KR20210134547A - Wireless charging device and control method for unmanned aerial vehicle - Google Patents

Wireless charging device and control method for unmanned aerial vehicle Download PDF

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KR20210134547A
KR20210134547A KR1020210145366A KR20210145366A KR20210134547A KR 20210134547 A KR20210134547 A KR 20210134547A KR 1020210145366 A KR1020210145366 A KR 1020210145366A KR 20210145366 A KR20210145366 A KR 20210145366A KR 20210134547 A KR20210134547 A KR 20210134547A
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unmanned aerial
aerial vehicle
charging
charging device
battery
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KR1020210145366A
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Korean (ko)
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KR102607816B1 (en
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이원교
이호권
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한국전력공사
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D45/00—Aircraft indicators or protectors not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/30—Supply or distribution of electrical power
    • B64U50/34—In-flight charging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/36—Arrangements for testing, measuring or monitoring the electrical condition of accumulators or electric batteries, e.g. capacity or state of charge [SoC]
    • G01R31/382—Arrangements for monitoring battery or accumulator variables, e.g. SoC
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
    • H02J7/35—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering with light sensitive cells
    • B64C2201/066—
    • B64C2201/12—
    • B64C2201/141—
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T50/00—Aeronautics or air transport
    • Y02T50/50—On board measures aiming to increase energy efficiency
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles

Abstract

The present invention relates to a charging device for an unmanned aerial vehicle that monitors a failure of a transmission line, and a control method thereof. According to the present invention, the charging device for an unmanned aerial vehicle comprises: a battery control unit which compares the battery consumption and remaining amount of the unmanned aerial vehicle in real time using three-dimensional (3D) spatial information and flight speed; an unmanned aerial vehicle control unit for setting a flight path of the unmanned aerial vehicle; and a wireless charging device which charges using sunlight or power from the transmission line. After the battery control unit compares the current remaining amount and the predicted consumption amount, the unmanned aerial vehicle control unit sets a flight path according to the comparison value.

Description

무인항공기용 충전장치 및 제어방법{WIRELESS CHARGING DEVICE AND CONTROL METHOD FOR UNMANNED AERIAL VEHICLE}Charging device and control method for unmanned aerial vehicle

본 발명은 무인 항공기용 무선 충전 장치 및 제어방법에 관한 것으로, 특히 송전선로(초고전압 전력이 송전 되는 고압선, 송전탑, 애자 및 클램프 등)의 고장을 감시하는 무인항공기의 무선충전장치 및 제어방법에 관한 것이다. The present invention relates to a wireless charging device for an unmanned aerial vehicle and a control method, and more particularly, to a wireless charging device and control method for an unmanned aerial vehicle that monitors failures of transmission lines (high-voltage lines, transmission towers, insulators and clamps, etc. through which ultra-high voltage power is transmitted) it's about

송전선로(초고전압 전력이 송전 되는 고압선, 송전탑, 애자 및 클램프 등)는 수만 볼트[V]의 고압 전기가 흐르므로 매우 위험해 지상에서 수십 미터의 공중에 설치되는데, 이는 자연환경(낙뢰, 폭우, 태풍 등)에 노출되어 손상의 가능성이 높아 정기적인 검사가 필수적이다. 이전의 선로 감시의 경우, 작업자가 철탑금구에 직접 탑승하여 송전선로를 육안으로 점검하였기 때문에 작업자의 안전 문제와 함께 고비용 저효율적인 점검이 이루어지고, 또한 송전을 정지한 후, 검사 작업을 수행해야 하므로 작업 가능 시기가 제한되는 단점이 있었다.Transmission lines (high-voltage lines, transmission towers, insulators, clamps, etc.) that transmit ultra-high voltage power are very dangerous because high-voltage electricity of tens of thousands of volts [V] flows and are installed in the air several tens of meters from the ground. , typhoon, etc.), the possibility of damage is high, so regular inspection is essential. In the case of the previous line monitoring, because the operator directly boarded the pylon bracket and visually inspected the transmission line, high cost and low-efficiency inspections were made along with worker safety issues. There was a disadvantage in that the available work time was limited.

무인항공기는 별도의 송전선로 감시를 위한 장치(고해상도, 열화상, UV 카메라 등)를 부가적으로 설치하여 송전선로 감시를 위한 시스템 구성이 가능하며 위성 및 관성항법 장치를 통해 GPS기반으로 조종자가 설정한 경로, 고도, 속도로 이동하거나 무인항공기 내에 탑재된 제어시스템에 의하여 위치나 자세, 방향 등을 제어하는 것이 가능하다. 이와 같은 무인 항공기(회전익기) 시스템의 특징들은 저속, 초저속, 공중 정지 비행이 필요한 송전선로 순시 점검에 적합하다고 할 수 있다.The unmanned aerial vehicle can configure the system for transmission line monitoring by additionally installing a separate transmission line monitoring device (high resolution, thermal imager, UV camera, etc.) It is possible to move at one route, altitude, or speed, or to control the position, posture, and direction by the control system mounted in the unmanned aerial vehicle. These characteristics of unmanned aerial vehicles (rotary wing) systems can be said to be suitable for instantaneous inspection of power transmission lines that require low-speed, ultra-low-speed, and hover flight.

그러나 무인항공기는 배터리 용량의 한계로 장시간의 지속적인 선로 감시업무에 어려움은 물론, 산이나 바다 등의 넓은 지역의 순시를 진행할 때에는 다수의 예측 불가능한 외부 요인들과 배터리의 용량문제로 전원공급이 더더욱 어려워져 안정적인 선로감시 업무에 차질이 생길 뿐만 아니라 극단적인 상황에서는 불시착할 가능성마저 있다. 이러한 지속성과 안정성의 부족은 송배전선 감시에서의 무인 항공기 도입을 더디게 만들어 왔다.However, unmanned aerial vehicles have difficulties in continuous line monitoring for a long time due to the limitation of battery capacity, and when conducting patrols in large areas such as mountains or seas, it is even more difficult to supply power due to numerous unpredictable external factors and battery capacity problems. As a result, there is a possibility of a crash landing in extreme situations as well as a setback in the stable track monitoring work. This lack of persistence and stability has slowed the adoption of unmanned aerial vehicles in transmission and distribution line surveillance.

상술한 문제점을 해결하고자, 송전선로 전력과 자연광을 이용한 무인 항공기로의 지속적인 전원 공급을 통해 무인 항공기 배터리의 용량 한계로 인한 지속성의 부족을 극복하고, 다수의 외부 요인에 의하여 과도한 배터리 소모가 일어나는 상황이 발생하더라도 경로를 수정하여 무인 항공기의 불시착을 방지하면서도 면밀한 감시를 할 수 있는 알고리즘을 포함하여 외부 요인으로 인한 안정성의 부족을 극복할 수 있는 무인항공기용 충전장치 및 제어방법을 제시하고자 한다.In order to solve the above problems, the continuous power supply to the unmanned aerial vehicle using power transmission line power and natural light overcomes the lack of continuity due to the capacity limit of the unmanned aerial vehicle battery, and excessive battery consumption occurs due to a number of external factors. Even if this occurs, we would like to suggest a charging device and control method for an unmanned aerial vehicle that can overcome the lack of stability due to external factors, including an algorithm that can closely monitor while preventing an accidental landing of the unmanned aerial vehicle by correcting the route.

본 발명은 송전선로의 고장을 감시하는 무인항공기용 충전장치에 있어서, 3D공간정보와 비행속도를 이용하여 무인항공기의 배터리 소모량과 잔량을 실시간으로 비교하는 배터리 제어부, 상기 무인항공기의 비행경로를 설정하는 무인항공기 제어부, 태양광 내지 송전선로 전력을 이용하여 충전이 진행되는 무선충전장치를 포함하며 상기 배터리 제어부가 현재 잔량과 예측 소모량을 비교한 후에 상기 무인항공기 제어부에서 상기 비교값에 따라 비행경로를 설정하는 것을 특징으로 하는 무인항공기용 충전장치이다.The present invention relates to a charging device for an unmanned aerial vehicle that monitors a failure of a power transmission line, a battery control unit that compares the battery consumption and the remaining amount of the unmanned aerial vehicle in real time using 3D spatial information and flight speed, and sets the flight path of the unmanned aerial vehicle an unmanned aerial vehicle control unit, and a wireless charging device that is charged using sunlight or power from a transmission line, wherein after the battery control unit compares the current remaining amount and the predicted consumption amount, the unmanned aerial vehicle control unit determines the flight path according to the comparison value It is a charging device for an unmanned aerial vehicle, characterized in that it is set.

상기와 같은 구성의 본 발명은 송전선로 순시를 위한 무인항공기의 본체를 굳이 내리지 않아도 철탑 위에 마련된 무선충전장치에서 무인항공기의 관리가 가능하여 인력낭비 해소는 물론, 배터리 용량의 한계로 장시간, 장거리 선로 감시에 어려움이 있던 이전의 문제점이 배터리가 항상 충전상태를 유지하게 함으로써 해결되어 효율적인 업무가 가능하다.The present invention having the above configuration enables management of the unmanned aerial vehicle from the wireless charging device provided on the pylon without having to lower the main body of the unmanned aerial vehicle for patrolling the transmission line, thereby resolving the waste of manpower and limiting the battery capacity for a long, long-distance line The previous problem, which had difficulty in monitoring, is solved by allowing the battery to always maintain a charged state, enabling efficient work.

도 1은 본 발명에 따른 순서도이다.
도 2는 본 발명에 따른 무선 충전장치의 순서도이다.
도 3은 본 발명에 따른 대체 충전소 안내시의 경로 변경의 예시이다.
도 4는 본 발명에 따른 대용량 배터리(106-3) 충전의 순서도이다.
도 5는 본 발명에 따른 무인항공기 배터리의 잔량 부족 시 경로 변경의 예시이다.
도 6은 본 발명에 따른 무선충전지점을 보여주는 그림이다.
도 7은 본 발명에 따른 무인항공기의 배터리장치 구성도이다.
도 8은 본 발명에 따른 무인항공기의 무선충전장치의 구성도이다.
도 9는 본 발명에 따른 무선충전장치의 전원공급부의 구성도이다.
도 10은 본 발명에 따른 무인항공기의 충전방식의 개념도이다.1 is a flowchart according to the present invention;
2 is a flowchart of a wireless charging device according to the present invention.
3 is an example of changing a route when guiding an alternative charging station according to the present invention.
4 is a flowchart of charging the large-capacity battery 106-3 according to the present invention.
5 is an example of changing a route when the remaining amount of the battery of the unmanned aerial vehicle according to the present invention is insufficient.
6 is a diagram showing a wireless charging point according to the present invention.
7 is a configuration diagram of a battery device of an unmanned aerial vehicle according to the present invention.
8 is a block diagram of a wireless charging device for an unmanned aerial vehicle according to the present invention.
9 is a configuration diagram of a power supply unit of a wireless charging device according to the present invention.
10 is a conceptual diagram of a charging method of an unmanned aerial vehicle according to the present invention.

본 발명을 충분히 이해하기 위해서 본 발명의 바람직한 실시 예를 첨부 도면을 참조하여 설명한다. 본 발명의 실시 예는 여러 가지 형태로 변형될 수 있으며, 본 발명의 범위가 아래에서 상세히 설명하는 실시 예로 한정되는 것으로 해석되어서는 안 된다. 본 실시 예는 당업계에서 평균적인 지식을 가진 자에게 본 발명을 보다 완전하게 설명하기 위해서 제공되는 것이다. 따라서 도면에서의 요소의 형상 등은 보다 명확한 설명을 강조하기 위해서 과장되어 표현될 수 있다. 각 도면에서 동일한 구성은 동일한 참조부호로 도시한 경우가 있음을 유의하여야 한다. 본 발명의 요지를 불필요하게 흐릴 수 있다고 판단되는 공지 기능 및 구성에 대한 상세한 기술은 생략된다.In order to fully understand the present invention, preferred embodiments of the present invention will be described with reference to the accompanying drawings. Embodiments of the present invention may be modified in various forms, and the scope of the present invention should not be construed as being limited to the embodiments described in detail below. This embodiment is provided to more completely explain the present invention to those of ordinary skill in the art. Accordingly, the shape of elements in the drawings may be exaggerated to emphasize a clearer description. It should be noted that the same configuration in each drawing is sometimes illustrated with the same reference numerals. Detailed descriptions of well-known functions and configurations determined to unnecessarily obscure the gist of the present invention will be omitted.

본 발명은 송전선로의 고장을 감시하는 무인항공기용 충전장치에 있어서, 3D공간정보와 비행속도를 이용하여 무인항공기의 배터리 소모량과 잔량을 실시간으로 비교하는 배터리 제어부 (302), 상기 무인항공기의 비행경로를 설정하는 무인항공기 제어부(305), 태양광 내지 송전선로 전력을 이용하여 충전이 진행되는 무선충전장치(100) 포함하며, 상기 배터리 제어부가 현재 잔량과 예측 소모량을 비교한 후에 상기 무인항공기 제어부에서 상기 비교값에 따라 비행경로를 설정하는 것을 특징으로 한다.The present invention relates to a charging device for an unmanned aerial vehicle that monitors a failure of a power transmission line, a battery control unit 302 that compares the battery consumption and remaining amount of the unmanned aerial vehicle in real time using 3D spatial information and flight speed, and the flight of the unmanned aerial vehicle It includes an unmanned aerial vehicle control unit 305 for setting a route, and a wireless charging device 100 for charging using sunlight or power from a transmission line, and after the battery control unit compares the current remaining amount and the predicted consumption amount, the unmanned aerial vehicle control unit It is characterized in that the flight path is set according to the comparison value.

무인항공기의 배터리(301) 방전에 따른 불시착 사고 등의 문제를 방지하기 위해, 상기 배터리 제어부(302)는 3D공간정보와 주어진 비행 속도를 기반으로 기존 비행경로를 따라 다음 충전소까지 가는데 필요한 소모량을 예측하여 실시간으로 현재 잔량과 비교하게 된다. 상기 배터리 제어부(302)에서 상기 무인항공기의 배터리(301) 잔량을 지속적으로 체크 하되 상기 예측 소모량보다 부족하지 않으면 초기에 설정된 비행경로를 따라 비행하여 사전에 비행경로에 포함된 철탑(무선충전장치(100) 설치 장소)의 착륙지점에 착륙하여 상기 무인항공기의 배터리를 충전한다. 그러나 돌풍 및 비행 오차 등에 따라 무인항공기의 배터리(301)가 상기 예측 소모량 보다 부족한 잔량을 보유하게 될 경우, 상기 무인항공기 제어부(305)가 비행경로(경로점 1····n)를 수정하여 다음에 경유할 상기 무선충전장치(100)가 설치된 경로점이 다음 경로점이 되고 상기 무선충전장치가 설치된 경로점의 직후부터 다시 상기 설정된 비행경로대로 비행하도록 한다. In order to prevent problems such as accidental landing due to discharging of the battery 301 of the unmanned aerial vehicle, the battery control unit 302 predicts the amount of consumption required to go to the next charging station along the existing flight route based on the 3D spatial information and the given flight speed. It compares with the current remaining amount in real time. The battery control unit 302 continuously checks the remaining amount of the battery 301 of the unmanned aerial vehicle, but if it is not less than the predicted consumption, it flies along the initially set flight path and the pylon (wireless charging device) included in the flight path in advance 100) Recharge the battery of the unmanned aerial vehicle by landing at the landing site of the installation site). However, when the battery 301 of the unmanned aerial vehicle has a remaining amount that is less than the predicted consumption due to gusts of wind and flight errors, the unmanned aerial vehicle control unit 305 modifies the flight path (route point 1 ... n) Next, the route point where the wireless charging device 100 is installed becomes the next route point, and the wireless charging device is installed to fly according to the set flight route from immediately after the route point.

본 발명의 무인 항공기는 단순한 비행이 아닌 송전선로의 감시가 목적이기 때문에 모든 비행경로를 거쳐 면밀한 감시를 할 필요가 있다. 따라서 배터리 문제로 거치지 못한 경로점부터 다시 비행하는 위의 알고리즘은 매우 중요하다 할 수 있다.Since the purpose of the unmanned aerial vehicle of the present invention is to monitor transmission lines rather than simple flight, it is necessary to closely monitor all flight paths. Therefore, it can be said that the above algorithm to fly again from a route point that was not passed due to a battery problem is very important.

본 발명에 따른 무선충전장치는 송전철탑 위에 설치되며, 제어부(101), 송,수신부(102), 충전부(105), GPS장치(103), 전원공급부(106), 상태표시부(104), DB구축부(107)를 포함한다. 무인항공기는 상기 배터리 제어부(302)가 무인항공기의 운항 중 상기 무인항공기의 배터리(301)의 잔량이 예상보다 부족하다고 판단하여 상기 무인항공기 제어부(305)가 정해진 알고리즘을 통해 비행경로를 수정하거나 기존 비행경로에서 다음 경로점이 충전소일 경우 상기 무선충전장치(100)가 설치된 장소로 착륙하여 배터리를 충전하게 된다. 이때, 무인항공기에는 RFID(Radio Frequency Identification) Tag와 같은 무선 인식이 가능한 태그를 부착하여 각 무인항공기에 대한 ID관리와 함께 충전시간과 충전량에 대한 효율적 데이터 관리가 가능하다.The wireless charging device according to the present invention is installed on a transmission tower, and includes a control unit 101, a transmission and reception unit 102, a charging unit 105, a GPS device 103, a power supply unit 106, a status display unit 104, and a DB. and a construction unit 107 . In the unmanned aerial vehicle, the battery control unit 302 determines that the remaining amount of the battery 301 of the unmanned aerial vehicle is insufficient during operation of the unmanned aerial vehicle, and the unmanned aerial vehicle control unit 305 modifies the flight path through a predetermined algorithm or If the next route point in the flight route is a charging station, the wireless charging device 100 is landed to a place where the battery is charged. In this case, by attaching a tag capable of wireless recognition, such as a Radio Frequency Identification (RFID) tag, to the unmanned aerial vehicle, it is possible to manage the ID of each unmanned aerial vehicle and efficiently manage data on charging time and charging amount.

상기 전원공급부(106)는 크게 두 가지로 구성되어 있다. 첫째, 태양광 모듈(106-1)을 설치하고, 여기서 발전 되는 전력을 대용량 배터리에 공급하는 방식이다. 상기 태양광 모듈(106-1)은 상기 무선충전장치(100) 주위에 설치된다. 둘째, 철탑의 송전선로 전력을 이용하여 충전하는 방법으로 변류기(CT)(전력유도장치)(200)를 이용하여 철탑에 흐르는 전류로부터 일정 전류를 전력변환 장치(106-2)에서 변류시켜 대용량 배터리(106-3)에 전원을 공급하는 방식이다. 날씨가 흐릴 때나 태양광을 얻을 수 없는 야간에는 태양광발전을 통한 충전의 효율성이 떨어지게 되는데 두 번째 방법에서처럼 송전선로 전력을 이용하여 상시 충전을 하게 되면 연속적인 무선충전장치(100)의 운영이 가능하다. 단, 상기 무선충전장치(100)는 태양광 충전을 우선으로 사용하나 모종의 이유로 태양광 충전의 효율이 떨어질 경우에만 변류기 충전을 이용하여 충전 효율을 유지할 수 있도록 한다. 태양광 충전과 변류기 충전, 두 가지의 충전부가 있으므로 한쪽 충전 방식이 고장 나더라도 지속적인 충전이 가능하여 무선충전의 공급 신뢰도를 높일 수 있다.The power supply unit 106 is largely composed of two types. First, the solar module 106-1 is installed, and the power generated here is supplied to a large-capacity battery. The solar module 106 - 1 is installed around the wireless charging device 100 . Second, in a method of charging using power from the power transmission line of the pylon, a current flowing through the pylon using a current transformer (CT) (power induction device) 200 is converted into a large-capacity battery by converting a certain current from the current flowing in the pylon in the power conversion device 106-2 This is the method of supplying power to (106-3). When the weather is cloudy or at night when sunlight cannot be obtained, the efficiency of charging through photovoltaic power generation decreases. As in the second method, continuous charging of the wireless charging device 100 is possible by using power transmission line power at all times. do. However, the wireless charging device 100 preferentially uses solar charging, but only when the efficiency of solar charging is low for some reason, using a current transformer charging to maintain charging efficiency. Since there are two charging parts, solar charging and current transformer charging, continuous charging is possible even if one charging method fails, increasing the supply reliability of wireless charging.

상기 충전부(105)는 현재 적용이 가능한 비접촉방식의 충전기술인 전자기 유도를 이용한 충전 방식, 자기 공명을 이용한 충전방식, 전기에너지를 레이저 빔으로 변환전송 및 수신하여 충전하는 방식, 전기에너지를 마이크로웨이브 변환전송 및 수신하는 방식 등으로 전력 전달이 가능하도록 한다. 이때 전원은 사전에 상기한 두 가지 방식으로 충전해둔 대용량 배터리(106-3)에서 전원을 공급받는다.The charging unit 105 is a charging method using electromagnetic induction, which is a non-contact charging technology that is currently applicable, a charging method using magnetic resonance, a method to convert electric energy into a laser beam, transmit and receive charging method, and microwave conversion of electric energy It enables power transmission by transmitting and receiving methods. At this time, the power is supplied from the large-capacity battery 106-3 previously charged in the above two ways.

또한, 상기 상태표시부(104)를 두어 무선충전장치의 충전량을 숫자(디지털)혹은 색상으로 표시하도록 하고, 상기 DB구축부(107)를 두어 효율적인 충전데이터 관리가 가능하도록 한다. 무인항공기에 따라 충전용량도 다를 것이고, 충전시간도 다르기 때문에 이에 알맞은 충전요금 체계가 필요하다. 무선충전 장치 내 상기 DB 구축부(107)는 상기 충전부(105)에서 무인항공기로 공급되는 전력량을 실시간으로 측정하여 무인항공기의 충전량에 따른 요금을 무인항공기가 소속되어 있는 기관에 청구할 수 있도록 한다. 뿐만 아니라, 무선충전장치에 발생하는 각종 고장에 대한 신호를 소속기관에 발신할 수 있도록 한다.In addition, the state display unit 104 is placed to display the charging amount of the wireless charging device in numbers (digital) or color, and the DB construction unit 107 is provided to enable efficient charging data management. The charging capacity will be different depending on the unmanned aerial vehicle, and the charging time is also different, so an appropriate charging rate system is required. The DB building unit 107 in the wireless charging device measures the amount of power supplied from the charging unit 105 to the unmanned aerial vehicle in real time, so that a charge according to the charging amount of the unmanned aerial vehicle can be charged to the institution to which the unmanned aerial vehicle belongs. . In addition, a signal for various failures occurring in the wireless charging device can be transmitted to the affiliated institution.

도 1은 본 발명의 전체 순서도이다. 무인항공기 내 상기 배터리 제어부(302)는 상기 배터리(301)의 잔량을 체크하여 전원의 부족여부를 확인하고, 기존 비행경로를 따라 다음 충전소까지 가는데 필요한 상기 무인항공기의 배터리 잔량보다 부족하다고 판단하면 비행경로 변경을 실시한다. 이렇게 비행경로가 변경되었을 경우 혹은, 다음 경로점이 충전소인 경우에는 무인항공기에 내장된 GPS장치(303)와 3D 공간정보 모델링을 통해 선로점검 영역 내의 철탑(무선충전장치(100) 설치 장소)으로 이동하여 착륙지점에 착륙한다. 무인항공기가 충전장소에 안전하게 착륙하였을 경우, 현재 적용이 가능한 비접촉방식의 충전기술을 적용해 전류를 흐르게 하여 상기 무인항공기의 배터리(301)를 충전한다. 충전 후에는 무선충전장치의 상기 DB구축부(107)에서 무인항공기에 부착된 RFID칩과 같은 식별 도구를 이용하여 충전시간과 충전량에 포함되는 충전정보를 저장한 후, 기관에 요금을 정산하여 사용자에게 전송한다.1 is an overall flowchart of the present invention. The battery control unit 302 in the unmanned aerial vehicle checks the remaining amount of the battery 301 to determine whether the power is insufficient, and if it is determined that the remaining amount of the battery of the unmanned aerial vehicle is insufficient to go to the next charging station along the existing flight route, it will fly. Change the route. If the flight path is changed in this way, or if the next path point is a charging station, the GPS device 303 built into the unmanned aerial vehicle and 3D spatial information modeling are used to move to the pylon (wireless charging device 100 installation place) in the track inspection area. to land at the landing site. When the unmanned aerial vehicle lands safely at the charging site, the battery 301 of the unmanned aerial vehicle is charged by applying current applicable non-contact charging technology to flow current. After charging, the DB building unit 107 of the wireless charging device stores charging information included in the charging time and charging amount using an identification tool such as an RFID chip attached to the unmanned aerial vehicle, and then settles the charge to the user. send to

그 후 무인항공기 상기 제어부(305)는 경로점이 남았는지 판단하고 남은 경로점이 있다면 무인 항공기가 기존 경로에 복귀하도록 한다. 남은 경로점이 없다면 소속 기관으로의 복귀 비행을 실시한다.Thereafter, the control unit 305 of the unmanned aerial vehicle determines whether a path point remains, and if there is a remaining path point, the unmanned aerial vehicle returns to the existing path. If there are no remaining route points, a return flight to the affiliated organization is carried out.

도 2는 무선 충전장치의 순서도와 대체 충전소 안내 방법을 나타낸다. 우선 대기 상태에서는 무인 항공기의 착륙 신호를 기다린다. 착륙 신호가 잡히면 상기 대용량 배터리(106-3) 잔량과 상기 충전부(105)의 동작 여부를 확인하여 충전 가능 여부를 판단한다. 충전이 가능하면 무인항공기가 착륙하여 충전 후 다시 대기 상태로 돌아간다. 그러나 충전이 불가능하다 판단될 경우, 소속 기관에 문제 신호를 발신한 후 대체 충전소를 안내하게 되는데, 그 방법은 도 3과 같다. 기존 경로가 A-B-C-D-E-F 순일 때, 충전소인 B지점에서 충전 불가 신호가 감지될 경우 다음 충전소인 E와 경로점을 치환한 후 기존 충전소 B는 경로에서 제거한다. 결국 A-E-C-D-F 순의 경로가 되며 G는 F이후의 경로점이다.2 shows a flowchart of a wireless charging device and a method of guiding an alternative charging station. First, in the standby state, it waits for the landing signal of the unmanned aerial vehicle. When a landing signal is received, it is determined whether charging is possible by checking the remaining amount of the large-capacity battery 106-3 and whether the charging unit 105 is operating. If charging is possible, the drone will land and return to standby after charging. However, if it is determined that charging is not possible, a problem signal is sent to the affiliated institution and an alternative charging station is provided. The method is as shown in FIG. 3 . When the existing route is in the order of A-B-C-D-E-F, if a charging impossible signal is detected at the charging station B, the next charging station E and the path point are replaced, and the existing charging station B is removed from the path. In the end, it becomes a path in the order of A-E-C-D-F, and G is the path point after F.

도 4는 대용량 배터리(106-3) 충전의 순서도를 나타낸다. 무인충전장치의 대용량 배터리 충전 방식은 크게 두 가지로 나눌 수 있다. 첫째, 철탑 상부에 무인항공기의 충전을 위한 태양광 모듈(106-1)을 설치하고, 여기에서 발전되는 전력으로 충전을 하는 방식이다. 상기 태양광 모듈(106-1)은 상기 무선충전장치(100)의 주위에 설치된다. 둘째, 송전선로의 전력을 이용하여 충전하는 방법으로 변류기(CT : Current Transformer)(전류 유도장치)(200)를 이용해 철탑에 흐르는 전류로부터 일정전류를 변류시켜 충전하는 방식이다. 우선 태양광 충전가능 여부를 확인하고, 불가능하다면 선로 이용 변류기 충전 가능 여부를 확인하여 가능한 충전 방식으로 대용량 배터리를 충전한다. 이 과정은 무인항공기의 착륙 여부에 상관없이 계속 진행된다. 한편, 상기한 두 가지 충전 방식이 모두 불가능하여 대용량 배터리(106-3) 충전이 불가능한 경우에는 소속 기관에 문제 신호를 발신하여 문제 해결을 유도한다4 shows a flowchart of charging the large-capacity battery 106 - 3 . The high-capacity battery charging method of the unmanned charging device can be roughly divided into two types. First, a photovoltaic module 106-1 for charging the unmanned aerial vehicle is installed on the upper part of the pylon, and charging is performed with the power generated here. The solar module 106 - 1 is installed around the wireless charging device 100 . Second, as a method of charging using the power of the transmission line, a current transformer (CT) (current induction device) 200 is used to convert a constant current from the current flowing in the pylon to charge. First, it checks whether solar charging is possible, and if it is not possible, it checks whether the current transformer can be charged using the line, and then charges the large-capacity battery using the possible charging method. This process continues regardless of whether the drone has landed or not. On the other hand, if both charging methods are impossible and thus charging the large-capacity battery 106-3 is impossible, a problem signal is sent to the affiliated institution to induce problem solving.

도 5는 무인항공기의 배터리 잔량 부족에 따른 경로 변경의 예시를 나타낸다. 비행기 그림은 무인 항공기를 나타내며 번개 그림은 무선충전장치를 나타낸다. 현재 무선충전장치는 E 경로점에 위치한다고 가정한다. 기존 경로가 A-B-C-D-E-F 순일 때, B지점에서 외부 요인으로 인한 잔량 부족이 감지될 경우 다음 충전소인 E를 다음 경로점으로 하고 기존 다음 경로점인 C는 충전소 이후 경로점으로 변경한다. 나머지 경로점의 순서에 대해서는 변경이 없어 변경 후경로는 A-B-E-C-D-F 가 되어 무인항공기가 모든 경로점을 거칠 수 있게 된다.5 illustrates an example of changing a route according to a lack of a battery level of an unmanned aerial vehicle. The picture of an airplane represents an unmanned aerial vehicle, and the picture of lightning represents a wireless charging device. It is assumed that the current wireless charging device is located at path point E. When the existing route is in the order of A-B-C-D-E-F, if a lack of remaining power due to external factors is detected at point B, the next charging station, E, is set as the next route point, and the existing next route point, C, is changed to the route point after the charging station. There is no change in the order of the remaining route points, so the route after the change becomes A-B-E-C-D-F, so that the unmanned aerial vehicle can go through all route points.

도 6은 무인항공기의 무선충전지점을 나타낸다. 철탑 상부에 무인항공기의 충전을 위한 상기 무선충전장치(100)를 설치하고, 무인항공기에 내장된 상기 GPS장치(303)를 사용하여 3D 공간정보 기반의 설정된 송전탑(무선충전장치(100) 설치 장소)으로 이·착륙을 수행한다. 또한, 송전선(고전압, 대전류)에 의해 전자계가 발생하므로, 무인항공기의 안정성을 확보하기 위해 송전선로와 일정 간격이상 이격하여 이·착륙한다. 무인항공기 주위의 전자계가 센서 내에 인식된 기준치보다 초과시 운영자에게 경보정보를 전송한다.6 shows a wireless charging point of an unmanned aerial vehicle. The wireless charging device 100 for charging the unmanned aerial vehicle is installed on the top of the pylon, and the 3D spatial information-based transmission tower (wireless charging device 100 installation place) using the GPS device 303 built into the unmanned aerial vehicle. ) to perform take-off and landing. In addition, since an electromagnetic field is generated by the power transmission line (high voltage, large current), in order to secure the stability of the unmanned aerial vehicle, it takes off and lands apart from the power transmission line by a certain distance or more. When the electromagnetic field around the unmanned aerial vehicle exceeds the standard value recognized by the sensor, alarm information is sent to the operator.

도 7은 본 발명의 무인항공기의 배터리장치 구성도이다. 기존 비행경로에서 다음 경로점이 충전소이거나 상기 배터리 제어부(302)가 무인항공기의 운항 중 상기 배터리(301)의 잔량이 예상보다 부족하다고 판단하여 상기 무인항공기 제어부(305)가 정해진 알고리즘을 통해 비행경로를 수정하면 3D 정보공간 기반의 지정된 철탑(무선충전부(306) 설치 장소)으로 무인항공기가 자동 착륙하게 된다. 그 후, 무선충전부(306)를 통해 무인항공기의 상기 배터리(301)에 충전을 시작한다. 무선 송/수신부(304)는 상기 무선충전부(306)에서 무인항공기의 충전용량을 감시자에게 송신하며, 만약 배터리에 충전이 되지 않을 경우, 선로감시를 중지하고 착륙지점으로 강제 복귀 혹은 그마저도 불가능할 경우 무선충전장치에 대기시킨다.7 is a configuration diagram of a battery device of an unmanned aerial vehicle according to the present invention. The next route point in the existing flight route is a charging station or the battery control unit 302 determines that the remaining amount of the battery 301 is lower than expected during operation of the unmanned aerial vehicle, and the unmanned aerial vehicle control unit 305 determines the flight route through a predetermined algorithm. If modified, the unmanned aerial vehicle will automatically land in the designated pylon (wireless charging unit 306 installation place) based on 3D information space. Thereafter, the battery 301 of the unmanned aerial vehicle is charged through the wireless charging unit 306 . The wireless transmitting/receiving unit 304 transmits the charging capacity of the unmanned aerial vehicle from the wireless charging unit 306 to the supervisor. Wait for the wireless charging device.

도 8은 무선충전장치의 구성도이다. 무인 항공기가 착륙하면 상기 무선충전장치 제어부(101)에서 충전 가능 여부를 확인한다. 상기 충전부(105)는 상기 전원 공급부(106)의 상기 대용량 배터리(106-3)에 전원을 연결하여 무인항공기의 배터리에 비접촉 방식으로 현재 적용이 가능한 비접촉방식의 충전기술인 전자기 유도를 이용한 충전 방식, 자기 공명을 이용한 충전 방식, 전기에너지를 레이저 빔으로 변환전송 및 수신하여 충전하는 방식, 전기에너지를 마이크로웨이브 변환전송 및 수신하는 방식 등으로 전력 전달을 할 수 있도록 한다. 8 is a block diagram of a wireless charging device. When the unmanned aerial vehicle lands, the wireless charging device control unit 101 checks whether charging is possible. The charging unit 105 connects power to the large-capacity battery 106-3 of the power supply unit 106 and uses electromagnetic induction, a non-contact charging technology currently applicable to the battery of the unmanned aerial vehicle in a non-contact manner. A charging method using magnetic resonance, a charging method by converting, transmitting and receiving electric energy into a laser beam, and a method for converting and transmitting and receiving electric energy into microwaves are used to transmit power.

상기 DB구축부(107)에서는 무인항공기를 식별하고 전력 공급량을 측정하여 충전금액을 정산해 사용자에게 청구한다. 상기 상태 표시부(104)는 현재 대용량 배터리(106-3)에 공급 가능한 전원 방식과 대용량 배터리 잔량을 표시한다. 무인항공기의 배터리의 충전용량 역시 표시하여 지상통제시스템(GCS)에서도 충전여부를 확인할 수 있도록 한다. 장치 고장 여부 역시 표시할 수 있도록 하고 장치 고장 시 상기 무선 송/수신부(102)에서 소속 기관에 고장 신호를 발신하도록 하며, 다른 무인 항공기에도 대체 충전소의 위치를 발신해 비행에 차질이 없도록 한다.The DB building unit 107 identifies the unmanned aerial vehicle, measures the amount of power supply, and calculates the charge amount and charges the user. The status display unit 104 displays the current power supply method and the remaining capacity of the large-capacity battery 106-3. The charging capacity of the battery of the unmanned aerial vehicle is also displayed so that the ground control system (GCS) can check whether it is charged or not. Whether or not the device is faulty can also be displayed, and when the device fails, the wireless transmitter/receiver 102 sends a fault signal to the affiliated institution, and the location of an alternative charging station is also sent to other unmanned aerial vehicles so that there is no disruption to the flight.

도 9는 무선충전장치의 전원공급부(106)를 나타내고, 도 10은 본 발명에 따른 무인항공기의 충전방식의 개념도를 나타낸다.9 shows the power supply unit 106 of the wireless charging device, and FIG. 10 shows a conceptual diagram of a charging method of an unmanned aerial vehicle according to the present invention.

전원공급 방식은 크게 두 가지로 나눌 수 있다. 첫째, 철탑 상부에 무인항공기의 충전을 위한 태양광 모듈(SOLAR CELL(106-1))을 설치하고 여기서 발전되는 전력으로 충전을 하는 방식이다. 이 방식은, 빛 에너지를 전기에너지로 변환할 목적으로 제작된 광전지로서 금속과 반도체의 접촉면 또는 반도체의 p-n접합에 빛을 쪼이면 광전효과에 의해 광기전력이 일어나는 현상을 이용한 것이다. 태양전지는 매우 낮은 전압을 유기하므로 태양전지모듈의 Array구성은 적정한 전압 유기를 위해 직렬연결로 전압을 구성하고 병렬연결회로를 통하여 전류량을 증가시킨다. 둘째, 송전선로의 전력을 이용하는 방법으로 CT 변류기(200)(전력유도장치)를 이용하여 철탑에 흐르는 일정전류를 변류시켜 충전하는 방식이다. 이 두 가지 방식을 통해 얻은 전류는 전력변환장치(106-2)를 통해 무인항공기의 충전에 알맞은 전력으로 바뀌어 상기 대용량 배터리(106-3)에 저장된다. 이때 두 가지 전원 공급 방식이 모두 불가능한 경우 고장 신호를 상기 무선 송/수신부(102)를 통해 소속 기관에 발신하도록 한다. The power supply method can be divided into two main types. First, a solar module (SOLAR CELL (106-1)) for charging the unmanned aerial vehicle is installed on the upper part of the pylon, and it is charged with the power generated here. This method is a photovoltaic cell manufactured for the purpose of converting light energy into electrical energy, and utilizes a phenomenon in which photovoltaic power occurs due to the photoelectric effect when light is irradiated to the contact surface of a metal and a semiconductor or a p-n junction of a semiconductor. Since the solar cell induces a very low voltage, the array configuration of the solar cell module configures the voltage in series connection to induce an appropriate voltage and increases the amount of current through the parallel connection circuit. Second, as a method of using the power of the transmission line, a CT current transformer 200 (power induction device) is used to convert a constant current flowing through the pylon to charge it. The current obtained through these two methods is converted into electric power suitable for charging the unmanned aerial vehicle through the power converter 106-2 and stored in the large-capacity battery 106-3. In this case, when both power supply methods are impossible, a failure signal is transmitted to the affiliated institution through the wireless transmitter/receiver 102 .

도 10은 본 발명에 따른 무인항공기의 충전방식의 개념도이다.10 is a conceptual diagram of a charging method of an unmanned aerial vehicle according to the present invention.

본 발명은 GPS 기반의 자동항법이 가능한 무인항공기가 이륙 전 송전선로 순시를 위한 작업범위가 정해지면 감시계획을 생성하기 위해 감시대상의 위치지형정보 및 철탑 정보를 3D 공간정보로 모델링하여, 감시계획에 따라 비행경로(경로점 1····n)를 생성한 후, 비행경로 중간에 무선충전장치를 추가하여 무인항공기가 무선충전장치(100)에 자동으로 착륙할 수 있도록 지원한다. 그리고 무인항공기의 배터리(301) 잔량 문제로 해당 비행경로를 따를 수 없을 경우 비행경로를 수정하여 잔량 문제를 해결한 후 비행경로를 따를 수 있도록 지원한다. 3D 공간정보는 송전선로 감시 비행업무를 수행할 지역의 3차원 수치지도 위에 위성사진을 입혀서 평면상의 거리뿐만 아니라 공간적인 측위를 판단할 수 있다. 이 3D 공간정보에서는 실제 송전탑의 설계도를 기반으로 한 송전구조물의 3D 모델이 적용되어 있어 송전탑 및 송전선의 연결 정보 및 지리 및 공간적 위치관계뿐만 아니라 주어진 비행 속도와 예정 비행 거리를 근거로 예상되는 배터리 소모량을 입체적으로 판단하여 무인충전소를 경로 낭비를 최소화하도록 비행 경로점 사이에 추가하여 무인항공기가 송전선로 감시 업무 수행 시 배터리 방전에 따른 불시착 사고 등의 문제를 회피하는데 효율적으로 활용할 수 있다.The present invention provides a monitoring plan by modeling the location topographical information and pylon information of the monitoring target into 3D spatial information to generate a monitoring plan when a work range for an unmanned aerial vehicle capable of GPS-based automatic navigation is determined before takeoff. After creating a flight path (route point 1 ... n) according to the flight path, a wireless charging device is added in the middle of the flight path to support the automatic landing of the unmanned aerial vehicle on the wireless charging device 100 . In addition, if the flight path cannot be followed due to a problem with the remaining amount of the battery 301 of the unmanned aerial vehicle, the flight path is corrected and the remaining capacity problem is solved, and then the flight path is supported. 3D spatial information can determine not only the distance on the plane but also the spatial positioning by overlaying the satellite image on the 3D numerical map of the area where the transmission line monitoring flight will be performed. In this 3D spatial information, a 3D model of the power transmission structure based on the actual transmission tower design is applied, so the estimated battery consumption based on the given flight speed and scheduled flight distance, as well as the connection information of the transmission tower and the transmission line, and geographic and spatial location relationships. It can be effectively used to avoid problems such as accidental landings due to battery discharge when an unmanned aerial vehicle performs transmission line monitoring by adding an unmanned charging station between flight path points to minimize path waste by judging the three-dimensionally.

이상에서 설명된 본 발명의 실시 예는 예시적인 것에 불과하며, 본 발명이 속한 기술분야의 통상의 지식을 가진 자라면 이로부터 다양한 변형 및 균등한 타 실시 예가 가능하다는 점을 잘 알 수 있을 것이다. 그러므로 본 발명은 상기의 상세한 설명에서 언급되는 형태로만 한정되는 것은 아님을 잘 이해할 수 있을 것이다. 따라서 본 발명의 진정한 기술적 보호 범위는 첨부된 특허청구범위의 기술적 사상에 의해 정해져야 할 것이다. 또한, 본 발명은 첨부된 청구범위에 의해 정의되는 본 발명의 정신과 그 범위 내에 있는 모든 변형물과 균등물 및 대체물을 포함하는 것으로 이해되어야 한다.The embodiments of the present invention described above are merely exemplary, and those of ordinary skill in the art to which the present invention pertains will appreciate that various modifications and equivalent other embodiments are possible therefrom. Therefore, it will be well understood that the present invention is not limited to the forms recited in the above detailed description. Therefore, the true technical protection scope of the present invention should be determined by the technical spirit of the appended claims. It is also to be understood that the present invention includes all modifications, equivalents and substitutions falling within the spirit and scope of the invention as defined by the appended claims.

100 : 무선충전장치
101 : 무선충전장치 제어부
102 : 무선 송/수신부
103 : GPS장치
104 : 상태표시부
105 : 충전부
106 : 전원공급부
106-1 : SOLAR CELL
106-2 : 전력변환장치
106-3 : 대용량 배터리
107 : DB구축부
200 : CT 변류기
301 : 무인항공기의 배터리
302 : 배터리 제어부
303 : GPS장치/ RFID장치
304 : 무선송/수신부
305 : 무인항공기 제어부
306 : 무선 충전부100: wireless charging device
101: wireless charging device control unit
102: wireless transmitter/receiver
103: GPS device
104: status display unit
105: charging part
106: power supply
106-1 : SOLAR CELL
106-2: power conversion device
106-3: large capacity battery
107: DB Construction Department
200: CT current transformer
301: battery of unmanned aerial vehicle
302: battery control
303: GPS device / RFID device
304: wireless transmitter/receiver
305: unmanned aerial vehicle control unit
306: wireless charging unit

Claims (1)

송전선로의 고장을 감시하는 무인항공기용 충전장치 제어방법에 있어서,
무인항공기의 배터리 소모량 예측 및 비행경로에 충전소 추가 단계;
상기 무인항공기의 배터리 잔량과 예측 소모량 비교 단계;
비행경로 수정 단계;
충전소로 이동 및 착륙 단계;
상기 충전소로 이동 및 착륙 단계에서 상기 충전소는 송전철탑 위에 설치되며,
상기 비행경로 수정 단계는
현재 상기 무인항공기의 배터리 잔량이 상기 예측 소모량보다 큰 경우에는 설정된 비행경로를 따라 비행하고
현재 상기 무인항공기의 배터리 잔량이 상기 예측 소모량보다 작은 경우에는 무선충전장치가 설치된 경로점을 다음 경로점으로 수정하고 무선충전이 이루어진 후 상기 설정된 비행경로대로 비행하는 것을 특징으로 하는 무인항공기용 충전장치 제어방법.
In the method of controlling a charging device for an unmanned aerial vehicle for monitoring a failure of a power transmission line,
predicting the battery consumption of the unmanned aerial vehicle and adding a charging station to the flight path;
Comparing the remaining battery and predicted consumption of the unmanned aerial vehicle;
flight path modification phase;
transfer and landing phases to the charging station;
In the step of moving to and landing at the charging station, the charging station is installed on the transmission tower,
The flight path modification step is
If the current remaining battery power of the unmanned aerial vehicle is greater than the predicted consumption, it flies along the set flight path and
If the current remaining battery capacity of the unmanned aerial vehicle is smaller than the predicted consumption amount, the charging device for an unmanned aerial vehicle, characterized in that the route point where the wireless charging device is installed is corrected to the next route point, and after wireless charging is performed, it flies according to the set flight route. control method.
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