KR102195803B1 - A drone system for line installation by using remote controll right transfer - Google Patents

Abstract

The present invention provides autonomous control rights to any one of a plurality of remote controllers for line construction by operator selection, forcibly granting control rights remotely from a remote location, or automatically granting control rights according to shaded areas. Any one of a plurality of remote controllers is connected to the drone to remotely control the drone relates to the invention.

Description

A drone system for line installation by using remote controll right transfer}

The present invention relates to a drone system for constructing a track using a remote control authority transfer method, and more particularly, to remotely grant control authority to any one of a plurality of remote controllers for a line construction, or to control it by the operator's selection. The present invention relates to a drone system for a track construction using a remote control authority transfer method in which one of a plurality of remote controllers can be connected to a drone to control the drone by granting authority or automatically giving control authority according to the shaded area.

In general, the term drone is a generic term for all unmanned aerial vehicles composed of a fixed-wing type or a rotary-wing type, and unlike the initial use that was developed and used for military purposes, the field of application is gradually expanding into various fields.

As a method of controlling a drone, a direct control method in which a control device is connected to the drone by wired or wirelessly and remotely controlled and an automatic control method in which a preset route is automatically fly are available, but transmission lines or communication lines using drones are installed. It is preferable to use a direct control method in situations where real-time response by the user, such as various tasks of the company, search and reconnaissance, is required.

Inventions related to a device, method, and system for controlling a drone include'Drone Control Method and System' of Korean Patent Publication No. 10-1617411, and'Drone Control Method using a Smart Terminal' of Korean Patent Publication No. 10-1637217. ,'Drone control system and drone control method' of Korean Patent Application Laid-Open No. 10-2016-0116531, and'Drone Controller' of Korean Patent Publication No. 10-2017-0028839 have been proposed and disclosed.

In the'Drone Control Method and System' of the Korean Patent Publication No. 10-1617411, the invention related to a method and system capable of controlling a drone with only a simple operation and cost saving because it is configured to use a smartphone that anyone is using as a user terminal. Was proposed, and the'Drone Control Method Using a Smart Terminal' in the Korean Patent Publication No. 10-1637217 includes a remote wireless control of a drone using a smartphone carried by an individual as a mobile terminal, so maintenance and operation costs are low. An invention related to a control method has been proposed.

In addition, in the'Drone Control System and Drone Control Method' of the Korean Patent Application Publication No. 10-2016-0116531, the current state information of the drone is transmitted to the user on the ground through the ground control system in real time, and the current state information of the drone is visually transmitted. An invention has been proposed for a system and method that allows a user to operate a drone simply and safely by outputting it as simple as possible, and the'drone controller' of Korean Patent Publication No. 10-2017-0028839 allows the user to hold it with one hand. An invention has been proposed for a device that can be controlled using only a gripped hand, and capable of simultaneously performing an operation of raising or lowering a drone and an operation of rotating it through a lever.

However, the above-described conventional technologies are technologies related to a device, method, and system for controlling a single drone with a single control device. There is a problem that precise control of the drone becomes difficult as the distance between the drone and the drone increases, and there is a limitation in that a solution cannot be proposed when a communication failure occurs between the control device and the drone.

Therefore, while solving the problem of limiting the distance that can be remotely controlled by the conventional technologies as described above, it is possible to continuously precisely control the drone, and to solve the problem in the case of a communication failure between the control device and the drone. There is a demand for inventions regarding possible devices, methods and systems.

Korean Registered Patent Publication No. 10-1617411 (2016. 04. 26) Korean Registered Patent Publication No. 10-1637217 (2016. 07. 01) Republic of Korea Patent Publication No. 10-2016-0116531 (2016. 10. 10) Republic of Korea Patent Publication No. 10-2017-0028839 (2017. 03. 14)

The present invention is a technology proposed to solve the problems of the prior art as described above, in the related art, there was a problem in that the remote control distance of a drone using a control device was limited, and as the distance between the control device and the drone increases Since there was a problem that it was difficult to precisely control the drone, and there was a problem that the drone falls when there is a problem in communication between the control device, the drone, and each other, the purpose of this is to propose a solution.

The drone system for line construction using the remote control authority transfer method according to the present invention is to achieve the above object,

A drone 100 receiving a control signal for flying a drone from a remote controller 300 to which a remote control authority has been granted, and flying according to the received control signal;

A track construction device 200 mounted on the drone 100 and performing a line construction work;

A plurality of remote controllers 300 for wirelessly remotely controlling a drone by wirelessly transmitting a control signal for flying a drone to the drone 100 when remote control authorization is granted;

Mounted on the drone 100, granting remote control authority to any one of the plurality of remote controllers 300, and providing information on the remote controller 300 to which the remote control authority is granted to the drone 100 It characterized in that it comprises a; control authority transfer device 400.

The drone system for temporary railroad construction using the remote control authority transfer method according to the present invention,

It solves the problem of limiting the distance that can be remotely controlled by allowing the remote controller to control the drone, which is located in an advantageous position to control the drone, among a plurality of remote controllers, and at the same time, it has the effect of enabling precise control of the drone continuously. There,

It is configured so that other remote controllers can obtain the control authority of the drone in place of the remote controller, which makes it difficult to control the drone, so even if there is a failure in communication between the control device and the drone, there is an effect of preventing the drone from falling.

1 is an overall configuration diagram of a drone system for line construction using a remote control authority transfer method according to the present invention.
Figure 2 is a configuration diagram of a drone of a drone system for a line construction using a remote control authority transfer method of the present invention.
Figure 3 is a configuration diagram of a remote controller of a drone system for a line construction using the present inventors remote control authority transfer method.
Figure 4 is a configuration diagram of a control permission transfer device of the drone system for a line construction using the present inventors remote control permission transfer method.
Figure 5 is an exemplary model diagram of a drone system for a line construction using the present inventors remote control authority transfer method.
Figure 6 is an explanatory view of the operating state of the rotary hook member of the present invention.
7 is an explanatory view of an operating state of the first cutting member of the present invention.
Figure 8 is an explanatory view of the operating state of the second cutting member of the present invention.
9 and 10 are exemplary state diagrams for transporting a track using the drone system of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

As shown in Fig. 1, the present inventor's drone system for line construction using the remote control authority transfer method,

A drone 100 receiving a control signal for flying a drone from a remote controller 300 to which a remote control authority has been granted, and flying according to the received control signal;

A track construction device 200 mounted on the drone 100 and performing a line construction work;

A plurality of remote controllers 300 for wirelessly remotely controlling a drone by wirelessly transmitting a control signal for flying a drone to the drone 100 when remote control authorization is granted;

It is mounted on the drone 100, grants remote control authority to any one of the plurality of remote controllers 300, and transmits information on the remote controller 300 to which the remote control authority is granted whenever the remote control authority is granted. It characterized in that it comprises a; control authority transfer device 400 provided to 100).

The drone 100 is an unmanned aerial vehicle configured in the form of a fixed wing or a rotary wing, receiving a control signal for drone flight from an external remote controller 300 granted remote control authority, and flying according to the received control signal, As shown in FIG. 2, it is configured to include a communication unit 110, a control unit 120, and an LED display unit 130.

The communication unit 110 is configured to receive a control signal for a drone flight from a remote controller 300 to which remote control authority is granted.

The control unit 120 uses the information on the remote controller 300 to which the remote control authority provided by the control authority transfer device 400 is granted, the control signal received through the communication unit 110 is currently If the given remote controller 300 is a control signal transmitted, it is a configuration to control the drone to fly for line construction according to the control signal.

In the present invention, a unique ID is assigned to each of the plurality of remote controllers 300, and the remote controllers 300 to which a unique ID is assigned transmit their own ID information together when transmitting a control signal.

In particular, the information on the remote controller 300 to which the remote control authority is granted provided by the control authority transfer device 400 to the drone 100 is information on the unique ID of the corresponding remote controller 300 to which the remote control authority is granted. to be.

The control unit 120 matches the unique ID information of the remote controller 300 transmitted together when transmitting the control signal and the unique ID information of the remote controller 300 to which the remote control authority provided by the control right transfer device 400 is granted. Then, it is determined that the received control signal is a control signal transmitted by the remote controller 300 to which the remote control authority is granted, and according to the control signal, the drone is controlled to fly for line construction.

The LED display unit 130 uses the information on the remote controller 300 to which the remote control authority is granted provided by the control authority transfer device 400, and indicates to the outside what the remote controller to which the remote control authority is currently granted. It is a configuration in which LEDs of different colors installed in the drone 100 are individually lit to inform.

In the present invention, the remote control authority is granted to any one of the plurality of remote controllers 300 according to the condition of the line construction site, and the specific remote controller 300 is the remote controller 300 to which the control authority is granted. ) LED display unit that lights different color LEDs individually to inform the outside of the different color LEDs installed on the drone 100 and the remote controller currently granted remote control authority for visual notification to the pilots It is (130).

In addition, the drone 100 of the present invention is controlled to stop flying for a preset time when remote control authority is granted again from one remote controller 300 to another remote controller 300 or the current direction of travel for a preset time. It is characterized in that it is controlled to be maintained.

In the present invention, the configuration for granting the remote control authority to the remote controller 300 is the control authority transfer device 400. When transferring the remote control authority from one remote controller 300 to another remote controller 300, the control authority transfer device 400 allows the drone 100 to stop flying for a preset time, or the drone 100 for a set time. ) Transmits a control signal to maintain the moving direction to the controller 120.

When the control authority for the drone 100 is transferred from one remote controller A to another remote controller B, there may be a problem in that control of the drone 100 is temporarily lost.

That is, in a situation in which the remote control authority is transferred, the remote controller B is newly granted the remote control authority for the drone 100 from the time when the control authority for the drone 100 is lost. ), the control signal for the drone 100 may be cut off between the control points of the drone 100.

Therefore, in order to solve the above problem, when transferring the remote control authority from one remote controller 300 to another remote controller 300, the drone 100 is The drone 100 stops flying or the current direction of travel for a preset time by transmitting a control signal that allows the drone 100 to fly at a standstill or maintains the direction in which the drone 100 is traveling for a set time. It characterized in that the control to maintain.

In particular, the drone 100 of the present invention is controlled by any one remote controller 110 to which control rights are granted by autonomous selection or forced selection among a plurality of remote controllers 300, but the control of the remote controller 110 Since the authority is characterized by being changeable, it is likely to be used in the construction of a transmission line or communication line using a drone in a wide range due to its characteristics.

The track construction device 200 is a configuration for performing a line construction work while being mounted on the drone 100, and a detailed description will be provided later.

The plurality of remote controllers 300 wirelessly transmit a control signal for drone flight to the drone 100 when remote control rights are granted by the control rights transfer device 400 as shown in FIG. 1. As a configuration for remote control, it may be a dedicated terminal used for controlling the drone 100, but is not limited thereto, and a user terminal such as a smartphone with a separate application installed to control the drone 100 It can be configured.

That is, the remote controller 300 is provided with a communication function for bidirectional communication with the drone 100 and other remote controllers 300, respectively, it is possible to input a signal to control the drone 100, and transfer control rights Any device capable of displaying information transmitted from the device 400 is sufficient, and there is no limitation on the type, and each of the plurality of remote controllers 300 may be configured with different types of devices.

In the above, the signal for controlling the drone 100 of the remote controller 110 is a control signal for controlling the drone 100, a control permission request signal for requesting control permission, and a control permission transfer device 400 to be described later. ) Sent to a check signal (a signal to be used to automatically transfer control authority in a shaded area), and the information transmitted from the control authority transfer device 400 refers to the remote controller 300 to which the remote control authority is granted. As information, it is information on the remote controller 300 connected or not connected to the drone 100 so that the remote control authority is currently granted to control the drone, and other signals may be further included.

However, if the plurality of remote controllers 110 control the drone 100 at the same time, it may cause a serious problem in the normal flight of the drone 100. Therefore, in the present invention, the plurality of remote controllers 110 control the drone 100 It is not configured to be able to control at the same time, only one remote controller 110 that is autonomously selected or forcibly selected among the plurality of remote controllers 110 can directly control the drone 100, and other remote controllers that are not autonomously selected or forcibly selected The controller 110 is configured such that it is impossible to participate in the control of the drone 100.

To this end, the remote controller 300 has a plurality of embodiments.

First, one embodiment of the remote controller 300 of the present invention is a remote control unit that transmits a control signal for flying a drone required for line construction to the drone 100 when remote control authority is granted as shown in FIG. 310) and during user manipulation, it may be configured to include a control permission request button unit 320 that transmits a control permission request signal to the control permission transfer device 400 mounted on the drone 100.

The remote control unit 310 transmits a control signal for flying a drone required for line construction to the drone 100 when remote control authority is granted to the remote controller 300 itself, so that the drone can fly necessary for line construction. Make it possible.

The control permission request button part 320 is a configuration for requesting to grant control permission to the drone 100 (specifically, the control permission transfer device 400 mounted on the drone), and a button-type control permission request button When the unit 320 is operated, the request signal is transmitted to the control right transfer device 400, and accordingly, the control right transfer device 400 grants the remote control authority to the remote controller 300 that has transmitted the request signal.

In addition, when the control permission transfer device 400 receives a control permission request signal from another remote controller 300 in a state in which control permission is granted to one remote controller 300, the other remote controller 300 transmits the control permission request signal. The remote control authority is again granted to the remote controller 300. That is, when a control permission request signal is newly received from any one of the remote controllers 300, the control permission transfer device 400 unconditionally transfers the control permission to the remote controller 300 that has transmitted the newly received request signal.

During the track construction work, it may be difficult or impossible for the current drone operator (A) to control the drone. For example, if the drone is farther away from the current drone operator (A) and it is difficult to visually check the condition of the track construction work by the drone, it is difficult to work on the track construction using a drone. It is necessary to transfer control rights to another drone pilot (B) who can easily check the situation visually. In this case, the drone pilot (A) requests the other drone pilot (B) to transfer control rights through communication, and the other drone pilot (B) who was requested to transfer the control rights requests control rights to transfer the control rights. The button unit 320 is operated to transmit a control permission request signal to the control permission transfer device 400 mounted on the drone.

Next, another embodiment of the remote controller 300 of the present invention is a remote control unit 310 that transmits a drone flight control signal required for line construction to the drone 100 when remote control authority is granted as shown in FIG. ) And when the remote control authority is not granted, it may be configured to include a check signal transmission unit 330 that periodically generates a check signal and transmits the check signal to the control authority transfer device 400 mounted on the drone 100.

As described above, the remote controller 310 transmits a control signal for drone flight required for the line construction to the drone 100 when the remote controller 300 is granted remote control authority to Make the necessary flight possible.

The check signal transmission unit 330 transmits a check signal to the drone 100 (specifically, the control right transfer device 400 mounted on the drone).

The check signal is a signal for preparing a case in which a drone remotely controlled by a remote controller 300 to which a remote control authority is currently granted enters a radio wave shadow area.

During line construction work, a drone remotely controlled by a remote controller (A) currently granted remote control authority enters the radio wave shadow area, making it difficult or impossible to control the drone by a remote controller (A) granted remote control authority. Occurs. For example, if an obstacle exists between the remote controller (A) to which the remote control authority is currently granted and the drone, or the reception of the control signal transmitted from the remote controller (A) to which the remote control authority is currently granted is poor due to the surrounding environment. Can occur.

In this case, the control authority transfer device 400 is required by comparing the strength of the check signals received from the remote controller to which the control authority is not granted and the strength of the control signal received from the remote controller (A) to which the current remote control authority is granted. In case, the remote control authority is forcibly transferred to another remote controller. This will be described in detail in the description of the control right transfer device 400.

In addition, as shown in Fig. 1, the drone 100 is installed with a control authority transfer device 400.

The control authority transfer device 400 grants remote control authority to any one of a plurality of remote controllers 300, and transmits information on the remote controller 300 to which the remote control authority is granted every time the remote control authority is granted, the drone 100 It characterized in that it provides as ).

To this end, the control permission transfer device 400 uses a receiver 410 that receives a control permission request signal from any one remote controller 300 and a plurality of the control permission request signals as shown in FIG. The remote control authority is granted to any one of the remote controllers 300 of the, and information on the remote controller 300 to which the remote control authority is granted is provided to the drone 100 through the transmission unit 430 whenever the remote control authority is granted. It characterized in that it comprises a control authority setting unit 420 and a transmission unit 430 for transmitting information on the remote controller 300 to which the remote control authority is granted to the drone 100.

When a control permission request signal is received from any one remote controller 300 through the receiving unit 410, the control permission setting unit 420 transmits the remote control permission to the remote controller 300 that has transmitted the control permission request signal. And, in a state in which control permission is granted to one remote controller 300, when a control permission request signal is received from another remote controller 300, a remote control permission request signal is transmitted to the other remote controller 300. It is characterized in that the control authority is given again.

That is, when a control permission request signal is newly received from any one of the remote controllers 300, the control permission setting unit 420 forcibly transfers the control permission to the remote controller 300 that has transmitted the newly received request signal.

The control permission request signal is generated and transmitted when the request button unit 320 formed on the remote controller 300 is operated as described above, and is received through the receiving unit 410.

In addition, the receiving unit 410 further receives check signals from remote controllers 110 to which remote control authority is not granted.

The check signal is a signal generated and transmitted by the check signal transmission unit 330 formed in the remote controller 300 to which the remote control authority is not granted, as described above, and the reception unit 410 of the control authority transfer device 400 It is a signal received through.

In this case, the control permission setting unit 420 grasps and grasps the control signal strength for drone flight received from the remote controller 300 to which the remote control authority is currently granted through the communication unit 110 of the drone 100 If the determined control signal strength is less than the set value (eg, radio wave shaded area), the strength of the check signals received from other remote controllers 300 to which the remote control authority is not granted is determined.

If the strength of the check signal having the greatest strength is greater than the strength of the control signal received from the remote controller 300 to which the remote control authority is currently granted, remote control with the remote controller 300 transmitting the check signal of the greatest strength It is characterized in that the authority is given again.

During line construction work, a drone remotely controlled by a remote controller (A) currently granted remote control authority enters the radio wave shadow area, making it difficult or impossible to control the drone by a remote controller (A) granted remote control authority. Occurs. For example, if an obstacle exists between the remote controller (A) to which the remote control authority is currently granted and the drone, or the reception of the control signal transmitted from the remote controller (A) to which the remote control authority is currently granted is poor due to the surrounding environment. Can occur.

In this case, the control authority setting unit 420 of the control authority transfer device 400 includes the strength of the check signals received from the remote controller to which the control authority is not granted and the current remote control authority received from the remote controller (A). When the strength of the control signal is compared and the strength of the check signal with the greatest strength is greater than the strength of the control signal received from the remote controller (A) to which the remote control authority is currently granted, the check signal with the greatest strength is transmitted. It is to give the remote control authority again to the remote controller (B).

That is, the check signal received from the remote controllers to which the control authority is not granted is a signal to prepare for a case where a drone remotely controlled by the remote controller (A) to which the remote control authority is currently granted enters a radio wave shadow area, If necessary (in case the reception of the control signal received from the remote controller (A), which is currently granted remote control authority due to the radio wave shade, is poor), the remote control authority is forcibly transferred to another remote controller (B).

In addition, the control permission setting unit 420 transmits information on the remote controller 300 to which the remote control permission is granted to the drone 100 through the transmission unit 430 whenever remote control permission is granted, as described above. Whenever the remote control authority is granted, information on the remote controller 300 to which the remote control authority is granted is also transmitted to the plurality of remote controllers 300 through the transmission unit 430.

The reason why the control authority setting unit 420 transmits information on the remote controller 300 to which the remote control authority is granted to the plurality of remote controllers 300 through the transmission unit 430 is to control the remote controller 300 This is to inform the manipulators of the remote controller 300 to which the remote control authority is currently granted.

To this end, as shown in FIG. 3, the remote controller 300 further includes an information display unit 340 that displays information on the remote controller 300 to which the remote control authority is currently granted.

Through the information displayed on the information display unit 340, the remote controller 300 operators can know which remote controller 300 is currently granted remote control authority.

The drone system for constructing a track of the present invention further includes a remote control server 500 as shown in FIG. 1.

The remote control server 500 provides information on the remote controller 300 to be granted remote control authority to the control authority transfer device 400, and the control authority transfer device 400 provides the remote control server 500 According to the information on the remote controller 300 to which the provided remote control authority is granted, the remote control authority is granted to the corresponding remote controller 300, and information on the remote controller 300 to which the remote control authority is granted is transmitted to the drone 100. ) And a plurality of remote controllers 300.

The reason for configuring the remote control server 500 in the present invention is to forcibly grant remote control authority to a specific remote controller 300 at a remote location. That is, the purpose is to allow an administrator who monitors the line construction work from a remote location to grant remote control authority to a specific remote controller 300 as necessary.

In this case, the receiving unit 410 of the control authority transfer device 400 receives information on the remote controller 300 to be granted remote control authority from the remote control server 500, and a control authority setting unit according to the received information 420 grants remote control authority to the corresponding remote controller 300 and transmits information on the remote controller 300 to which the remote control authority is granted to the drone 100 and a plurality of remote controllers 300 While 100 is controlled by a control signal of the corresponding remote controller 300 to which the remote control authority is granted, a plurality of remote controllers 300 pilots are granted remote control authority at the request of the remote control server 500 What is the remote controller 300 is to be recognized through the above-described information display unit 340.

As shown in FIGS. 1 and 5, a track installation device 200 for performing a track installation task is mounted on the drone 100, and the track installation device 200 will be described in detail below.

The line installation device 200 is a device used for a line transport operation to a transmission tower, which is a pre-work for installing a transmission line in a transmission tower.

The track installation device 200 is configured to be mounted on a drone, and the track (A of FIGS. 9 and 10) is shown in FIGS. 9 and 10 in a state connected to the track installation device (a state pulled by a towing rope). As shown, after being transferred to the target point by the drone (the track is connected to the track temporary device by the towing rope and transferred to the target point), the track is separated from the track temporary device (the towing rope is separated from the track temporary device. Is separated from the line installation device).

In particular, FIG. 10 shows a case in which a water pack (B) is connected to a temporary track (A) and a load is added to the track, and then the track is transferred to a target point.

The target point refers to a point on the upper side of the transmission tower to which the track is to be transferred, and specifically, when the track transferred by the drone is separated from the track temporary device, it can be handed over to an operator located in the transmission tower. It is the point where the drone is located.

In addition, the present invention is equally applicable not only to the work of installing a transmission line on the transmission tower, but also to the work of installing a communication line on a power pole, but hereinafter, for convenience, a reference to the communication line is omitted.

The line is a generic term for various types of wires, such as wires, steel wires, stranded wires, and ropes, which are composed of weights that can be transferred by drones.

The track installation device 200 of the present invention attaches a traction rope for traction of a temporary track to the track installation device 200 or separates and separates the traction rope hung on the track installation device 200 from the track installation device 200 It includes a rotary hook member 210 for.

At this time, as shown in Figure 6a, the rotary hook member 210,

A first motor member 211 comprising a servo motor having a first motor shaft 2111 protruding to the outside;

It characterized in that it comprises a rotary hook portion 212 that is fastened to the first motor shaft 2111 and rotated.

The rotary hook portion 212 is characterized in that it comprises a pair of protrusions 2122 formed to form a hook groove 2121 for hanging the pull rope.

The first motor member 211 is configured to generate power for rotating the rotary hook portion 212, and is characterized in that it is a servo motor having a first motor shaft 2111 protruding to the outside.

The rotary hook part 212 separates the temporary line from the line installation device 200 in order to install the temporary line transported by the drone on the transmission tower (specifically, the separation of the temporary line through the separation of the traction rope) As a component that regulates, the rotary hook portion 212 is characterized in that it comprises a pair of protrusions 2122 formed in order to form a hook groove 2121 for hanging the traction rope.

The pair of protrusions 2122 for forming the hook groove 2121 is a component for hooking or disengaging the traction rope from the rotary hook 212, and is formed by a pair of protrusions 2122 The shape of the groove 2121 may be a V-shaped or a U-shaped groove. FIG. 6 shows an example in which the hook groove 2121 is formed in a V-shaped shape, but the present invention is not limited thereto, and a U-shaped shape capable of hanging a traction rope. It can also be configured with grooves or other types of grooves.

The traction rope that is connected to the temporary line and pulls the temporary line is mounted and connected in a manner that is hung on the rotary hook part 212. That is, the operator configures the end of the traction rope connected to the temporary line in an annular shape and rotates (forward rotation) the rotary hook part 212 after hooking the hook to any one of the protrusions 2122, the top of FIG. As shown in the figure, the traction rope is caught by the rotary hook 212 so that the temporary track connected to the traction rope can be transferred to the target point by the drone 100.

The rotary hook part 212 is connected to the first motor shaft 2111 to rotate forward or reverse at a certain angle, and the traction rope hung on the rotary hook part 212 according to the rotation direction is a rotary hook member ( 210) is retained (when the rotary hook 212 rotates forward, see the upper figure of Fig. 6) or is separated from the rotary hook member 210 (when the rotary hook 212 rotates reversely, see the lower figure of Fig.6) ).

That is, after the operator hooks and connects the traction rope connected to the temporary track to be transferred to the drone to the rotary hook 212, and then drives the first motor member 211 (forward rotation), the rotary hook 212 6 is in a rotated state as shown in the upper figure, the traction rope is caught in the rotary hook 212, and in this state, the temporary track is transferred to the target point.

In addition, when the drone reaches the target point, the remote controller manipulator granted remote control authority drives (reverse rotation) the first motor member 211 so that the traction rope is rotated as shown in the lower figure of FIG. 6. To deviate from

Therefore, it is preferable that the first motor member 211 that rotates the rotary hook part 212 is composed of a servo motor capable of forward or reverse rotation at a predetermined angle.

In addition, as shown in Figure 7, the track installation device 200 according to the present invention is the traction rope by the rotation (reverse rotation) of the rotary hook portion 212 for separating the traction rope. It characterized in that it is configured to include a first cutting member 220 for cutting the traction rope when not separated from the ).

To this end, the first cutting member 220,

A second motor member 221 comprising a servo motor having a second motor shaft 2211 protruding to the outside;

It is connected to the second motor shaft 2211 is rotated, characterized in that it comprises a blade portion 222 for cutting the traction rope when rotating.

That is, when the first cutting member 220 is not separated from the track installation device 200 by the rotation of the rotary hook portion 212 for detaching the pull rope (for example, the rotary hook portion As a component provided in case of a malfunction of 212, a case where a traction rope is caught in a gap, etc.), the traction rope is not separated from the track installation device 200 even by the rotation of the rotary hook part 212 In this case, the traction rope is cut using the blade portion 222.

When the traction rope is not separated from the track installation device 200 even by the rotation (reverse rotation) of the rotary hook part 212, the blade part 222 operates as shown in the lower part of FIG. By cutting a point of the traction rope, the traction rope is forcibly separated from the track installation device 200.

In addition, when the traction rope is not separated from the line erection device 200 by the rotation of the rotational hook portion 212, the second traction rope is cut with high temperature heat. It characterized in that it is configured to further include a cutting member 230.

The first cutting member 230 is a component for forcibly separating the traction rope from the track installation device 200 by cutting the traction rope with high temperature heat, as shown in FIG. 8,

A third power unit 231 generating power for sliding the hot wire moving unit 232;

A hot wire moving unit 232 sliding and moving by the power of the third power unit 231;

A heat wire part 233 connected to the heat wire moving part 232 and sliding according to the sliding movement of the heat wire moving part 232 to cut the traction rope;

It characterized in that it comprises a heating unit 234 for heating the heating wire unit 233.

The third power unit 231 is a component that generates power for sliding the hot wire moving unit 232, and the heat wire moving unit 232 is forward and backward by the power generated by the third power unit 231. Go sliding.

The hot wire moving unit 232 is configured to slide forward and backward by the power of the third power unit 231.

Since the heating wire part 233 is connected to the heating wire moving part 232, it slides forward and backward according to the forward and backward sliding of the heating wire moving part 232, and the traction rope located within the moving range during the sliding movement Cut one part.

The heating wire part 233 may be composed of a nichrome wire or a copper wire having high conductivity.

The heating part 234 is configured to heat the heating wire part 253.

In addition, it is characterized in that the mounting member 240 for mounting the track laying device 200 of the present invention to the drone is installed on the top of the track laying device 200.

The track installation device 200 is preferably located on the lower side of the drone so that problems such as entanglement between the track and the drone do not occur, and thus the mounting member 240 is on the upper side of the track installation device 200 It is preferred to be installed.

As long as the weight and size of the mounting member 240 do not cause a problem in the flight of the drone, elements such as shape and the like are not limited as long as the track installation device can be firmly mounted on the drone.

In addition, the line installation device 200 according to the present invention is the first motor member 211, the second motor member 221, the third power member 231 by the motor control signal transmitted from the remote controller 300 It characterized in that it comprises a motor control unit (not shown) for driving and stopping.

In this case, the remote controller 300 is additionally configured with a motor control signal generation unit 350 that generates a motor control signal and transmits it to the communication unit 110 of the drone 100 upon user manipulation.

In this case, the control unit 120 of the drone 100 provides the received motor control signal to the motor control unit so that the motor control unit performs the first motor member 211, the second motor member 221, and the second motor member according to the motor control signal. 3 Drive and stop the power unit 231.

That is, the motor control unit performs driving and stopping of the first motor member 211, the second motor member 221, and the third power unit 231 by a motor control signal transmitted remotely from the remote controller 300. It is a component provided to control.

It has been described with reference to preferred embodiments of the present invention above, and is not limited to the above embodiments, and through the above embodiments, those of ordinary skill in the technical field to which the present invention pertains within the scope of the gist of the present invention This can be done with various changes in.

100: drone
200: line installation device
300: remote controller
400: control authority transfer device
500: remote control server

Claims (14)

In the drone system for line construction using the remote control authority transfer method,
A drone 100 receiving a control signal for flying a drone from a remote controller 300 to which a remote control authority has been granted, and flying according to the received control signal;
A track construction device 200 mounted on the drone 100 and performing a line construction work;
A plurality of remote controllers 300 for wirelessly remotely controlling a drone by wirelessly transmitting a control signal for flying a drone to the drone 100 when remote control authorization is granted;
It is mounted on the drone 100, grants remote control authority to any one of the plurality of remote controllers 300, and transmits information on the remote controller 300 to which the remote control authority is granted whenever the remote control authority is granted. It is configured to include; control authority transfer device 400 provided to 100),

The drone 100,
Using the information on the remote controller 300 to which the remote control authority is granted provided by the control authority transfer device 400, the drone 100 is sent to the drone 100 to inform the outside what the remote controller to which the remote control authority is currently granted. Including an LED display unit 130 for individually lighting the installed LEDs of different colors,

The line installation device 200,
A rotary hook member 210 for separating and separating the traction rope for traction of the temporary track on the track installation device 200 or the traction rope hung on the track installation device 200 from the track installation device 200,
When the traction rope is not separated from the track installation device 200 by the rotary hook member 210, it includes a second cutting member 230 for cutting the traction rope with high temperature heat,
The second cutting member 230,
A third power unit 231 that generates power to slide the hot wire moving unit 232,
A heated wire moving unit 232 that slides and moves under the power of the third power unit 231,
A heated wire part 233 connected to the heat wire moving part 232 and sliding according to the sliding movement of the heated wire moving part 232 to cut the traction rope,
A drone system for constructing a track using a remote control authority transfer method, characterized in that it comprises a heating unit 234 for heating the heating wire unit 233.
The method of claim 1,
The drone 100,
A communication unit 110 receiving a control signal for drone flight from a remote controller 300 to which remote control authority is granted,
Using the information on the remote controller 300 to which the remote control authority is granted provided by the control authority transfer device 400, the received control signal is a control signal transmitted by the remote controller 300 to which the remote control authority is currently granted If the back, the drone system for the line construction using a remote control permission transfer method, characterized in that it comprises a control unit 120 to control the drone to fly for the line construction according to the corresponding control signal.
The method of claim 1,
The control authority transfer device 400,
A receiving unit 410 receiving a control permission request signal from any one remote controller 300;
A control permission setting unit 420 for granting a remote control permission to any one of a plurality of remote controllers 300 by using the received control permission request signal;
A transmission unit 430 that provides information on the remote controller 300 to which the remote control authority is granted to the drone 100; a drone system for a line construction using a remote control authority transfer method.
The method of claim 3,
The control permission setting unit 420,
When a control permission request signal is received from any one remote controller 300 through the receiving unit 410, a remote control permission is granted to the remote controller 300 that has transmitted the control permission request signal,
When a control permission request signal is received from another remote controller 300 while control permission is granted to one remote controller 300, the remote control permission is transferred to the other remote controller 300 that transmitted the control permission request signal. A drone system for constructing a track using a remote control authority transfer method, characterized in that re-grant
The method of claim 3,
The receiving unit 410,
Further receiving check signals from the remote controllers 110 to which the remote control authority is not granted,
The control permission setting unit 420,
Through the communication unit 110 of the drone 100, the control signal strength for drone flight received from the remote controller 300 that is currently granted remote control authority is determined, and if the determined control signal strength is less than the set value, the remote control authority is The strength of the check signals received from other remote controllers 300 that are not assigned is recognized, and the strength of the check signal having the greatest strength is the strength of the control signal received from the remote controller 300 to which the remote control authority is currently granted If it is greater than, a drone system for a line construction using a remote control authority transfer method, characterized in that the remote control authority is given again to the remote controller 300 that transmits the check signal of the greatest intensity.
The method of claim 4,
Each of the plurality of remote controllers 300,
When the remote control authority is granted, a remote control unit 310 that transmits a control signal for flying a drone necessary for the line construction to the drone 100, and
In case of user manipulation, a line construction using a remote control permission transfer method, characterized in that it includes a control permission request button part 320 that transmits a control permission request signal to the control permission transfer device 400 mounted on the drone 100 Dragon drone system.
The method of claim 5,
Each of the plurality of remote controllers 300,
When the remote control authority is granted, a remote control unit 310 that transmits a drone flight control signal required for line construction to the drone 100, and
When the remote control authority is not granted, a check signal transmission unit 330 that periodically generates a check signal and transmits it to the control authority transfer device 400 mounted on the drone 100 is provided. A drone system for line construction using a transfer method.
The method of claim 4 or 5,
The drone 100,
Remote control, characterized in that when the remote control authority is granted again from one remote controller 300 to another remote controller 300, it is controlled to stop flying for a preset time or to maintain the current direction for a preset time. A drone system for line construction using the control authority transfer method.

The method according to claim 4 or 5,
The control authority setting unit 420 transmits information on the remote controller 300 to which the remote control authority is granted to the plurality of remote controllers 300 through the transmission unit 430 whenever remote control authority is granted,
A drone system for constructing a track using a remote control authority transfer method, characterized in that the remote controller 300 further includes an information display unit 340 that displays information on the remote controller 300 to which the current remote control authority is granted. .
The method of claim 1,
Further comprising a remote control server 500,
The remote control server 500,
Provides information on the remote controller 300 to grant remote control authority to the control authority transfer device 400,
The control authority transfer device 400 grants remote control authority to the corresponding remote controller 300 according to the information on the remote controller 300 to which the remote control authority provided by the remote control server 500 is granted, and remote control A drone system for constructing a track using a remote control permission transfer method, characterized in that information on the remote controller 300 to which authorization is granted is transmitted to the drone 100 and a plurality of remote controllers 300.
The method of claim 1,
The rotary hook member 210,
A first motor member 211 comprising a servo motor having a first motor shaft 2111 protruding to the outside;
It is configured to include a rotary hook portion 212 fastened to the first motor shaft 2111 and rotated,
The rotary hook portion 212,
A drone system for constructing a track using a remote control permission transfer method, characterized in that it comprises a pair of protrusions 2122 to form a hook groove 2121 for hanging the traction rope.
The method of claim 1,
The line installation device 200,
When the traction rope is not separated from the track installation device 200 by the rotary hook member 210, further comprising a first cutting member 220 for cutting the traction rope,
The first cutting member 220,
A second motor member 221 comprising a servo motor having a second motor shaft 2211 protruding to the outside;
A drone system for constructing a track using a remote control permission transfer method, characterized in that it is connected to the second motor shaft (2211) and rotated, and comprises a blade portion (222) that cuts the traction rope when rotating.
The method of claim 1,
The line installation device 200,
Further comprising a mounting member 240,
A track construction drone system using a remote control permission transfer method, characterized in that the track installation device 200 is mounted and connected to the drone 100 by the mounting member 240.


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