the drone Di, the measurement result of the sensor C2 provided in the downward direction of the drone Di, and the sensor. The distance l _U is calculated based on the distance between C1 and C2. The distance between the sensors C1 and C2 corresponds to the length of the rod 111 (see FIG. 1).

The specific processing content for calculating the distance l _U will be described later with reference to FIG.

Then, when the calculated distance l _U is equal to or greater than the threshold value γ, the first movement control unit 402 moves the drone Di downward by a predetermined amount. Further, when the calculated distance l _U is equal to or less than the threshold value δ, the first movement control unit 402 moves the drone Di upward by a predetermined amount. Here, the predetermined amount for moving the drone Di in the vertical direction can be arbitrarily set, and is set to, for example, about several centimeters to several meters.

The threshold values γ and δ can be set arbitrarily. The threshold values γ and δ are set depending on the range within which the drone Di is flown from the electric wire. For example, there is space around the wire where the power company can eliminate other intrusions. The threshold values γ and δ may be set so that the drone Di fits in the space and does not collide with the electric wire. For example, the threshold value γ is set to a value of about 4 m (meters). Further, the threshold value δ is set to a value of about 1.5 m.

As a result, the relative positional relationship between the drone Di and the electric wire becomes a preset positional relationship, that is, the drone is located directly above the electric wire and is within the range of 1.5 m to 4 m from the electric wire. It is possible to control the flight of the Di.

The first movement control unit 402 for left-hand traffic is the measurement result of the sensor C1 provided in the upward direction of the drone Di with respect to the measurement result of the sensor C2 provided in the downward direction of the drone Di in the vertical direction of the drone Di. Calculate the ratio r _UD . The ratio r _UD is a value obtained by dividing the measurement result of the sensor C1 provided in the upward direction of the drone Di by the measurement result of the sensor C2 provided in the downward direction of the drone Di.

Then, when the calculated ratio r _UD is equal to or greater than the threshold value α', the first movement control unit 402 moves the drone Di downward by a predetermined amount. Further, when the calculated ratio r _UD is equal to or less than the threshold value β', the first movement control unit 402 moves the drone Di upward by a predetermined amount. Here, the predetermined amount for moving the drone Di in the vertical direction can be arbitrarily set, and is set to, for example, about several centimeters to several meters.

The threshold values α'and β'can be set arbitrarily, and are set according to the target direction in which the drone Di should be with respect to the electric wire. Here, the threshold values α'and β'are set to values at which it can be determined that the drone Di is directly to the left of the electric wire if the ratio r _UD is larger than the threshold value β'and smaller than the threshold value α'. For example, the threshold value α'is set to a value of about 1.05. Further, the threshold value β'is set to a value of about 0.95.

Further, the first movement control unit 402 calculates the distance l _R between the drone Di and the electric wire on the right side of the drone Di in the left-right direction of the drone Di. More specifically, for example, the first movement control unit 402 has a measurement result of the sensor C3 provided to the left of the drone Di, a measurement result of the sensor C4 provided to the right of the drone Di, and a sensor. The distance l _R is calculated based on the distance between C3 and C4. The distance between the sensors C3 and C4 corresponds to the length of the rod 112 (see FIG. 1).

The specific processing content for calculating the distance l _R will be described later with reference to FIG.

Then, when the calculated distance l _R is equal to or greater than the threshold value γ', the first movement control unit 402 moves the drone Di to the right by a predetermined amount. Further, when the calculated distance l _R is equal to or less than the threshold value δ', the first movement control unit 402 moves the drone Di to the left by a predetermined amount. Here, the predetermined amount for moving the drone Di in the left-right direction can be arbitrarily set, and is set to, for example, about several centimeters to several meters.

The threshold values γ'and δ'can be set arbitrarily. The threshold values γ'and δ'are set depending on the range within which the drone Di is flown from the electric wire. For example, the threshold value γ'is set to a value of about 3 m. Further, the threshold value δ'is set to a value of about 1.5 m.

As a result, the relative positional relationship between the drone Di and the electric wire becomes a preset positional relationship, that is, it is on the left side (right left) of the electric wire and falls within the range of 1.5 m to 3 m from the electric wire. It is possible to control the flight of the drone Di as such.

The first movement control unit 402 for right-hand traffic is the measurement result of the sensor C1 provided in the upward direction of the drone Di with respect to the measurement result of the sensor C2 provided in the downward direction of the drone Di in the vertical direction of the drone Di. Calculate the ratio r _DU . Then, when the calculated ratio r _DU is equal to or greater than the threshold value α', the first movement control unit 402 moves the drone Di downward by a predetermined amount. Further, when the calculated ratio r _DU is equal to or less than the threshold value β', the first movement control unit 402 moves the drone Di upward by a predetermined amount.

Further, the first movement control unit 402 calculates the distance l _L between the drone Di and the electric wire on the left side of the drone Di in the left-right direction of the drone Di. More specifically, for example, the first movement control unit 402 has a measurement result of the sensor C3 provided to the left of the drone Di, a measurement result of the sensor C4 provided to the right of the drone Di, and a sensor. The distance l _L is calculated based on the distance between C3 and C4.

Then, when the calculated distance l _L is equal to or greater than the threshold value γ', the first movement control unit 402 moves the drone Di to the left by a predetermined amount. Further, when the calculated distance l _L is equal to or less than the threshold value δ', the first movement control unit 402 moves the drone Di to the right by a predetermined amount.

As a result, the relative positional relationship between the drone Di and the electric wire becomes a preset positional relationship, that is, it is on the right side (right side) of the electric wire and falls within the range of 1.5 m to 3 m from the electric wire. It is possible to control the flight of the drone Di as such. The movement control process by the first movement control unit 402 described above is periodically executed, for example, at a time interval of about 10 seconds to 15 seconds.

The second movement control unit 403 is a relative between the electric wire and the drone Di, which is the result of being moved by the first movement control unit 402 based on the acquired route information and the acquired position information of the drone Di. The drone Di is moved along the movement route while maintaining the positional relationship. Specifically, for example, the second movement control unit 403 is specified from the route information by controlling the position of the drone Di on the plane based on the position information (latitude, longitude) of the GPS receiver 305. The drone Di is moved along the electric wire that serves as the movement route. At this time, the second movement control unit 403 moves the drone Di so as to maintain the relative positional relationship between the electric wire and the drone Di, which is the result of the movement by the first movement control unit 402.

Further, the first movement control unit 402 may change the positioning of the drone Di from directly above the electric wire to the left side. Specifically, for example, when the first movement control unit 402 changes the positioning from directly above the electric wire to the left side, first, the measurement result of the sensor C4 (rightward direction) and the measurement result of the sensor C2 (downward direction) The drone Di is moved to the left by a predetermined amount until the measurement results are substantially the same.

Next, the first movement control unit 402 moves the drone Di downward by a predetermined amount until the measurement result of the sensor C1 (upward direction) and the measurement result of the sensor C2 (downward direction) substantially match. The predetermined amount for moving the drone Di can be arbitrarily set, and is set to, for example, about several centimeters to several meters.

As a result, the traffic system of the drone Di can be changed from the sky traffic to the left traffic. The specific processing content when changing the traffic method of the drone Di from the sky traffic to the left traffic will be described later with reference to FIG. 7.

Further, the first movement control unit 402 may change the positioning of the drone Di directly above from the left side of the electric wire. Specifically, for example, when the first movement control unit 402 changes the positioning from the left side of the electric wire to directly above, first, the measurement result of the sensor C4 (right direction) and the measurement result of the sensor C2 (downward direction). The drone Di is moved upward by a predetermined amount until the measurement result is substantially the same. Further, the first movement control unit 402 moves the drone Di to the right by a predetermined amount until the measurement result of the sensor C3 (left direction) and the measurement result of the sensor C4 (right direction) substantially match.

As a result, the traffic system of the drone Di can be changed from the left side traffic to the sky traffic. The specific processing content when changing the traffic method of the drone Di from the left side traffic to the sky traffic will be described later with reference to FIG.

The first movement control unit 402 may change the positioning of the drone Di from directly above the electric wire to the right side, or may change the positioning of the drone Di directly above from the right side of the electric wire. .. However, the detailed explanation when changing the positioning from directly above to the right side of the wire or from the right side to directly above the wire is to position it from directly above to the left side of the wire or from the left side of the wire. Is omitted because it is the same as when changing. Also, when changing the positioning of the drone Di from the left side to the right side (or from the right side to the left side) of the electric wire, change the positioning from the left side to the upper side of the electric wire, and then position it from directly above the electric wire to the right side. Should be changed.

Further, the flight control device Ti may accept the designation of the starting point and the destination point. Specifically, for example, the flight control device Ti accepts the designation of the departure point and the destination point by the operation input of the user using the input device 304 shown in FIG. 3 or from an external computer.

Here, the starting point is, for example, an electric wire, a utility pole, a steel tower, etc., which is the starting point of the movement route. The destination point is, for example, an electric wire, a utility pole, a steel tower, etc., which is the end point of the movement route. The starting point and the destination point are designated, for example, from an electric wire map showing electric wires, utility poles, steel towers, etc. forming an electric line on a map.

Then, the flight control device Ti decides to search for a movement route from the designated starting point to the destination point by referring to the electric wire information indicating the position of the electric wire for each electric wire forming the electric line. May be good. Specifically, for example, the flight control device Ti refers to the electric wire map DB 220 (see FIG. 2) and searches for the shortest route from the starting point to the destination point as a moving route.

Thereby, the movement route of the drone Di can be specified without acquiring the route information from the management device 201. In this case, the second movement control unit 403 maintains the relative positional relationship between the electric wire and the drone Di, which is the result of the movement by the first movement control unit 402, based on the position information of the drone Di. , Move the drone Di along the searched travel path. The electric wire map DB 220 may be included in the flight control device Ti. Further, the flight control device Ti may access the management device 201 and refer to the electric wire map DB 220.

Further, the flight control device Ti may refer to the electric wire map DB 220 and search for a movement route through which only the electric wire whose passage is limited to one direction passes from the starting point to the destination point. .. As a result, it is possible to prevent the drones from colliding head-on with each other when the sky passage that passes directly above the electric wire is adopted.

Further, the sensor C may be provided in the front-rear direction of the drone Di. Specifically, for example, the drone Di may be provided with a rod extending in the front-rear direction, and sensors C may be attached to both ends of the rod. As a result, the flight control device Ti can recognize the slack in the downward direction and the slack in the upward direction of the electric wire. For example, the flight control device Ti can recognize the start of the downward slack by detecting that the measurement result of the sensor C in front of the drone Di is smaller than the measurement result of the sensor C in the rear.

In addition, the electric wire may branch into a plurality of electric wires. At the place where the electric wire branches, it is assumed that the magnetic fields of the electric wires interfere with each other. Therefore, when the movement path includes a place where the electric wire branches, the flight control device Ti stops the control by the first movement control unit 402 for a certain period of time (for example, several seconds) at that place, and the second The drone Di may be moved only by the control by the movement control unit 403 of 2. Further, the management device 201 (or the flight control device Ti) may search for a movement route that does not include a place where the electric wire branches.

Each functional unit of the flight control device Ti may be realized by a plurality of computers in the flight control system 200, for example, the flight control device Ti and the management device 201. Specifically, for example, the management device 201 acquires the measurement result of each sensor C from the flight control device Ti, and moves the drone Di by a predetermined amount in a predetermined direction based on the acquired measurement result of each sensor C. First control information for the purpose is generated. That is, the management device 201 generates the first control information for moving the drone Di so that the relative positional relationship between the drone Di and the electric wire becomes a preset positional relationship. Then, the management device 201 transmits the generated first control information to the flight control device Ti. The flight control device Ti moves the drone Di in a predetermined direction by a predetermined amount based on the first control information from the management device 201. Further, the management device 201 acquires the position information from the flight control device Ti and generates the second control information for moving the drone Di along the movement path. Then, the management device 201 transmits the generated second control information to the flight control device Ti. The flight control device Ti moves the drone Di along the movement path while maintaining the relative positional relationship between the electric wire and the drone Di, which is the result of the movement, based on the second control information from the management device 201. And move it.

(Specific processing content for calculating the distance l _U )
Next, with reference to FIG. 5, a specific processing content for calculating the distance l _U between the drone Di and the electric wire below the drone Di will be described.

FIG. 5 is an explanatory diagram showing the positional relationship between the drone Di and the electric wire in the case of flying over the sky. In FIG. 5, a corresponds to the distance between the electric wire and the lower end of the rod 111, that is, the distance l _U between the drone Di and the electric wire below the drone Di. The rod 111 is a rod extending in the vertical direction to which the sensors C1 and C2 are attached.

b is the length of the rod 111. c is the magnetic field at the lower end of the rod 111, that is, the strength of the magnetic field generated from the electric wire measured by the sensor C2. d is the magnetic field at the upper end of the rod 111, that is, the strength of the magnetic field generated from the electric wire measured by the sensor C1. The unit of a and b is, for example, "m". The unit of c and d is, for example, "T (tesla)".

Here, a magnetic field is generated in a circular shape around the electric wire through which the current flows in a plane perpendicular to the direction of the electric current, and the strength of the magnetic field (magnetic field) decreases in inverse proportion to the square of the distance from the electric wire. It is known. The strength of the magnetic field around the electric wire is about several microtesla.

Therefore, the following equation (1) holds between a, b, c, and d.

c * a * a = d * (a + b) * (a + b) ... (1)

Further, a> 0, b> 0, c> 0, d> 0, and c> d when the drone Di is directly above the electric wire. Therefore, a can be obtained by using the following formula (2).

a = b / {(c / d) ^1/2 -1)} ... (2)

For example, in the case of "c = 9d", it becomes "a = b / 2", and it can be seen that the drone Di is above the electric wire by a distance "b / 2" which is half the length of b. Further, in the case of "c = 4d", it becomes "a = b", and it can be seen that the drone Di is above the electric wire by the distance "b" corresponding to the length of b. Further, in the case of "c = 16d / 9", it becomes "a = 3b", and it can be seen that the drone Di is above the electric wire for a distance of "3b" which is three times the length of b. Further, in the case of "c = 25d / 16", it becomes "a = 4b", and it can be seen that the drone Di is above the electric wire by a distance "4b" which is four times the length of b.

As described above, according to the above equation (2), the distance a between the electric wire and the lower end of the rod 111, that is, the drone Di, based on the length b of the rod 111, that is, the distance between the sensors C1 and C2. The distance l _U from the electric wire below the drone Di can be obtained.

(Specific processing content for calculating the distance l _R )
Next, with reference to FIG. 6, a specific processing content for calculating the distance l _U between the drone Di and the electric wire below the drone Di will be described.

FIG. 6 is an explanatory diagram showing the positional relationship between the drone Di and the electric wire in the case of flight on the left side. In FIG. 6, a'corresponds to the distance between the electric wire and the right end of the rod 112, that is, the distance l _R between the drone Di and the electric wire on the right side of the drone Di. The rod 112 is a rod extending in the left-right direction to which the sensors C3 and C4 are attached.

b'is the length of the rod 112. c'is the magnetic field at the right end of the rod 112, that is, the strength of the magnetic field generated from the electric wire measured by the sensor C4. d'is the magnetic field at the left end of the rod 112, that is, the strength of the magnetic field generated from the electric wire measured by the sensor C3. The unit of a'and b'is, for example, "m". The unit of c'and d'is, for example, "T".

Here, the following equation (3) holds between a', b', c', and d'.

c'* a'* a'= d'* (a'+ b') * (a'+ b') ... (3)

Further, a'> 0, b'> 0, c'> 0, d'> 0, and when the drone Di is directly to the left of the electric wire, c'> d'. Therefore, a'can be obtained by using the following formula (4).

a'= b'/ {(c' / d') ^1/2 -1)} ・ ・ ・ (4)

For example, in the case of "c'= 9d'", it becomes "a'= b'/ 2", and the drone Di may be on the left side of the electric wire by a distance "b' / 2" which is half the length of b'. Recognize.

As described above, according to the above equation (4), the distance a'between the electric wire and the right end of the rod 112 based on the length b'of the rod 112, that is, the distance between the sensors C3 and C4, that is, the drone. The distance l _R between the Di and the electric wire on the right side of the drone Di can be obtained.

(Specific processing details when changing the traffic method of Drone Di)
Next, with reference to FIGS. 7 and 8, specific processing contents when changing the passage method of the drone Di will be described. First, with reference to FIG. 7, a case where the traffic method of the drone Di is changed from the sky traffic to the left traffic will be described.

FIG. 7 is an explanatory diagram (No. 1) showing the positional relationship between the drone Di and the electric wire. In (7-1) of FIG. 7, the first movement control unit 402 left the drone Di on the left until the measurement result of the sensor C4 (right direction) and the measurement result of the sensor C2 (downward direction) substantially match. Move a predetermined amount to the direction. Specifically, for example, the first movement control unit 402 uses the drone Di until the ratio r _RU of the measurement result of the sensor C2 (downward) to the measurement result of the sensor C4 (right direction) becomes smaller than the threshold value ε. Gradually move to the left. The threshold value ε is set to a value of about 1.05.

In (7-2) of FIG. 7, the first movement control unit 402 lowers the drone Di until the measurement result of the sensor C1 (upward direction) and the measurement result of the sensor C2 (downward direction) substantially match. Move a predetermined amount to. Specifically, for example, the first movement control unit 402 uses the drone Di until the ratio r _UD of the measurement result of the sensor C2 (downward) to the measurement result of the sensor C1 (upward) becomes smaller than the threshold value ε. Gradually move downwards.

As a result, as shown in (7-3) of FIG. 7, the positioning of the drone Di can be changed from directly above the electric wire to the left side, and the traffic can be changed from the sky traffic to the left traffic.

Next, a case where the traffic method of the drone Di is changed from the left side traffic to the sky traffic will be described with reference to FIG.

FIG. 8 is an explanatory diagram (No. 2) showing the positional relationship between the drone Di and the electric wire. In (8-1) of FIG. 8, the first movement control unit 402 moves the drone Di upward until the measurement result of the sensor C4 (rightward direction) and the measurement result of the sensor C2 (downward direction) substantially match. Move a predetermined amount to. Specifically, for example, the first movement control unit 402 uses the drone Di until the ratio r _RU of the measurement result of the sensor C2 (downward) to the measurement result of the sensor C4 (right direction) becomes smaller than the threshold value ε. Gradually move upwards.

In (8-2) of FIG. 8, the first movement control unit 402 moves the drone Di to the right until the measurement result of the sensor C3 (left direction) and the measurement result of the sensor C4 (right direction) substantially match. Move a predetermined amount to the direction. Specifically, for example, the first movement control unit 402 uses the drone Di until the ratio r _LR of the measurement result of the sensor C4 (right direction) to the measurement result of the sensor C3 (left direction) becomes smaller than the threshold value ε. Gradually move to the right.

As a result, as shown in (8-3) of FIG. 8, the positioning of the drone Di can be changed from the left side of the electric wire to directly above, and the left side passage can be changed to the sky passage.

(Flight path identification processing procedure of flight control device Ti)
The flight path specifying processing procedure of the flight control device Ti will be described with reference to FIGS. 9 to 13. Here, it is assumed that the traffic method of the drone Di is the sky traffic for the electric wire whose passage is limited to one direction, and the left passage for the electric wire whose passage is not limited to one direction. Further, the drone Di is first moved to the initial position (the position directly above or on the left side of the electric wire) by a manual remote control by wireless communication.

9 to 13 are flowcharts showing an example of the flight path specifying processing procedure of the flight control device Ti. In the flowchart of FIG. 9, first, the flight control device Ti confirms the current position of the drone Di based on the position information output from the GPS receiver 305 (step S901).

Next, the flight control device Ti confirms the initial positioning of the drone Di with respect to the electric wire by inquiring to the management device 201 (step S902). It is assumed that the initial positioning of the drone Di is predetermined in the management device 201 either above (directly above) or on the left side of the electric wire.

Then, the flight control device Ti determines whether or not the initial positioning is in the sky (step S903). Here, in the case of the sky (step S903: Yes), the flight control device T1 shifts to step S1001 shown in FIG. On the other hand, in the case of the left side (step S903: No), the flight control device Ti shifts to step S1101 shown in FIG.

Further, the flight control device Ti acquires the route information for specifying the position of the electric wire as the movement route from the management device 201 (step S904). Then, the flight control device Ti determines whether or not the second movement control unit 403 has received the positioning completion notification from the first movement control unit 402 (step S905).

Here, the flight control device Ti waits for receiving the positioning completion notification from the first movement control unit 402 (step S905: No). Then, when the positioning completion notification is received (step S905: Yes), the flight control device Ti is based on the route information acquired by the second movement control unit 403 and the position information of the GPS receiver 305. The drone Di is moved along the movement path (step S906). At this time, the flight control device Ti maintains the relative positional relationship between the electric wire and the drone Di, which is the result of being moved by the second movement control unit 403 by the first movement control unit 402, and the drone Di. Is moved along the movement path.

Next, the flight control device Ti determines whether or not the position change point has been reached based on the acquired route information and the position information of the GPS receiver 305 by the second movement control unit 403 (. Step S907). The position change point is a point where the traffic method of the drone Di is changed. For example, the position change point is one passage from a point where the electric wire whose passage is limited to one direction is switched to an electric wire whose passage is not limited to one direction, or from an electric wire whose passage is not limited to one direction. It is a point where the electric wire is switched to a limited direction.

Here, when the position change point is reached (step S907: Yes), the flight control device Ti changes the traffic method of the drone Di from the sky traffic to the left traffic by the second movement control unit 403. (Step S908). Then, when changing to left-hand traffic (step S908: Yes), the flight control device Ti instructs the first movement control unit 402 to change from sky traffic to left-hand traffic by the second movement control unit 403. Is transmitted (step S909), and the process returns to step S905.

On the other hand, when changing to sky traffic (step S908: No), the flight control device Ti instructs the first movement control unit 402 to change from left-hand traffic to sky traffic by the second movement control unit 403. Is transmitted (step S910), and the process returns to step S905.

Further, in step S907, when the position change point has not been reached (step S907: No), the flight control device Ti has the route information acquired by the second movement control unit 403 and the position of the GPS receiver 305. Based on the information, it is determined whether or not the destination point has been reached (step S911).

Here, if the destination point has not been reached (step S9111: No), the flight control device Ti returns to step S906. On the other hand, when the destination point is reached (step S9111: Yes), the flight control device Ti ends a series of processes according to this flowchart. As a result, the drone Di can be accurately moved along the electric wire that serves as the movement path.

In the flowchart of FIG. 10, the flight control device Ti acquires the measurement result indicating the strength of the magnetic field generated from the electric wire, which is measured by the sensors C3 and C4 (step S1001). Then, the flight control device Ti determines whether or not the ratio r _LR of the measurement result of the sensor C4 to the measurement result of the sensor C3 is less than 1.05 by the first movement control unit 402 (step S1002). ..

Here, when the ratio r _LR is 1.05 or more (step S1002: No), the flight control device Ti moves the drone Di to the right by a predetermined amount by the first movement control unit 402 (step S1003). , Return to step S1001. On the other hand, when the ratio r _LR is less than 1.05 (step S1002: Yes), the flight control device Ti determines whether or not the ratio r _LR is larger than 0.95 (step S1004).

When the ratio r _LR is 0.95 or less (step S1004: No), the flight control device Ti moves the drone Di to the left by a predetermined amount by the first movement control unit 402 (step S1005), and the flight control device Ti moves the drone Di to the left by a predetermined amount (step S1005). Return to. On the other hand, when the ratio r _LR is larger than 0.95 (step S1004: Yes), the flight control device Ti acquires the measurement result indicating the strength of the magnetic field generated from the electric wire measured by the sensors C1 and C2 (step S1004: Yes). Step S1006).

Then, the flight control device Ti is placed below the drone Di and the drone Di based on the measurement results of the sensors C1 and C2 acquired by the first movement control unit 402 and the distance between the sensors C1 and C2. The distance l _U (height) with a certain electric wire is calculated (step S1007). Next, the flight control device Ti determines whether or not the calculated distance l _U is less than 4 m by the first movement control unit 402 (step S1008).

Here, when the distance l _U is 4 m or more (step S1008: No), the flight control device Ti moves the drone Di downward by a predetermined amount by the first movement control unit 402 (step S1009), and step S1006. Return to. On the other hand, when the distance l _U is less than 4 m (step S1008: Yes), the flight control device Ti determines whether or not the distance l _U is larger than 1.5 m by the first movement control unit 402 (step). S1010).

Here, when the distance l _U is 1.5 m or less (step S1010: No), the flight control device Ti moves the drone Di upward by a predetermined amount by the first movement control unit 402 (step S1011). Return to step S1006. On the other hand, when the distance l _U is larger than 1.5 m (step S1010: Yes), the flight control device Ti notifies the second movement control unit 403 of the positioning completion by the first movement control unit 402. Is transmitted (step S1012).

Then, the flight control device Ti waits for a certain period of time (step S1013). The fixed time can be arbitrarily set, and is set to, for example, about 10 seconds to 15 seconds. Next, the flight control device Ti determines whether or not the first movement control unit 402 has received the change instruction from the sky traffic to the left traffic from the second movement control unit 403 (step S1014).

Here, when the change instruction from the sky traffic to the left traffic is not accepted (step S1014: No), the flight control device Ti returns to step S1001. On the other hand, when the change instruction from the sky traffic to the left traffic is received (step S1014: Yes), the flight control device Ti shifts to step S1101 shown in FIG.

According to the flowchart of FIG. 10, it is possible to control the drone Di to fly so as to be directly above the electric wire and within a range of 1.5 m to 4 m from the electric wire.

In the flowchart of FIG. 11, first, the flight control device Ti moves the drone Di to the left by a predetermined amount by the first movement control unit 402 (step S1101). Next, the flight control device Ti acquires the measurement results of the sensors C2 and C4 (step S1102). Then, the flight control device Ti determines whether or not the ratio r _RU of the measurement result of the sensor C2 to the measurement result of the sensor C4 is less than 1.05 by the first movement control unit 402 (step S1103). ..

Here, when the ratio r _RU is 1.05 or more (step S1103: No), the flight control device Ti returns to step S1101. On the other hand, when the ratio r _RU is less than 1.05 (step S1103: Yes), the flight control device Ti moves the drone Di downward by a predetermined amount by the first movement control unit 402 (step S1104).

Next, the flight control device Ti acquires the measurement results of the sensors C1 and C2 (step S1105). Then, the flight control device Ti determines whether or not the ratio r _UD of the measurement result of the sensor C2 to the measurement result of the sensor C1 is less than 1.05 by the first movement control unit 402 (step S1106). ..

Here, when the ratio r _UD is 1.05 or more (step S1106: No), the flight control device Ti returns to step S1104. On the other hand, when the ratio r _UD is less than 1.05 (step S1106: Yes), the flight control device Ti shifts to step S1201 shown in FIG.

According to the flowchart of FIG. 11, the positioning of the drone Di can be changed from directly above the electric wire to the left side, and the traffic can be changed from the sky traffic to the left traffic.

In the flowchart of FIG. 12, the flight control device Ti acquires the measurement result indicating the strength of the magnetic field generated from the electric wire, which is measured by the sensors C1 and C2 (step S1201). Then, the flight control device Ti determines whether or not the ratio r _UD of the measurement result of the sensor C1 to the measurement result of the sensor C2 is less than 1.05 by the first movement control unit 402 (step S1202). ..

Here, when the ratio r _UD is 1.05 or more (step S1202: No), the flight control device Ti moves the drone Di downward by a predetermined amount by the first movement control unit 402 (step S1203). Return to step S1201. On the other hand, when the ratio r _UD is less than 1.05 (step S1202: Yes), the flight control device Ti determines whether or not the ratio r _UD is larger than 0.95 (step S1204).

When the ratio r _UD is 0.95 or less (step S1204: No), the flight control device Ti moves the drone Di upward by a predetermined amount by the first movement control unit 402 (step S1205), and moves to step S1201. return. On the other hand, when the ratio r _UD is larger than 0.95 (step S1204: Yes), the flight control device Ti acquires the measurement result indicating the strength of the magnetic field generated from the electric wire measured by the sensors C3 and C4 (step S1204: Yes). Step S1206).

Then, the flight control device Ti is to the right of the drone Di and the drone Di based on the measurement results of the sensors C3 and C4 acquired by the first movement control unit 402 and the distance between the sensors C3 and C4. Calculate the distance l _R from the electric wire in (step S1207). Next, the flight control device Ti determines whether or not the calculated distance l _R is less than 3 m by the first movement control unit 402 (step S1208).

Here, when the distance l _R is 3 m or more (step S1208: No), the flight control device Ti moves the drone Di to the right by a predetermined amount by the first movement control unit 402 (step S1209), and steps. Return to S1206. On the other hand, when the distance l _R is less than 3 m (step S1208: Yes), the flight control device Ti determines whether or not the distance l _R is larger than 1.5 m by the first movement control unit 402 (step). S1210).

Here, when the distance l _R is 1.5 m or less (step S1210: No), the flight control device Ti moves the drone Di to the left by a predetermined amount by the first movement control unit 402 (step S1211). , Return to step S1206. On the other hand, when the distance l _R is larger than 1.5 m (step S1210: Yes), the flight control device Ti notifies the second movement control unit 403 of the positioning completion by the first movement control unit 402. Is transmitted (step S1212).

Then, the flight control device Ti waits for a certain period of time (step S1213). Next, the flight control device Ti determines whether or not the first movement control unit 402 has received the change instruction from the left-side traffic to the sky traffic from the second movement control unit 403 (step S1214).

Here, when the change instruction from the left-hand traffic to the sky traffic is not accepted (step S1214: No), the flight control device Ti returns to step S1201. On the other hand, when the change instruction from the left side traffic to the sky traffic is received (step S1214: Yes), the flight control device Ti shifts to step S1301 shown in FIG.

According to the flowchart of FIG. 12, it is possible to control the drone Di to fly so as to be within the range of 1.5 m to 3 m from the electric wire on the left side (right left) of the electric wire.

In the flowchart of FIG. 13, first, the flight control device Ti moves the drone Di upward by a predetermined amount by the first movement control unit 402 (step S1301). Next, the flight control device Ti acquires the measurement results of the sensors C2 and C4 (step S1302). Then, the flight control device Ti determines whether or not the ratio r _RU of the measurement result of the sensor C2 to the measurement result of the sensor C4 is less than 1.05 by the first movement control unit 402 (step S1303). ..

Here, when the ratio r _RU is 1.05 or more (step S1303: No), the flight control device Ti returns to step S1301. On the other hand, when the ratio r _RU is less than 1.05 (step S1303: Yes), the flight control device Ti moves the drone Di to the right by a predetermined amount by the first movement control unit 402 (step S1304).

Next, the flight control device Ti acquires the measurement results of the sensors C3 and C4 (step S1305). Then, the flight control device Ti determines whether or not the ratio r _LR of the measurement result of the sensor C4 to the measurement result of the sensor C3 is less than 1.05 by the first movement control unit 402 (step S1306). ..

Here, when the ratio r _LR is 1.05 or more (step S1306: No), the flight control device Ti returns to step S1304. On the other hand, when the ratio r _LR is less than 1.05 (step S1306: Yes), the flight control device Ti shifts to step S1001 shown in FIG.

According to the flowchart of FIG. 13, the positioning of the drone Di can be changed from the left side of the electric wire to directly above, and the traffic can be changed from the left side traffic to the sky traffic.

As described above, according to the flight control device Ti according to the embodiment, based on the strength of the magnetic field generated from the electric wire measured by each sensor C provided in each of the plurality of directions with respect to the drone Di. The relative positional relationship between the drone Di and the electric wire can be specified. Then, according to the flight control device Ti, the drone Di can be moved to a position relative to the predetermined drone Di and the electric wire in the horizontal direction of the cross section of the electric wire based on the specified specific result. Further, according to the flight control device Ti, the relative position between the electric wire and the drone Di, which is the result of the movement, based on the route information for specifying the position of the electric wire as the movement route and the position information of the drone Di. The drone Di can be moved along the movement path while maintaining the relationship.

As a result, the position of the drone Di with respect to the electric wire can be controlled by utilizing the strength of the magnetic field generated from the electric wire, and the drone Di can be accurately moved along the electric wire as the movement path.

According to the flight control device Ti, when the ratio r _LR is equal to or greater than the threshold value α, the drone Di is moved to the right by a predetermined amount in the left-right direction of the drone Di, and when the ratio r _LR is equal to or less than the threshold value β, the drone is moved. Di can be moved to the left by a predetermined amount. The ratio r _LR is the ratio of the measurement result of the sensor C4 provided on the right side of the drone Di to the measurement result of the sensor C3 provided on the left side of the drone Di. Further, according to the flight control device Ti, in the vertical direction of the drone Di, when the distance l _U is equal to or greater than the threshold value γ, the drone Di is moved downward by a predetermined amount, and when the distance l _U is equal to or less than the threshold value δ, the drone Di is moved downward. Can be moved upward by a predetermined amount. The distance l _U is the distance between the drone Di and the electric wire below the drone Di.

This makes it possible to fly the drone Di so that it is directly above the electric wire and within a predetermined range (δ <l _U <γ) from the electric wire. It is possible to realize over-the-air traffic that passes through.

Further, according to the flight control device Ti, when the ratio r _{UD is equal to or more than the threshold value α'in the vertical direction of the drone Di, the drone Di is moved downward by a predetermined amount, and when the ratio r UD is} equal to or less than the threshold value β', the drone Di is moved downward. The drone Di can be moved upward by a predetermined amount. The ratio r _UD is the ratio of the measurement result of the sensor C1 provided in the upward direction of the drone Di to the measurement result of the sensor C2 provided in the downward direction of the drone Di. Further, according to the flight control device Ti, when the distance l _R is equal to or more than the threshold value γ'in the left-right direction of the drone Di, the drone Di is moved to the right by a predetermined amount, and when the distance l _R is equal to or less than the threshold value δ'. , Drone Di can be moved to the left by a predetermined amount. The distance l _R is the distance between the drone Di and the electric wire on the right side of the drone Di.

This makes it possible to fly the drone Di so that it is on the left side of the electric wire and within a predetermined range (δ'<l _R <γ') from the electric wire. It is possible to realize left-hand traffic.

Further, according to the flight control device Ti, when the positioning is changed from directly above the electric wire to the left side, until the measurement result of the sensor C4 (right direction) and the measurement result of the sensor C2 (downward direction) substantially match. , The drone Di can be moved to the left by a predetermined amount. Further, according to the flight control device Ti, the drone Di can be moved downward by a predetermined amount until the measurement result of the sensor C1 (upward direction) and the measurement result of the sensor C2 (downward direction) substantially match.

As a result, the traffic system of the drone Di can be changed from the sky traffic to the left traffic. Therefore, for example, the passage method of the drone Di can be automatically switched at the position change point on the movement route.

Further, according to the flight control device Ti, when the positioning is changed from the left side of the electric wire to directly above, until the measurement result of the sensor C4 (right direction) and the measurement result of the sensor C2 (downward direction) substantially match. , The drone Di can be moved upward by a predetermined amount. Further, according to the flight control device Ti, the drone Di can be moved to the right by a predetermined amount until the measurement result of the sensor C3 (left direction) and the measurement result of the sensor C4 (right direction) substantially match. ..

As a result, the traffic system of the drone Di can be changed from the left side traffic to the sky traffic. Therefore, for example, the passage method of the drone Di can be automatically switched at the position change point on the movement route.

Further, according to the flight control device Ti, the designation of the starting point and the destination point is accepted, and for each electric wire forming the electric line, the electric wire information indicating the position of the electric wire is referred to, and the designated starting point to the destination point is referred to. You can search for a travel route to reach. Then, according to the flight control device Ti, the drone Di is along the searched movement route while maintaining the relative positional relationship between the electric wire and the drone Di, which is the result of the movement, based on the position information of the drone Di. Can be moved.

As a result, it is possible to obtain a movement route for moving along the electric wire from the starting point to the destination point without communicating with the management device 201.

Further, according to the flight control device Ti, it is possible to search for a movement route through which only electric wires with limited passage in one direction pass from the starting point to the destination point. As a result, it is possible to prevent the drones from colliding head-on with each other when the sky passage that passes directly above the electric wire is adopted.

From these facts, according to the flight control device Ti and the flight control system 200 according to the embodiment, it is possible to enable automatic driving in a residential area or the like without mounting a camera on the drone Di. As a result, it is possible to meet the ever-increasing demand for individual distribution, and it is possible to improve the efficiency of transportation of goods to urban areas and depopulated areas. Further, by measuring the strength of the magnetic field generated from the electric wire, it can be useful for analysis such as deterioration of the coating film of the electric wire.

The flight path specifying method described in the present embodiment can be realized by executing a program prepared in advance on a computer such as a personal computer or a workstation. This flight path identification program is a computer-readable recording such as a hard disk, a flexible disk, a CD (Compact Disc) -ROM, an MO (Magnet-Optical disk), a DVD (Digital Versaille Disk), and a USB (Universal Serial Bus) memory. It is recorded on a medium and executed by being read from the recording medium by a computer. In addition, this flight route identification program may be distributed via a network such as the Internet.

The following additional notes are further disclosed with respect to the above-described embodiment.

(Appendix 1) Identify the relative positional relationship between the unmanned aerial vehicle and the electric wire based on the strength of the magnetic field generated from the electric wire measured by each sensor provided in each of a plurality of directions with respect to the unmanned aerial vehicle. , The unmanned aerial vehicle is moved to a preset relative position between the unmanned aerial vehicle and the electric wire in the horizontal direction of the cross section of the electric wire based on the specified specific result.
Based on the route information that specifies the position of the electric wire that becomes the movement route and the position information of the unmanned aerial vehicle, the said while maintaining the relative positional relationship between the electric wire that is the result of the movement and the unmanned aerial vehicle. Move the unmanned aerial vehicle along the travel path,
A flight path identification program characterized by having a computer perform processing.

(Appendix 2) Regarding the left-right direction of the unmanned aerial vehicle
When the ratio of the measurement result of the sensor provided to the right of the unmanned aerial vehicle to the measurement result of the sensor provided to the left of the unmanned aerial vehicle is equal to or greater than the first threshold value, the unmanned aerial vehicle is moved to the right by a predetermined amount. ,
When the ratio is equal to or less than the second threshold value smaller than the first threshold value, the unmanned aerial vehicle is moved to the left by a predetermined amount.
Regarding the vertical direction of the unmanned aerial vehicle
Based on the measurement result of the sensor provided in the upward direction of the unmanned aerial vehicle and the measurement result of the sensor provided in the downward direction of the unmanned aerial vehicle, the unmanned aerial vehicle and the electric wire below the unmanned aerial vehicle Calculate the distance,
When the calculated distance is equal to or greater than the third threshold value, the unmanned aerial vehicle is moved downward by a predetermined amount.
When the calculated distance is equal to or less than the fourth threshold value smaller than the third threshold value, the unmanned aerial vehicle is moved upward by a predetermined amount.
The flight route identification program according to Appendix 1, wherein the program is characterized by the above.

(Appendix 3) Regarding the vertical direction of the unmanned aerial vehicle
When the ratio of the measurement result of the sensor provided in the upward direction of the unmanned aerial vehicle to the measurement result of the sensor provided in the downward direction of the unmanned aerial vehicle is equal to or more than the first threshold value, the unmanned aerial vehicle is moved downward by a predetermined amount.
When the ratio is equal to or less than the second threshold value smaller than the first threshold value, the unmanned aerial vehicle is moved upward by a predetermined amount.
Regarding the left-right direction of the unmanned aerial vehicle
Based on the measurement result of the sensor provided to the left of the unmanned aerial vehicle and the measurement result of the sensor provided to the right of the unmanned aerial vehicle, the unmanned aerial vehicle and the electric wire on the right side of the unmanned aerial vehicle. Calculate the distance of
When the calculated distance is equal to or greater than the third threshold value, the unmanned aerial vehicle is moved to the right by a predetermined amount.
When the calculated distance is equal to or less than the fourth threshold value smaller than the third threshold value, the unmanned aerial vehicle is moved to the left by a predetermined amount.
The flight path identification program according to Appendix 1 or 2, characterized in that.

(Appendix 4) When changing the positioning from directly above the electric wire to the left side, the measurement result of the sensor provided to the right of the unmanned aerial vehicle and the measurement result of the sensor provided to the downward direction of the unmanned aerial vehicle are different. Move the unmanned aerial vehicle to the left by a predetermined amount until it is approximately the same.
The unmanned aerial vehicle is moved downward by a predetermined amount until the measurement result of the sensor provided in the upward direction of the unmanned aerial vehicle and the measurement result of the sensor provided in the downward direction of the unmanned aerial vehicle substantially match.
The flight path specifying program according to Appendix 3, wherein the processing is executed by the computer.

(Appendix 5) Accepting the designation of the departure point and the destination point,
For each electric wire forming the electric line, the movement route from the designated starting point to the destination point is searched for by referring to the electric wire map information indicating the position of the electric wire.
Based on the position information of the unmanned aerial vehicle, the unmanned aerial vehicle is moved along the searched movement route while maintaining the relative positional relationship between the electric wire resulting from the movement and the unmanned aerial vehicle.
The flight path specifying program according to any one of Supplementary note 1 to 4, wherein the processing is executed by the computer.

(Appendix 6) The flight route specifying program according to Appendix 2, wherein the electric wire serving as the movement route is an electric wire whose passage is limited to one direction.

(Appendix 7) When the position is changed from the left side of the electric wire to directly above, the measurement result of the sensor provided to the right of the unmanned aerial vehicle and the measurement result of the sensor provided to the downward direction of the unmanned aerial vehicle are different. Move the unmanned aerial vehicle upward by a predetermined amount until it is approximately the same.
The unmanned aerial vehicle is moved to the right by a predetermined amount until the measurement result of the sensor provided to the left of the unmanned aerial vehicle and the measurement result of the sensor provided to the right of the unmanned aerial vehicle substantially match.
The flight path specifying program according to Appendix 4, wherein the processing is executed by the computer.

(Appendix 8) The relative positional relationship between the unmanned aerial vehicle and the electric wire is specified based on the strength of the magnetic field generated from the electric wire measured by each sensor provided in each of a plurality of directions with respect to the unmanned aerial vehicle. , The unmanned aerial vehicle is moved to a preset relative position between the unmanned aerial vehicle and the electric wire in the horizontal direction of the cross section of the electric wire based on the specified specific result.
Based on the route information that specifies the position of the electric wire that becomes the movement route and the position information of the unmanned aerial vehicle, the said while maintaining the relative positional relationship between the electric wire that is the result of the movement and the unmanned aerial vehicle. Move the unmanned aerial vehicle along the travel path,
A method of identifying a flight path, characterized in that processing is performed by a computer.

(Appendix 9) An acquisition unit that acquires measurement results indicating the strength of the magnetic field generated from the electric wire measured by each sensor provided in each of a plurality of directions with respect to the unmanned aerial vehicle.
Based on the measurement results of each of the sensors acquired by the acquisition unit, the relative positional relationship between the unmanned aerial vehicle and the electric wire is specified, and based on the specified specific result, the horizontal direction of the cross section of the electric wire. A first movement control unit that moves the unmanned aerial vehicle to a relative position between the unmanned aerial vehicle and the electric wire, which is set in advance in the above.
Based on the route information that specifies the position of the electric wire that becomes the movement route and the position information of the unmanned aerial vehicle, the said while maintaining the relative positional relationship between the electric wire that is the result of the movement and the unmanned aerial vehicle. A second movement control unit that moves the unmanned aerial vehicle along the movement path,
A flight control device characterized by having.

(Appendix 10) Sensors provided for unmanned aerial vehicles in multiple directions to measure the strength of the magnetic field generated from electric wires, and
An acquisition unit that acquires the measurement results measured by each of the sensors, and
Based on the measurement results of each of the sensors acquired by the acquisition unit, the relative positional relationship between the unmanned aerial vehicle and the electric wire is specified, and based on the specified specific result, the horizontal direction of the cross section of the electric wire. A first movement control unit that moves the unmanned aerial vehicle to a relative position between the unmanned aerial vehicle and the electric wire, which is set in advance in the above.
Based on the route information that specifies the position of the electric wire that becomes the movement route and the position information of the unmanned aerial vehicle, the said while maintaining the relative positional relationship between the electric wire that is the result of the movement and the unmanned aerial vehicle. A second movement control unit that moves the unmanned aerial vehicle along the movement path,
A flight control system characterized by including.

101, T1 to Tn, Ti Flight control device 110 Unmanned aerial vehicle 111,112 Rod 120 Movement route 121,122,123,124,125 Wire 200 Flight control system 201 Management device 210 Network 220 Wire map DB
300 bus 301 CPU
302 Memory 303 I / F
304 Input device 305 GPS receiver 401 Acquisition unit 402 First movement control unit 403 Second movement control unit D1 to Dn, Di drone

Claims (10)

Based on the strength of the magnetic field generated from the electric wire measured by each sensor provided in each of a plurality of directions with respect to the unmanned aerial vehicle, the relative positional relationship between the unmanned aerial vehicle and the electric wire is specified and specified. Based on the result, when moving the unmanned aerial vehicle to a preset relative position between the unmanned aerial vehicle and the electric wire in the horizontal direction of the cross section of the electric wire, the unmanned aerial vehicle is provided in the first direction of the unmanned aerial vehicle. When the ratio of the measurement result of the second sensor provided in the second direction opposite to the first direction of the unmanned aerial vehicle to the measurement result of the first sensor is equal to or more than the first threshold value, the unmanned aerial vehicle is referred to as the unmanned aerial vehicle. Move in the second direction, and if the ratio is less than or equal to the second threshold, move the unmanned aerial vehicle in the first direction.
Based on the route information that specifies the position of the electric wire that becomes the movement route and the position information of the unmanned aerial vehicle, the said while maintaining the relative positional relationship between the electric wire that is the result of the movement and the unmanned aerial vehicle. Move the unmanned aerial vehicle along the travel path,
A flight path identification program characterized by having a computer perform processing. When moving the unmanned aerial vehicle to a relative position between the preset unmanned aerial vehicle and the electric wire,
The measurement result of the third sensor provided in the first direction of the unmanned aircraft and the third direction orthogonal to the moving direction, and the fourth direction provided in the fourth direction opposite to the third direction of the unmanned aircraft. Based on the measurement results of the four sensors, the distance between the unmanned aircraft and the electric wire in the fourth direction of the unmanned aircraft is calculated.
When the calculated distance is equal to or greater than the third threshold value, the unmanned aerial vehicle is moved in the fourth direction.
When the calculated distance is equal to or less than the fourth threshold value smaller than the third threshold value, the unmanned aerial vehicle is moved in the third direction.
The flight route specifying program according to claim 1. When moving the unmanned aerial vehicle to a relative position between the preset unmanned aerial vehicle and the electric wire,
A fourth direction provided in the fourth direction opposite to the third direction of the unmanned aerial vehicle with respect to the measurement result of the third sensor provided in the first direction and the third direction orthogonal to the moving direction of the unmanned aerial vehicle. When the ratio of the measurement result of the sensor is equal to or more than the first threshold value, the unmanned aerial vehicle is moved in the third direction.
When the ratio is equal to or less than the second threshold value smaller than the first threshold value, the unmanned aerial vehicle is moved in the fourth direction.
The flight route specifying program according to claim 1 . When moving the unmanned aerial vehicle to a relative position between the preset unmanned aerial vehicle and the electric wire,
Based on the measurement result of the first sensor and the measurement result of the second sensor, the distance between the unmanned aerial vehicle and the electric wire in the second direction of the unmanned aerial vehicle is calculated.
When the calculated distance is equal to or greater than the third threshold value, the unmanned aerial vehicle is moved in the second direction.
When the calculated distance is equal to or less than the fourth threshold value smaller than the third threshold value, the unmanned aerial vehicle is moved in the first direction.
The flight route specifying program according to claim 3 . The first direction is to the left of the unmanned aerial vehicle.
The third direction is the downward direction of the unmanned aerial vehicle.
When changing the positioning from directly above the electric wire to the left side, the unmanned aerial vehicle is moved in the first direction until the measurement result of the second sensor and the measurement result of the third sensor substantially match.
The unmanned aerial vehicle is moved in the third direction until the measurement result of the fourth sensor and the measurement result of the third sensor substantially match.
The flight path specifying program according to claim 4, wherein the processing is executed by the computer. Accepting the designation of the starting point and the destination point,
For each electric wire forming the electric line, the movement route from the designated starting point to the destination point is searched for by referring to the electric wire map information indicating the position of the electric wire.
Based on the position information of the unmanned aerial vehicle, the unmanned aerial vehicle is moved along the searched movement route while maintaining the relative positional relationship between the electric wire resulting from the movement and the unmanned aerial vehicle.
The flight path specifying program according to any one of claims 1 to 5, wherein the processing is executed by the computer. The flight route specifying program according to claim 2, wherein the electric wire serving as the movement route is an electric wire whose passage is limited to one direction. Based on the strength of the magnetic field generated from the electric wire measured by each sensor provided in each of a plurality of directions with respect to the unmanned aerial vehicle, the relative positional relationship between the unmanned aerial vehicle and the electric wire is specified and specified. Based on the results, it is provided in the first direction of the unmanned aerial vehicle when moving the unmanned aerial vehicle to a preset relative position between the unmanned aerial vehicle and the electric wire in the horizontal direction of the cross section of the electric wire. When the ratio of the measurement result of the second sensor provided in the second direction opposite to the first direction of the unmanned aerial vehicle to the measurement result of the first sensor is equal to or more than the first threshold value, the unmanned aerial vehicle is referred to as the first sensor. When the ratio is smaller than the first threshold and is equal to or less than the second threshold, the unmanned aerial vehicle is moved in the first direction.
Based on the route information that specifies the position of the electric wire that becomes the movement route and the position information of the unmanned aerial vehicle, the said while maintaining the relative positional relationship between the electric wire that is the result of the movement and the unmanned aerial vehicle. Move the unmanned aerial vehicle along the travel path,
A method of identifying a flight path, characterized in that processing is performed by a computer. An acquisition unit that acquires measurement results indicating the strength of the magnetic field generated from the electric wire measured by each sensor provided in each of multiple directions with respect to the unmanned aerial vehicle.
Based on the measurement results of each of the sensors acquired by the acquisition unit, the relative positional relationship between the unmanned aerial vehicle and the electric wire is specified, and based on the specified specific result, the horizontal direction of the cross section of the electric wire. When the unmanned aerial vehicle is moved to a relative position between the unmanned aerial vehicle and the electric wire, the unmanned aerial vehicle is described with respect to the measurement result of the first sensor provided in the first direction of the unmanned aerial vehicle. When the ratio of the measurement results of the second sensor provided in the second direction opposite to the first direction is equal to or greater than the first threshold value, the unmanned aerial vehicle is moved in the second direction, and the ratio is the first threshold value. When it is smaller than the second threshold value, the first movement control unit that moves the unmanned aerial vehicle in the first direction, and
Based on the route information that specifies the position of the electric wire that becomes the movement route and the position information of the unmanned aerial vehicle, the said while maintaining the relative positional relationship between the electric wire that is the result of the movement and the unmanned aerial vehicle. A second movement control unit that moves the unmanned aerial vehicle along the movement path,
A flight control device characterized by having. Each sensor, which is installed in each of multiple directions for an unmanned aerial vehicle and measures the strength of the magnetic field generated from the electric wire,
An acquisition unit that acquires the measurement results measured by each of the sensors, and
Based on the measurement results of each of the sensors acquired by the acquisition unit, the relative positional relationship between the unmanned aerial vehicle and the electric wire is specified, and based on the specified specific result, the horizontal direction of the cross section of the electric wire. When the unmanned aerial vehicle is moved to a relative position between the unmanned aerial vehicle and the electric wire, the unmanned aerial vehicle is described with respect to the measurement result of the first sensor provided in the first direction of the unmanned aerial vehicle. When the ratio of the measurement results of the second sensor provided in the second direction opposite to the first direction is equal to or greater than the first threshold value, the unmanned aerial vehicle is moved in the second direction, and the ratio is the first threshold value. When it is smaller than the second threshold value, the first movement control unit that moves the unmanned aerial vehicle in the first direction, and
Based on the route information that specifies the position of the electric wire that becomes the movement route and the position information of the unmanned aerial vehicle, the said while maintaining the relative positional relationship between the electric wire that is the result of the movement and the unmanned aerial vehicle. A second movement control unit that moves the unmanned aerial vehicle along the movement path,
A flight control system characterized by including.

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