JPH0279707A - Method and device for laying electric cable - Google Patents

Abstract

PURPOSE:To enable unmanned cable laying from the air by fractionating a region S including the laying start and finish spots of an electric cable in field operations, discriminating topography, imparting the aptitude evaluation value of the laying of the electric cable and determining an optimum regular path. CONSTITUTION:Electromagnetic waves reflected from a region are observed by an observation device 1, data are stored, observed data 11 are analyzed by an image analyzer 2, and the topographic data 12 of each small region of the fractionated region S are output. A region evaluation device 3 receiving the topographic data 12 imparts evaluation values to each small region, and the evaluation value data 13 of separate region are stored previously in a cable- laying regular-path determination device 4. An input terminal 16 is mounted to the device 4, a cable-laying regular path is determined on the basis of the laying start and finish spots 35 input of an electric cable and the evaluation value data of each small region, and the positional data 14 of separate small region on the regular path are output to a navigation controller 5.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention uses remote sensing to determine the topography in the field, determines the route for laying data transmission cables with a low possibility of disconnection, and enables unmanned cable laying. This is related to the route for laying electric wires that makes it possible to do so.

[Conventional technology]

A conventional method is shown in FIG.

Conventionally, when laying electric cables for data transfer, two people examine topographic maps and decide on the route for laying the cables, and either the cable drum (7) is mounted on a vehicle (29) or a person (30) directly installs the cable drum (7). I was wearing it.

[Problem to be solved by the invention]

In the conventional method, the wires were laid by people either by vehicle or on foot, so the time required for laying the wires was greatly affected by the geographical environment, and the work was also dangerous.

SUMMARY OF THE INVENTION An object of the present invention is to provide a wire installation device that solves the above-mentioned problems.

[Means to solve the problem]

An observation child who observes the area S including the starting point and ending point of the m-line installation, an image analysis means which analyzes the topography of the area S based on the observation data from the observation means, and the image analysis means. An area evaluation means for evaluating each small area of the subdivided area S based on the analysis results, an electric wire laying route determining means for determining the electric wire laying route based on the evaluation data of each small area, and an electric wire laying route determining means for evaluating each small area of the subdivided area S An air transport device with a cable drum mounted on it.

The electric wire installation route determining means further includes a starvation control means for controlling the air transport device to fly along the electric wire laying route determined by the electric wire laying route determining means.

[For production]

The area S including the starting point and ending point of the T1 line is subdivided, and by remotely sensing the area S and determining the topography, an evaluation value indicating suitability for laying the electric wire is given to each small area.

Based on the evaluation values, the optimal route for laying wires is determined.

Airborne equipment equipped with a cable drum wrapped with electric wire is Ti.
It is controlled to fly along the wire laying route, and unmanned from the air.
Lay the lines.

[Example〕 This invention will be specifically explained below using two examples.

Fig. 1 (This is a configuration diagram of an embodiment of the electric wire laying device according to the present invention.As is clear from Fig. 1, this embodiment is mounted on an M aircraft (8), etc., and starts laying electric wires. An observation device (1) that measures area 5 (9) including the point and end point, an image analysis device (2) that analyzes the observation results and determines the topography of area S, and an image analysis device (2) that analyzes the observation results to determine the topography of area S. and an area evaluation device (3) for evaluating each small area within the area.

fH651ffi & Determine the fS electric wire installation route with low possibility of wire breakage by simply inputting the installation start point and end point f
The FI line installation route determining equipment (4), the cable drum (7) wrapped with electric wire, the air transport device (6) carrying the cable drum (7), and the air transport device (6) fly over the electric wire installation route. It is composed of a skin control neck brace (5) that controls the skin movement.

FIG. 2 is a diagram showing the data flow of one embodiment of the electric wire installation device according to the present invention. In this embodiment, as shown in FIG. 2, the electromagnetic wave front ll1l! is reflected or radiated from the region S by the observation device (1). , perform the M product of the data, and I! The measured data (11) is analyzed by the image analysis device (2), and topographical data (
12) is output. The area evaluation device (3) that receives this gives an evaluation value to each small area, and stores the evaluation value data (13) for each area in the wire installation route determination device (4). The wire laying route determination device (4) is connected to the input terminal (1
6), the wire laying route is determined based on the electric wire laying start and end points (15) inputted through the input terminal and the evaluation value data of each small area, and the position data (15) of each small area on the route is determined. I4) is output to the starvation control device (5).

Next, an algorithm for determining the wire installation route will be shown using FIGS. 3 and 4. Figure 3 is a diagram in which region 5 (9) is subdivided into m square small regions, and Figure 4 is a diagram in which region 5 (9) is subdivided into m square small regions.
It is a diagram in which evaluation values are given to each small area based on topographical data of each determined small area.

First, region 5 (9) is subdivided into 111 g square small regions, and the topography of each small region is determined by performing remote sensing on the center point of each square small region. Next, consider whether or not it is possible to lay the wires, the possibility that the wires will be disconnected or intercepted by the enemy after they are laid, and the strength of the wires.

Considering water resistance, etc., an evaluation value is set in advance according to each terrain, and an evaluation value is given to each corresponding small area. At this time, a larger evaluation value is set for terrain that is unsuitable for laying electric wires, and ω is set for terrain where it is impossible to lay m-wires. The rth area includes the electric wire laying start point, and the
Assuming that the end point of the 1iI installation in the 1st area is Husband, consider the route that starts from the 1st area and jumps to the left and right, above and below the wart, and reaches the Sth area.

When passing through each area, the evaluation values of that area are added up, and the route with the smallest sum of evaluation values among the forward and backward routes is determined as the wire laying route.

Next, set IIIE such that the sum of the evaluation values is the minimum among the routes starting from the first area and reaching the Sth area.
We show how to determine.

risk (i) is the minimum value of the sum of evaluation values in the route from the first area to the first area, 1nd
The first region is reached at x(i).

It is assumed that the area number one step before reaching the first area on the route that minimizes the evaluation value is entered.

It is also assumed that risk(i) of each region is initially set to ω.

5step 1: First, set a flag in the first area. The risk() of the left and right, upper and lower regions of the first region is determined, the one with the smallest risk() is searched among these regions, and a flag is set on that region.

5tep 2: Find the risk() of the areas above and below the area where the flag was last raised. Among the areas in which no flags are set, the one with the smallest risk() is found and that area is flagged.

The operation of 5Lep2 is repeated until the flag is set in the Sth area, and when the flag is set, the wire installation route is determined by tracing 1ndex() in the reverse direction.

FIG. 5 is a flowchart 1 of the route determining method.

la indicates the number of the last flagged area.

First, in step (17), 1ndex() and r
Clear isk(r) to 0, set other risks() to ω,
A flag is set in area r and initial settings are performed. Steps (19) to (27) are then repeated until a flag is set in the S-th area, which is the area where the emergency wire installation is to be completed. Also, it is checked in step (25) whether or not the installation is possible.

Sth area: When this flag is set, +, 1ndex () from the Sth area like 1 step (28)
The installation route is determined by following the steps in reverse.

〔Effect of the invention〕

As described above, according to the present invention, by simply analyzing the topography using remote sensing and providing the start and end points for laying electric wires, the possibility of wire breakage is low! The system is configured so that the J laying route can be determined and the wires can be laid unmanned from the air over the tS, and the wires can be laid quickly and safely.

[Brief explanation of the drawing]

FIG. 1 is a block diagram of an embodiment of an 11-line installation device according to the present invention, FIG. 2 is a diagram showing a data flow of an embodiment of an electric IT installation device according to the present invention, and FIG. FIG. 4 is a diagram showing the sub-division into m small regions, FIG. 4 is a diagram giving an evaluation value to each small region, FIG. 5 is a flowchart showing the route determination method,
FIG. 6 is a diagram showing a conventional method. In the drawings, the same or corresponding parts are designated by the same reference numerals.

Claims (2)

[Claims] (1) Subdivide the area S including the start and end points of electric wire laying into small square areas, determine the topography of each small area by remote sensing the area S, and use Based on the principle of assigning a value, an evaluation value is given to each small area, and starting from the small area that includes the starting point of electric wire laying, jumping to the left and right or up and down small areas, the small area that includes the ending point of electric wire laying is Consider the route to reach the area, and when passing through each small area, add up the evaluation value of that small area, and choose the route with the minimum sum of evaluation values among the routes as the optimal wire laying route. A method for laying electric wires, characterized in that the electric wires are laid by an unmanned aerial vehicle equipped with a cable drum wrapped with electric wires that is controlled to fly along the wire-laying route. (2) observation means for observing an area S including the start and end points of laying electric wires, an image analysis means for analyzing the topography of the area S based on observation data from the observation means, and the image analysis means The area S subdivided based on the analysis results by
an area evaluation means for evaluating each small area, an electric wire laying route determining means for determining an electric wire laying route based on the evaluation data of each small area, an air transportation device equipped with a cable drum wrapped with electric wire; and air transport device control means for controlling the air transport device to fly along the wire laying route determined by the wire laying route determining means, and is characterized in that it enables unmanned laying of electric wires using the air transport device. Electric wire laying equipment.