KR20240035983A - Method for inspecting power transmission lines based on real-time location tracking of unmanned aerial vehicles - Google Patents

Abstract

In one embodiment of the present invention for solving the above-described problem, a transmission line inspection method is disclosed. The method includes receiving a first position movement command signal from a server, determining to move the first position of the power transmission line in response to the first position movement command signal, and receiving a second position movement command signal from the server. A step of obtaining test performance information while moving from the first position to a second location in response to the second position movement command signal, and determining to transmit the test performance information to the server. .

Description

Transmission line inspection method based on real-time location confirmation of unmanned aerial vehicle {METHOD FOR INSPECTING POWER TRANSMISSION LINES BASED ON REAL-TIME LOCATION TRACKING OF UNMANNED AERIAL VEHICLES}

The present invention relates to a system for inspecting transmission lines, and more specifically, to technology provided in a system for inspecting transmission lines using an unmanned flying vehicle.

In general, transmission line inspections include regular inspections such as visual inspection, thermal imaging, and ultrasonic inspection, and diagonal detailed inspections every 5 years. However, most inspections are for structural inspection, and in live wires, workers move under the steel tower and inspect from the ground using high-magnification telescopes and measuring equipment. In addition, the existing track inspection method requires workers to visually inspect each and every wire after a cease-fire, which requires a lot of time and, above all, has the problem of high risk of safety accidents. In addition, there is a problem in that it is difficult to inspect surveillance blind spots that cannot be checked even with a telescope due to reasons such as being located on a rough road, so workers cannot climb, and transmission lines being obscured by trees.

Accordingly, in order to increase user convenience, Republic of Korea Patent No. 10-1277119 discloses a transmission line inspection robot that inspects the transmission line while traveling along the transmission line.

Meanwhile, today, the use of unmanned aerial vehicles (UAV) (e.g., drones) is expanding to various fields. For example, recently, drones are expected to be a technology with great social and economic impact, with various potential markets being formed in the public and private sectors. Many countries around the world are expanding the use of drones in the public sector, led by China's DJI, which occupies more than 70% of the global drone market, producing drone airframes and parts and developing convergence technologies applied to drones. The number of companies is increasing explosively. Drones, which were previously mainly used in the private sector for broadcast filming and entertainment, have recently been widely applied to the logistics service sector.

Various efforts are continuing to use these drones to inspect transmission lines. However, in order to fly a drone, multiple propellers must rotate very quickly, so the battery consumption is very high, so there is a problem that the operating time is somewhat short. Specifically, batteries have a low energy density compared to their weight, so to store a lot of energy, the weight also increases, which can be inefficient for long-term flights. For example, drones using general power use batteries of 3.8V to 24V as a power source, but there is a problem in that flight time is limited to 30 minutes or less due to limitations in battery capacity. In other words, the drone's battery may only be usable for about 30 minutes, and if various equipment such as inspection equipment and cameras are added, the battery usable time will inevitably be further reduced, making it difficult to inspect long transmission lines. There is.

The problem to be solved by the present invention is to solve the above-mentioned problems and to provide a system for performing transmission line inspection using an unmanned aircraft with improved flight operation time.

The problems to be solved by the present invention are not limited to the problems mentioned above, and other problems not mentioned can be clearly understood by those skilled in the art from the description below.

A transmission line inspection method performed by one or more processors of an unmanned aerial vehicle according to various embodiments of the present invention to solve the above-mentioned problems is disclosed. The method includes receiving a first position movement command signal from a server, determining to move the first position of the power transmission line in response to the first position movement command signal, and receiving a second position movement command signal from the server. A step of obtaining test performance information while moving from the first position to a second location in response to the second position movement command signal, and determining to transmit the test performance information to the server. .

In an alternative embodiment, the second position movement command signal is a control signal for moving the unmanned aircraft to the second position, and the test performance information is information based on determining whether the transmission line is broken. , may include at least one of a wire image and a thermal image related to the transmission line.

In an alternative embodiment, receiving a second location movement command signal from the server includes determining to generate and transmit location confirmation request information to the server when moving to the first location, and receiving the second location movement command signal from the server. Receiving the second location movement command signal in response to location confirmation request information, wherein the location confirmation request information may include at least one of real-time location information or surrounding image information of the unmanned flying vehicle.

In an alternative embodiment, the unmanned air vehicle may be characterized in that it receives electrical energy related to flight based on induced electromotive force caused by the magnetic field of the transmission line.

In an alternative embodiment, the unmanned flying vehicle may include a coil unit provided to have a preset inductance, and the induced electromotive force may be generated through the coil unit.

In an alternative embodiment, the unmanned aerial vehicle may fly at a predetermined distance from the transmission line based on the magnitude of the induced electromotive force.

In an alternative embodiment, the unmanned air vehicle may be equipped with a transformation module that transforms the alternating current voltage related to the induced electromotive force into a direct current voltage.

An unmanned aerial vehicle for inspecting a power transmission line according to another embodiment of the present invention is disclosed. The unmanned air vehicle may include a network unit that transmits and receives data to and from a server, a memory that stores one or more instructions, and a processor that performs the above-described transmission line inspection method by executing the one or more instructions stored in the memory.

A transmission line inspection method using an unmanned aerial vehicle performed by one or more processors of a server according to an embodiment of the present invention is disclosed. Deciding to transmit a first position movement command signal to the unmanned aerial vehicle, and determining to transmit a second position movement command signal to the unmanned aerial vehicle moved to the first position of the power transmission line in response to the first position movement command signal. , It may include receiving test performance information from the unmanned flying vehicle and determining whether the transmission line is broken based on the test performance information.

In an alternative embodiment, the second position movement command signal is a control signal for moving the unmanned aircraft to the second position, and the test performance information is information based on determining whether the transmission line is broken. , may include at least one of a wire image and a thermal image related to the transmission line.

In an alternative embodiment, the step of determining to transmit the second position movement command signal includes receiving location confirmation request information from the unmanned air vehicle, and determining whether it is appropriate to initiate a test based on the location confirmation request information. And determining whether to transmit the second position movement command signal to the unmanned flying vehicle based on the result of determining whether the test is appropriate to start, wherein the location confirmation request information includes real-time location information or surrounding image information of the unmanned flying vehicle. It may include at least one of:

In an alternative embodiment, the unmanned air vehicle may be characterized in that it receives electrical energy related to flight based on induced electromotive force caused by the magnetic field of the transmission line.

In an alternative embodiment, the unmanned flying vehicle may include a coil unit provided to have a preset inductance, and the induced electromotive force may be generated through the coil unit.

In an alternative embodiment, the unmanned aerial vehicle may fly at a predetermined distance from the transmission line based on the magnitude of the induced electromotive force.

In an alternative embodiment, the unmanned air vehicle may be equipped with a transformation module that transforms the alternating current voltage related to the induced electromotive force into a direct current voltage.

A server that inspects a power transmission line using an unmanned aerial vehicle according to another embodiment of the present invention is disclosed. The server performs the transmission line inspection method using the above-described unmanned aerial vehicle by executing the server network unit that transmits and receives data to the unmanned aerial vehicle, a server memory that stores one or more instructions, and the one or more instructions stored in the server memory. It may include a server processor.

Other specific details of the invention are included in the detailed description and drawings.

According to various embodiments of the present invention, inspection of power transmission lines can be performed through an unmanned aircraft with maximized flight operation time.

The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description below.

Figure 1 is a diagram schematically showing a system for performing a transmission line inspection method using an unmanned aerial vehicle according to an embodiment of the present invention.
Figure 2 shows an illustrative diagram illustrating an unmanned aerial vehicle for inspecting a power transmission line related to an embodiment of the present invention.
3 shows an exemplary block diagram of an unmanned aerial vehicle performing inspection on a power transmission line related to an embodiment of the present invention.
Figure 4 shows an example diagram for explaining the magnetic field generated in a transmission line related to an embodiment of the present invention.
Figure 5 is a flowchart illustrating a process for inspecting a power transmission line through information exchange between a server and an unmanned aerial vehicle related to an embodiment of the present invention.
Figure 6 shows a flowchart illustrating a transmission line inspection method performed using an unmanned aerial vehicle related to an embodiment of the present invention.
Figure 7 shows an exemplary block diagram of a server that performs inspection of a power transmission line using an unmanned aerial vehicle related to an embodiment of the present invention.
Figure 8 shows a flowchart illustrating an exemplary transmission line inspection method using an unmanned aerial vehicle performed through a server related to an embodiment of the present invention.

Various embodiments are now described with reference to the drawings. In this specification, various descriptions are presented to provide an understanding of the invention. However, it is clear that these embodiments may be practiced without these specific descriptions.

As used herein, the terms “component,” “module,” “system,” and the like refer to a computer-related entity, hardware, firmware, software, a combination of software and hardware, or an implementation of software. For example, a component may be, but is not limited to, a process running on a processor, a processor, an object, a thread of execution, a program, and/or a computer. For example, both an application running on a computing device and the computing device can be a component. One or more components may reside within a processor and/or thread of execution. A component may be localized within one computer. A component may be distributed between two or more computers. Additionally, these components can execute from various computer-readable media having various data structures stored thereon. Components can transmit signals, for example, with one or more data packets (e.g., data and/or signals from one component interacting with other components in a local system, a distributed system, to other systems and over a network such as the Internet). Depending on the data being transmitted, they may communicate through local and/or remote processes.

Additionally, the term “or” is intended to mean an inclusive “or” and not an exclusive “or.” That is, unless otherwise specified or clear from context, “X utilizes A or B” is intended to mean one of the natural implicit substitutions. That is, either X uses A; X uses B; Or, if X uses both A and B, “X uses A or B” can apply to either of these cases. Additionally, the term “and/or” as used herein should be understood to refer to and include all possible combinations of one or more of the related listed items.

Additionally, the terms “comprise” and/or “comprising” should be understood to mean that the corresponding feature and/or element is present. However, the terms “comprise” and/or “comprising” should be understood as not excluding the presence or addition of one or more other features, elements and/or groups thereof. Additionally, unless otherwise specified or the context is clear to indicate a singular form, the singular terms herein and in the claims should generally be construed to mean “one or more.”

Those skilled in the art will additionally recognize that the various illustrative logical blocks, components, modules, circuits, means, logic, and algorithm steps described in connection with the embodiments disclosed herein may be implemented using electronic hardware, computer software, or a combination of both. It must be recognized that it can be implemented with To clearly illustrate the interchangeability of hardware and software, various illustrative components, blocks, configurations, means, logics, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented in hardware or software will depend on the specific application and design constraints imposed on the overall system. A skilled technician can implement the described functionality in a variety of ways for each specific application. However, such implementation decisions should not be construed as departing from the scope of the present invention.

The description of the presented embodiments is provided to enable anyone skilled in the art to use or practice the present invention. Various modifications to these embodiments will be apparent to those skilled in the art. The general principles defined herein may be applied to other embodiments without departing from the scope of the invention. Therefore, the present invention is not limited to the embodiments presented herein. The present invention is to be interpreted in the broadest scope consistent with the principles and novel features presented herein.

In this specification, a computer refers to all types of hardware devices including at least one processor, and depending on the embodiment, it may be understood as encompassing software configurations that operate on the hardware device. For example, a computer can be understood to include, but is not limited to, a smartphone, tablet PC, desktop, laptop, and user clients and applications running on each device.

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

Each step described in this specification is described as being performed by a computer, but the subject of each step is not limited thereto, and depending on the embodiment, at least part of each step may be performed in a different device.

Figure 1 is a diagram schematically showing a system for performing a transmission line acquisition method using an unmanned aerial vehicle according to an embodiment of the present invention. As shown in FIG. 1, a system for performing a transmission line inspection method using an unmanned aircraft according to an embodiment of the present invention includes an unmanned aircraft 100 for inspecting a transmission line, and a transmission line using an unmanned aircraft. It may include an inspection server 200 and a user terminal 10. Here, the system for performing the transmission line inspection method using the unmanned flying vehicle shown in FIG. 1 is according to one embodiment, and its components are not limited to the embodiment shown in FIG. 1, and may be added as needed, It may be changed or deleted.

In the present invention, the transmission line 1 may refer to a wire connecting power plants, substations, or a power plant and a substation, and electrical equipment belonging thereto. For example, a transmission line may include a wire that transmits power from a power plant or substation at one location to a power plant or substation at another location, as well as supports, insulators, grounding devices, etc. related thereto. Since power plants are far from urban areas, transmission lines are used to transport power. In other words, the length of the transmission line that transports power between distant areas is tens of kilometers long, and transmission is performed at extra-high voltage to prevent power loss over long lengths. For example, the voltage of Korea's transmission system may be 154kV, 345kV, 765kV, etc.

The facility operation (i.e. inspection) of these transmission lines is carried out by inspecting the transmission lines on the ground using telescopes and measurement equipment while workers move under the lines while the lines are live, and after a cease-fire, workers move under the lines. There is a method of inspection by riding and visually checking. This line inspection method has the problem that it takes a lot of time and, above all, has a high risk of safety accidents. In addition, there is a problem in that it is difficult to inspect surveillance blind spots that cannot be checked even with a telescope due to reasons such as being located on a rough road, so workers cannot climb, and transmission lines being obscured by trees.

The present invention can perform inspection of the transmission line (1) using an unmanned flying vehicle. When using the unmanned aerial vehicle 100, it may be possible to inspect the transmission line in a live state without the need for a ceasefire on the transmission line.

For a specific example, as shown in FIG. 2, the unmanned flying vehicle 100 can acquire images or images related to the power transmission line 1 while flying close to the power transmission line 1. In one embodiment, the unmanned aircraft 100 may be equipped with a camera module 130, and may acquire wire images, thermal images, etc. through the camera module 130 and transmit them to the server 200. . The server 200 can inspect the transmission line 1 by determining whether the line is broken through the line video image received from the unmanned flying vehicle 100.

According to one embodiment of the present invention, the unmanned flying vehicle 100 is characterized in that the flight distance, that is, the inspection distance, is maximized by receiving electric energy for flight based on the magnetic field generated from the transmission line 1. You can. Specifically, the transmission line 1 may be a line with a particularly high voltage and at the same time, a line through which a high current flows. For example, in a 345kV transmission line, a high current of approximately 1500A to 2000A may flow, depending on the load. This current may be an alternating current of 60 Hz. The high current flowing in the transmission line (1) can generate a magnetic field of a certain size or more. In this case, since the high current flowing in the transmission line 1 is alternating current, an alternating magnetic field is generated around the line. For example, in the transmission line 1, a magnetic field may be generated in inverse proportion to the vertical distance from the line and in proportion to the current. This magnetic field may be an alternating magnetic field, that is, a magnetic field that changes with time, and an induced electromotive force may be generated due to the magnetic field. In one embodiment, the unmanned aircraft 100 may generate induced electromotive force based on the magnetic field generated in the transmission line 1, and convert the alternating current voltage related to the induced electromotive force into direct current voltage to generate electrical energy for flight. It can occur continuously.

In general, in order to fly an unmanned aerial vehicle, a plurality of propellers must rotate very quickly, so there is a problem that battery consumption is very high and the operating time is somewhat short. Specifically, batteries have a low energy density compared to their weight, so to store a lot of energy, the weight also increases, which can be inefficient for long-term flights. For example, unmanned aerial vehicles using general power use batteries of 3.8V to 24V as a power source, but there is a problem in that flight time is limited to 30 minutes or less due to limitations in battery capacity. In other words, the battery of an unmanned aerial vehicle may only be usable for about 30 minutes, and if various equipment, cameras, etc. for inspection are added, the battery usable time will inevitably be further reduced, making it difficult to inspect long transmission lines. Appropriate operating time may not be available.

The unmanned flying vehicle 100 of the present invention can receive electric energy based on the magnetic field of the transmission line 1 during the flight process to inspect the transmission line 1. In other words, by continuously receiving electric energy through the magnetic field of the transmission line 1, the flight (or inspection) time of the unmanned aircraft 100 for inspecting the long transmission line 1 can be maximized, The inspection efficiency of the transmission line 1 can be improved. A more detailed description of how the unmanned flying vehicle 100 of the present invention receives electric energy based on the magnetic field of the transmission line 1 will be described later.

According to an embodiment of the present invention, the unmanned aircraft 100 may refer to an aircraft that recognizes the external environment and can move by judging the situation on its own or operate by remote control when necessary. For example, an unmanned aerial vehicle may mean a drone, but is not limited thereto.

In one embodiment, this unmanned flying vehicle 100 may be provided including a body portion and a flight portion. The flight unit of the unmanned aircraft 100 may generate lift for flight of the unmanned aircraft. The flying unit may include at least one propeller capable of rotating in combination with a motor. Specifically, the flight unit can generate lift by rotating the propeller, and can adjust the size of the lift by controlling the rotation speed of the propeller. By adjusting the size of the lift force, the altitude of the unmanned aircraft and the moving speed of the unmanned aircraft can be adjusted. The body portion of the unmanned aircraft 100 may be provided with electronic components constituting the unmanned aircraft 100. For example, the main body includes a network unit 110, memory 120, camera module 130, battery module 140, coil unit 150, transformation module 160, or processor 170. It may be, but is not limited to this.

The unmanned aircraft 100 can fly close to the power transmission line 1 through artificial intelligence-based flight control that recognizes the external environment, judges the situation on its own, and moves. The unmanned aircraft 100 may be equipped with various sensor modules to acquire various state information related to flight situations for artificial intelligence-based automatic flight control. For example, the unmanned aircraft 100 may be equipped with a temperature sensor, a communication sensor, a wind volume and wind speed sensor, a gyro sensor, a vibration sensor, etc., and provides information about the flight state through sensing values from each of the corresponding sensor modules. It can be obtained. For example, this information about the flight status can provide meaningful information in determining whether the unmanned aircraft 100 is flying properly or is malfunctioning. The specific description of the various sensors included in the above-described unmanned aerial vehicle is only an example, and the present invention is not limited thereto.

Additionally, the unmanned aircraft 100 may fly close to the power transmission line 1 through remote control (i.e., manual flight control) by an administrator when necessary. In this case, the unmanned aircraft 100 may be equipped with a camera module for acquiring flight image information for remote control for manual flight control.

In an additional embodiment, a wire image or a thermal image related to the power transmission line 1 may be obtained through the camera module 130 of the unmanned aircraft 100 and transmitted to the server 200, and the server 200 Based on the image information, it is possible to determine whether the transmission line is broken.

According to one embodiment, the transmission line inspection server 200 using an unmanned aerial vehicle may refer to a subsystem that provides intensive processing functions in a local area network. The transmission line inspection server 200 using an unmanned aerial vehicle monitors and controls the entire network, such as control and data management of arbitrary functions related to the present disclosure, or connects to other networks through a mainframe or public network and provides data. ·It can help share software resources such as programs and files, or hardware resources such as sharing modems, faxes, printers, and other equipment. The transmission line inspection server 200 using an unmanned aerial vehicle may refer to a computer that discloses information contained in its hard disk to the outside in a special form. In general, various information is managed by the transmission line inspection server 200 using an unmanned aerial vehicle, and general users use their external devices (e.g., user terminals) to check the transmission line inspection server 200 using an unmanned aerial vehicle. You can connect and use the information provided by the transmission line inspection server 200 using an unmanned aerial vehicle. In the present invention, the transmission line inspection server 200 using an unmanned aerial vehicle can control, store, or transmit and receive information and share it with the user terminal 10 and the unmanned aerial vehicle 100.

In the present invention, the transmission line inspection server 200 using an unmanned flying vehicle may exchange information by communicating with an external server (not shown). In one embodiment, the external server may be connected to the transmission line inspection server 200 using an unmanned aerial vehicle through a network, and the transmission line inspection server 200 using an unmanned aerial vehicle may be used to determine whether the transmission line is broken. Various necessary information/data can be provided, or location information or test performance information of the unmanned aircraft can be provided and stored and managed. For example, the external server may be a storage server separately provided outside the transmission line inspection server 200 using an unmanned aerial vehicle, but is not limited to this.

Additionally, the transmission line inspection server 200 using an unmanned aerial vehicle may store arbitrary information/data in a database or computer-readable medium. Computer-readable media may include computer-readable storage media and computer-readable communication media. Such computer-readable storage media may include all types of storage media in which programs and data are stored so that they can be read by a computer system. According to one aspect of the present invention, such computer-readable storage media include read-only memory (ROM), random access memory (RAM), compact disk (CD)-ROM, digital video disk (DVD)-ROM, magnetic tape, and floppy disk. It may include disks, optical data storage devices, etc. Additionally, computer-readable communication media may also include implemented in the form of a carrier wave (e.g., transmission via the Internet). Additionally, such media may be distributed over a networked system to store computer-readable codes and/or instructions in a distributed manner. The detailed configuration of the transmission line inspection server 200 using the unmanned flying vehicle of the present invention will be described in detail later with reference to FIG. 8.

According to one embodiment, the transmission line inspection server 200 using an unmanned aerial vehicle may be a server that provides cloud computing services. More specifically, the transmission line inspection server 200 using an unmanned aerial vehicle is a type of Internet-based computing and may be a server that provides a cloud computing service that processes information not on the user's computer but on another computer connected to the Internet. The cloud computing service may be a service that stores data on the Internet and allows users to use it anytime, anywhere through Internet access without having to install necessary data or programs on their computer. The cloud computing service can be used to easily manipulate and manipulate data stored on the Internet. You can easily share and forward with a click. In addition, cloud computing services not only allow you to simply store data on a server on the Internet, but also allow you to perform desired tasks using the functions of applications provided on the web without having to install a separate program, and allow multiple users to view documents at the same time. It may be a service that allows you to work while sharing. Additionally, cloud computing services may be implemented in at least one of the following forms: Infrastructure as a Service (IaaS), Platform as a Service (PaaS), Software as a Service (SaaS), virtual machine-based cloud server, and container-based cloud server. . That is, the server 200 of the present invention may be implemented in at least one form among the cloud computing services described above. The specific description of the cloud computing service described above is merely an example, and the present invention may include any platform for building a cloud computing environment.

In various embodiments, the transmission line inspection server 200 using an unmanned aircraft may be connected to the user terminal 10 through a network, and the optimal unmanned aircraft 100 to perform line inspection in response to the user's line inspection request. ) can be determined, or the movement of the unmanned aircraft 100 can be controlled.

Here, the network may mean a connection structure that allows information exchange between nodes, such as a plurality of user terminals and servers. For example, networks include local area networks (LANs), wide area networks (WANs), World Wide Webs (WWWs), wired and wireless data networks, telephone networks, and wired and wireless television networks.

In addition, here, the wireless data communication network includes 3G, 4G, 5G, 3GPP (3rd Generation Partnership Project), 5GPP (5th Generation Partnership Project), LTE (Long Term Evolution), WIMAX (World Interoperability for Microwave Access), and Wi-Fi (Wi-Fi). Fi), Internet, LAN (Local Area Network), Wireless LAN (Wireless Local Area Network), WAN (Wide Area Network), PAN (Personal Area Network), RF (Radio Frequency), Bluetooth network, It includes, but is not limited to, Near-Field Communication (NFC) networks, satellite broadcasting networks, analog broadcasting networks, and Digital Multimedia Broadcasting (DMB) networks.

In one embodiment, the user terminal 10 may be connected to the transmission line inspection server 200 using an unmanned aircraft through a network, and may provide line inspection request information (e.g., , transmission line inspection request corresponding to a specific section) can be transmitted, and in response to the transmitted line inspection request, various information (e.g., unmanned aerial vehicle assigned to inspection, test performance information, information on failure, etc.) can be provided.

Here, the user terminal is a wireless communication device that guarantees portability and mobility, and includes navigation, PCS (Personal Communication System), GSM (Global System for Mobile communications), PDC (Personal Digital Cellular), PHS (Personal Handyphone System), and PDA ( Personal Digital Assistant), IMT (International Mobile Telecommunication)-2000, CDMA (Code Division Multiple Access)-2000, W-CDMA (W-Code Division Multiple Access), Wibro (Wireless Broadband Internet) terminal, smartphone, It may include, but is not limited to, all types of handheld-based wireless communication devices such as smartpads and tablet PCs. For example, the user terminal may further include an artificial intelligence (AI) speaker and an artificial intelligence TV that provide various functions such as listening to music and searching for information through interaction with the user based on hot words.

Hereinafter, with reference to FIGS. 3 to 8, a method of performing a transmission line inspection using an unmanned aerial vehicle and a method of continuously receiving electrical energy from the unmanned aerial vehicle during the line inspection process will be described in more detail.

3 shows an exemplary block diagram of an unmanned aerial vehicle performing inspection on a power transmission line related to an embodiment of the present invention. As shown in FIG. 3, the unmanned flying vehicle 100 includes a network unit 110, a memory 120, a camera module 130, a battery module 140, a coil unit 150, a transformation module 160, and a processor. It may include (170). The components included in the above-described unmanned flying vehicle 100 are illustrative, and the scope of the present invention is not limited to the above-described components. That is, depending on the implementation aspect of the embodiments of the present invention, additional components may be included or some of the above-described components may be omitted.

According to one embodiment of the present invention, the unmanned flying vehicle 100 may include a network unit 110 that transmits and receives data to and from the user terminal 10. The network unit 110 may transmit and receive data for performing the transmission line inspection method according to an embodiment of the present invention to other computing devices, servers, etc. That is, the network unit 110 may provide a communication function between the unmanned aircraft 100 and user terminals or the unmanned aircraft 100 and a server. The network unit 110 may receive a control signal for controlling the flight of the unmanned aircraft 100 from the server 200 or a terminal (eg, an administrator terminal) that controls the unmanned aircraft. Additionally, the network unit 110 may transmit the transmission line inspection results from the unmanned aircraft 100 to the server 200 or terminal that controls the unmanned aircraft. Additionally, the network unit 110 may allow information to be transferred between the unmanned aircraft 100 and user terminals or the unmanned aircraft 100 and the server 200 by calling a procedure with the unmanned aircraft 100.

The network unit 110 according to an embodiment of the present invention includes Public Switched Telephone Network (PSTN), x Digital Subscriber Line (xDSL), Rate Adaptive DSL (RADSL), Multi Rate DSL (MDSL), and VDSL ( A variety of wired communication systems can be used, such as Very High Speed DSL), Universal Asymmetric DSL (UADSL), High Bit Rate DSL (HDSL), and Local Area Network (LAN).

In addition, the network unit 110 presented in this specification includes Code Division Multi Access (CDMA), Time Division Multi Access (TDMA), Frequency Division Multi Access (FDMA), Orthogonal Frequency Division Multi Access (OFDMA), and SC-FDMA ( A variety of wireless communication systems can be used, such as Single Carrier-FDMA) and other systems.

In the present invention, the network unit 110 can be configured regardless of the communication mode, such as wired or wireless, and may be composed of various communication networks such as a personal area network (PAN) and a wide area network (WAN). You can. Additionally, the network may be the well-known World Wide Web (WWW), or may use wireless transmission technology used for short-distance communication, such as Infrared Data Association (IrDA) or Bluetooth. The techniques described herein can be used in the networks mentioned above, as well as other networks.

According to one embodiment, a location information module may be built into the network unit 110 of the unmanned flying vehicle 100. The location information module is a module for acquiring the location (or current location) of the unmanned aircraft 100, and representative examples thereof include a Global Positioning System (GPS) module or a Wireless Fidelity (WiFi) module. For example, if the unmanned air vehicle 100 utilizes a GPS module, the unmanned air vehicle 100 can acquire the location of the unmanned air vehicle using signals sent from GPS satellites. As another example, when the unmanned aircraft 100 utilizes a Wi-Fi module, the location of the unmanned aircraft 100 is based on information from the Wi-Fi module and a wireless AP (Wireless Access Point) that transmits or receives wireless signals. can be obtained. As needed, the location information module may alternatively or additionally obtain data regarding the location of the unmanned air vehicle 100. The location information module is a module used to acquire the location (or current location) of the unmanned aircraft 100, and is not limited to a module that directly calculates or obtains the location of the unmanned aircraft 100.

According to an embodiment of the present invention, the unmanned flying vehicle 100 may be provided with a memory 120. The memory 120 may store a number of application programs running on the unmanned aircraft 100, data for movement (eg, flight) of the unmanned aircraft, and commands. At least some of these applications may be present in each unmanned aerial vehicle from the time of shipment.

According to one embodiment, the memory 120 may store a computer program for performing a transmission line inspection method according to an embodiment of the present invention, and the stored computer program may be read and driven by the processor 170. . Additionally, the memory 120 may store any type of information generated or determined by the processor 170 and any type of information received by the network unit 110. Additionally, the memory 120 may store information about flight images or test performance information obtained while performing a transmission line inspection. For example, the memory 120 may temporarily or permanently store input/output data.

According to one embodiment of the present invention, the memory 120 is a flash memory type, hard disk type, multimedia card micro type, or card type memory (e.g. (e.g. SD or -Only Memory), and may include at least one type of storage medium among magnetic memory, magnetic disk, and optical disk.

According to one embodiment of the present invention, the unmanned flying vehicle 100 may include a camera module 130. In one example, the camera module 130 may be provided in one area of the body of the unmanned flying vehicle 100. The camera module 130 can acquire various images during the flight of the unmanned aircraft 100. Specifically, the camera module 130 can acquire a wire image related to the power transmission line and a thermal image corresponding to the wire image while the unmanned air vehicle 100 flies close to the power transmission line 1. In one embodiment, the camera module 130 may include a thermal imaging camera that detects infrared energy radiated, transmitted, or reflected by any material at a temperature above absolute zero degrees and converts this energy source into a temperature measurement or temperature record. You can. Images acquired through the camera module 130 may be information that is the basis for determining whether a transmission line has failed according to the present invention.

According to one embodiment of the present invention, the unmanned aircraft 100 may include a battery module 140. In one example, the battery module 140 may be provided in one area of the body of the unmanned air vehicle 100. The battery module 140 may refer to a module that stores energy to supply power by driving a motor of the unmanned aircraft 100. For example, the battery module 140 may include any storage device that converts energy into electricity and stores it to supply power, such as a condenser, chemical cell, fuel cell, or physical cell. The unmanned aircraft 100 can fly or move by generating power through electrical energy supplied from the battery module 140.

According to one embodiment of the present invention, the unmanned flying vehicle 100 may include a coil unit 150. The coil unit 150 may be connected to at least a portion of the battery module 140 and may generate induced electromotive force based on the magnetic field of the transmission line 1.

To explain in more detail, a high current may flow in the transmission line 1. For example, a high current of 1500A to 2000A may flow in the transmission line 1. This high current may be an alternating current of 60Hz. The current flowing in the transmission line (1) can cause a magnetic field. Specifically, a high current flowing in one direction can generate a magnetic field based on Maxwell's equations.

In this case, the magnetic field (or magnetic field) generated in response to the high current can be obtained through the Biot-Savart law as follows.

In this case, the length of the transmission line 1 is long enough so that it can be assumed to be infinitely long, so referring to FIG. 4, it can be defined by the following equation.

Therefore, the magnetic field generated by the transmission line 1 may be inversely proportional to the vertical distance from the wire and proportional to the current. In other words, the magnetic field generated in the transmission line 1 may become weaker as the distance from the wire increases, and may increase as the current increases.

The magnetic field generated in the transmission line 1 as a high current flows can generate electromotive force. For example, electromotive force can be generated by a magnetic field caused by a high current in the transmission line 1 through Faraday's law. According to Faraday's law, a magnetic field that changes with time generates electromotive force. The magnetic field generated by the high current flowing in the transmission line 1 may be an alternating magnetic field caused by alternating current, that is, a magnetic field that changes with time, and electromotive force may be generated through the magnetic field.

Lenz's law, which considers direction in Faraday's law, is as follows.

In this case, S is the area of the coil (inductance) through which the magnetic field passes, is the magnitude of the current. If emf (electromotive force) is obtained using magnetic flux, it can be as follows.

here, is the angular frequency.

In one embodiment, the coil unit 150 may have a preset inductance. That is, when the coil unit 150 is located in correspondence with the direction of the magnetic field generated in the transmission line 1, induced electromotive force is generated based on Lenz's law described above. In other words, the coil unit 150 may be arranged to have an inductance of a certain level or more within the unmanned flying vehicle 100, thereby causing the generation of alternating electromotive force due to a magnetic field.

When electromotive force is generated by emf, the degree of energy that the transmission line 1 can provide to the coil unit can be explained through the following equation.

Additionally, magnetic flux density and current can be expressed as follows.

In this case, the magnetic field strength and magnetic field have the same direction, the permeability is the same, and are volume-independent variables, so they can be expressed as energy as shown in the equation below.

That is, when the coil unit 150 is located in the direction corresponding to the magnetic field (or magnetic field) of the transmission line 1 through the above equations, induced electromotive force will be generated through the coil unit 150 with an inductance of a certain level or more. You can. For example, induced electromotive force is generated in a direction to offset changes in the magnetic field through the coil unit 150. That is, when the coil unit 150 is located close to the transmission line 1, it can generate induced electromotive force as it is positioned corresponding to the magnetic field direction of the transmission line 1.

For a more specific example, assuming that a current of 1500A at a voltage of 345kV flows, when the coil unit 150 is positioned corresponding to the direction of the magnetic field generated in the transmission line 1, the induced electromotive force in the coil unit 150 This happens. Assuming that the size of the coil unit 150 is 0.2 m2, the number of turns is 1000, and the length is 30 cm, and that an amorphous core (relative magnetic permeability 10000) is connected to the coil, the induced electromotive force is generated at a distance of about 2 m from the transmission line (1). The calculation is as follows:

As described above, it can be seen that induced electromotive force (eg, 5.37 [W]) is generated through the coil unit 150. In this case, the variables used in the above-mentioned formula (e.g., size of coil part, number of turns, length, etc.) are not limited values but adjustable values, so the necessary energy (i.e. induced electromotive force) can be obtained by adjusting the relevant variables. It will be obvious to those skilled in the art that it can be obtained.

According to one embodiment of the present invention, the unmanned flying vehicle 100 may include a transformation module 160. The transformation module 160 may be a module for converting alternating current voltage into direct current voltage. For example, the induced electromotive force generated through the coil unit 150 is generated based on an alternating magnetic field caused by alternating current, and therefore may be related to alternating voltage. The transformation module 160 may serve to transform this alternating current voltage into a direct current voltage suitable for supplying electrical energy for the flight of the unmanned aircraft 100. For example, the transformation module 160 may be configured to include a rectifier, smoothing circuit, constant voltage circuit, or regulator.

That is, the transformation module 160 can transform the alternating current voltage related to induced electromotive force into a direct current voltage for driving the motor of the unmanned flying vehicle 100. Accordingly, the unmanned aircraft 100 can receive electrical energy (i.e., direct current voltage) related to flight through the transformation module 160 without a separate charging process for the battery module 140, allowing for long-term flight or inspection. This can become possible. Accordingly, the inspection efficiency of the transmission line using the unmanned flying vehicle 100 can be improved.

According to one embodiment of the present invention, the processor 170 may be composed of one or more cores, such as a central processing unit (CPU) of a computing device, and a general purpose graphics processing unit (GPGPU). , may include a processor for data analysis and deep learning, such as a tensor processing unit (TPU).

According to one embodiment, the processor 170 can typically process the overall operation of the unmanned aerial vehicle 100. The processor 170 processes signals, data, information, etc. input or output through the components discussed above or runs an application program stored in the memory 120 to provide appropriate information or information to the server 200 or the user terminal 10. , functions can be provided or processed.

According to one embodiment of the present invention, the processor 170 may receive a first position movement command signal from the server 200. The first position movement command signal may be a control signal for moving the unmanned flying vehicle 100 to the first position of the power transmission line. Accordingly, the first position movement command signal may include position information related to the first position. For example, the first location may be a location relative to a point at which inspection is performed.

Additionally, when the processor 170 moves to the first location, it may determine whether to generate location confirmation request information and transmit it to the server 200. The location confirmation request information may include at least one of real-time location information or surrounding image information of the unmanned flying vehicle 100. Specifically, when the processor 170 determines that the unmanned aircraft 100 has moved to the first location, the processor 170 generates location confirmation request information related to real-time location information or surrounding image information, and sends the generated location confirmation request information to the server. You can decide to transmit to (200). For example, the processor 170 may determine to generate location confirmation request information indicating that the real-time location corresponds to area A (eg, coordinate information) and transmit it to the server 200. For another example, the processor 170 may determine to obtain surrounding image information related to the current location of the camera module 130, generate location confirmation request information including the surrounding image information, and transmit it to the server 200. there is. In this case, the server 200 determines whether the unmanned air vehicle 100 is currently located in an appropriate location (i.e., first location) for power transmission line inspection based on the location confirmation request information received from the processor 170. You can.

Additionally, the processor 170 may receive a second position movement command signal from the server 200. In one embodiment, reception of the second location movement command signal may be a response to location confirmation request information. Specifically, the server 200 determines whether the current location of the unmanned aircraft 100 is an appropriate location for performing inspection through the location confirmation request information, and sends a second position movement command signal to the unmanned vehicle based on the determination result. It can be transmitted to the processor 170 of the aircraft 100. In other words, only when the location confirmation request information of the unmanned air vehicle 100 is appropriate, the processor 170 receives the second position movement command signal and can determine movement to the second location that is different from the first location. The second position movement command signal may be a control signal for moving the unmanned aircraft 100 to the second position. Accordingly, the second position movement command signal may include position information related to the second position. For example, the second location may be a location that is a certain distance away from the first location along the transmission line and may be a location related to the destination of the inspection.

According to one embodiment, the processor 170 may determine to obtain test performance information while moving from the first position to the second position in response to the second position movement command signal. In this case, the test performance information is information based on determining whether the transmission line 1 is broken and may include at least one of a wire image and a thermal image related to the transmission line. That is, when receiving the second position movement command signal, the processor 170 can control the camera module 130 to obtain a wire image and a thermal image related to the power transmission line 1.

Additionally, the processor 170 may determine to transmit the obtained test performance information to the server 200. In other words, the processor 170 can fly close to the power transmission line 1, and during flight, it can track the power transmission line 1 from the first position related to the start to the second position related to the end through the camera module 130. Related images can be obtained. In this case, the server 200 may determine whether the transmission line is abnormal (eg, broken) based on the received test performance information.

According to one embodiment, the processor 170 may control the flight of the unmanned air vehicle 100 to have a predetermined separation distance from the transmission line based on the magnitude of the induced electromotive force. Since the transmission line (1) has a large facility size and a long span distance, it is difficult to estimate the distance between the position of the unmanned aerial vehicle (100) in flight and the transmission line (1). Therefore, the unmanned aerial vehicle (100) must be manually flown visually and the transmission line Inspecting the track (1) may have a high risk of collision with the track. If the unmanned aircraft 100 and the transmission line 1 collide, a failure may occur in the transmission line 1 or the unmanned aircraft 100. For example, a larger problem may occur as power transmission is interrupted due to a failure of the transmission line 1.

Accordingly, the processor 170 can control the flight of the unmanned aircraft 100 to form a separation distance of a certain or more from the transmission line 1 based on the magnitude of the induced electromotive force generated in the coil unit 150. For example, when the transmission line 1 and the coil unit 150 approach, the magnitude of the magnetic field increases, and accordingly, the magnitude of the induced electromotive force generated in the coil unit 150 may increase. In this case, the processor 170 may identify that the magnitude of the induced electromotive force exceeds a predetermined standard value and control the flight of the unmanned aircraft 100 in a direction away from the transmission line. In other words, by predicting the distance between the unmanned aircraft 100 and the transmission line 1 based on the strength of the induced electromotive force generated in the coil unit 150 and controlling the flight, the unmanned aircraft 100 and the transmission line 1 It can provide the effect of preventing collisions that may occur during inspection by preventing collisions.

Figure 5 is a flowchart illustrating a process for inspecting a power transmission line through information exchange between a server and an unmanned aerial vehicle related to an embodiment of the present invention. Among the features of the content shown in FIG. 5 , the content described in FIGS. 1 to 4 will be referred to for features that overlap with the features previously described in relation to FIGS. 1 to 4 , and the description thereof will be omitted here.

According to one embodiment of the present invention, the server 200 may transmit a first position movement command signal to the unmanned flying vehicle 100 (301). The first position movement command signal may be a control signal for moving the unmanned flying vehicle 100 to the first position of the power transmission line. Accordingly, the first position movement command signal may include position information related to the first position. For example, the first location may be a location relative to a point at which inspection is performed.

When receiving a first position movement command signal from the server 200, the unmanned aircraft 100 may move to the first position corresponding to the first position movement command signal (303). When moving to the first location, the unmanned aircraft 100 may generate location confirmation request information (305). Here, the location confirmation request information may include at least one of real-time location information or surrounding image information of the unmanned flying vehicle 100. Specifically, when the unmanned aircraft 100 completes movement to the first location, it may generate location confirmation request information in relation to real-time location information or surrounding image information. Additionally, the unmanned aircraft 100 may transmit the generated location confirmation request information to the server 200 (307). For example, the unmanned aerial vehicle 100 may determine to generate location confirmation request information indicating that the real-time location corresponds to area A (eg, coordinate information) and transmit it to the server 200. For another example, the unmanned aircraft 100 acquires surrounding image information related to the current location of the camera module 130, and determines whether to generate location confirmation request information including the surrounding image information and transmit it to the server 200. You can.

When receiving location confirmation request information from the unmanned air vehicle 100, the server 200 may determine whether it is appropriate to start the test based on the location confirmation request information (309). Specifically, the server 200 may determine whether the current location of the unmanned flying vehicle 100 is an appropriate location for performing inspection through the location confirmation request information. For example, when the location confirmation request information includes coordinate information about a specific location, the server 200 checks and tests whether the coordinates match the location corresponding to the first location (i.e., the inspection performance location). It is possible to determine whether the disclosure is appropriate. For another example, when the location confirmation request information includes surrounding image information, the server 200 compares the surrounding image information with a pre-stored line surrounding image related to the first location to determine whether it is appropriate to start the test. It may be possible.

If the server 200 determines that the unmanned air vehicle 100 is located in an appropriate location to start the test through the location confirmation request information, the server 200 may transmit a second position movement command signal to the unmanned air vehicle 100. Can (311). In other words, the server 200 sends a second position movement command signal to the unmanned aircraft 100 only when it is determined that the unmanned aircraft 100 is currently located in an appropriate location through the location confirmation request information of the unmanned aircraft 100. can be transmitted, allowing the unmanned air vehicle 100 to move or fly to a second location that is different from the first location. The second position movement command signal may be a control signal for moving the unmanned aircraft 100 to the second position. Accordingly, the second position movement command signal may include position information related to the second position. For example, the second location may be a location that is a certain distance away from the first location along the transmission line and may be a location related to the destination of the inspection.

The unmanned aircraft 100 may move from the first position to the second position in response to the second position movement command signal and obtain test performance information (313). In this case, the test performance information is information based on determining whether the transmission line 1 is broken and may include at least one of a wire image and a thermal image related to the transmission line. That is, when the unmanned aircraft 100 receives the second position movement command signal, it can control the camera module 130 to obtain a wire image and a thermal image related to the power transmission line 1. Additionally, the unmanned aircraft 100 may transmit the acquired test performance information to the server 200 (315). The unmanned aircraft 100 can fly close to the power transmission line 1, and during flight, images related to the power transmission line 1 are captured from the first position related to the start to the second position related to the end through the camera module 130. can be obtained. Accordingly, the server 200 can determine whether the transmission line is abnormal (eg, broken) based on the received test performance information (317).

Figure 6 shows a flowchart illustrating a transmission line inspection method performed using an unmanned aerial vehicle related to an embodiment of the present invention.

According to one embodiment of the present invention, the method may include receiving a first position movement command signal from the server 200 (S110).

According to one embodiment of the present invention, the method may include the step of moving to the first position of the transmission line in response to the first position movement command signal (S120).

According to one embodiment of the present invention, the method may include receiving a second position movement command signal from the server 200 (S130).

According to one embodiment of the present invention, the method may include obtaining test performance information while moving from the first position of the transmission line to the second position in response to the second position movement command signal (S140). .

According to one embodiment of the present invention, the method may include transmitting test performance information to the server 200 (S150).

The order of the steps shown in FIG. 6 described above may be changed as needed, and at least one step may be omitted or added. That is, the above-described steps are only one embodiment of the present invention, and the scope of the present invention is not limited thereto.

Figure 7 shows an exemplary block diagram of a server that performs inspection of a power transmission line using an unmanned aerial vehicle related to an embodiment of the present invention.

As shown in FIG. 7, the server 200 may include a server memory 220, a server network unit 210, and a server processor 230. The above-described components are exemplary, and the scope of the present disclosure is not limited to the above-described components. That is, additional components may be included, or some of the above-described components may be omitted, depending on the traditional aspect of the embodiments of the present invention.

According to one embodiment of the present invention, the server 200 may include a server network unit 210 that transmits and receives data with the user terminal 10 and the unmanned flying vehicle 100. That is, the server network unit 210 may provide a communication function between the server 200 and an external device, or may provide a communication function between the server 200 and the unmanned aerial vehicle 100. Additionally, the server network unit 210 may allow information to be transferred between the server 200 and an external device, or between the server 200 and the unmanned aerial vehicle 100, by calling a procedure to the server 200.

The server network unit 210 according to an embodiment of the present invention is a public switched telephone network (PSTN), x Digital Subscriber Line (xDSL), Rate Adaptive DSL (RADSL), Multi Rate DSL (MDSL), and VDSL. Various wired communication systems such as (Very High Speed DSL), UADSL (Universal Asymmetric DSL), HDSL (High Bit Rate DSL), and local area network (LAN) can be used.

In addition, the server network unit 210 presented in this specification includes Code Division Multi Access (CDMA), Time Division Multi Access (TDMA), Frequency Division Multi Access (FDMA), Orthogonal Frequency Division Multi Access (OFDMA), and SC-FDMA. Various wireless communication systems can be used, such as (Single Carrier-FDMA) and other systems.

In the present invention, the server network unit 210 can be configured regardless of the communication mode, such as wired or wireless, and is composed of various communication networks such as a personal area network (PAN) and a wide area network (WAN). It can be. Additionally, the network may be the well-known World Wide Web (WWW), and may also use wireless transmission technology used for short-distance communication, such as Infrared Data Association (IrDA) or Bluetooth. The techniques described herein can be used in the networks mentioned above, as well as other networks.

According to one embodiment of the present invention, the server memory 220 may store any type of information generated or determined by the server processor 230 and any type of information received by the server network unit 210.

According to one embodiment of the present invention, the server memory 220 is a flash memory type, hard disk type, multimedia card micro type, or card type memory (e.g. For example, SD or It may include at least one type of storage medium among Read-Only Memory (Read-Only Memory), magnetic memory, magnetic disk, and optical disk. The server 200 may operate in relation to web storage that performs a storage function of the server memory 220 on the Internet. The description of the memory described above is only an example, and the present invention is not limited thereto.

According to one embodiment of the present invention, the server processor 230 can typically process the overall operation of the server 200. The server processor 230 processes signals, data, information, etc. input or output through the components discussed above, or runs an application program stored in the server memory 220, to the user terminal 10 and the unmanned aircraft 100. Appropriate information or functions can be provided or processed.

According to one embodiment of the present invention, the server processor 230 may determine to transmit a first position movement command signal to the unmanned flying vehicle 100. The first position movement command signal may be a control signal for moving the unmanned flying vehicle 100 to the first position of the power transmission line. Accordingly, the first position movement command signal may include position information related to the first position. For example, the first location may be a location relative to a point at which inspection is performed. That is, the server processor 230 determines to transmit a first position movement command signal to the unmanned aircraft 100, thereby allowing the unmanned aircraft 100 to move to a position suitable for inspection or testing.

When receiving location confirmation request information from the unmanned air vehicle 100, the server processor 230 may determine whether it is appropriate to start a test based on the location confirmation request information. The location confirmation request information may include at least one of real-time location information or surrounding image information of the unmanned flying vehicle 100. Specifically, when the unmanned aircraft 100 completes movement to the first location, it may generate location confirmation request information in relation to real-time location information or surrounding image information. Additionally, the unmanned aircraft 100 may transmit the generated location confirmation request information to the server 200. For example, the unmanned aerial vehicle 100 may determine to generate location confirmation request information indicating that the real-time location corresponds to area A (eg, coordinate information) and transmit it to the server 200. For another example, the unmanned aircraft 100 acquires surrounding image information related to the current location of the camera module 130, and determines whether to generate location confirmation request information including the surrounding image information and transmit it to the server 200. You can.

Specifically, the server processor 230 may determine whether the current location of the unmanned air vehicle 100 is an appropriate location for performing inspection through location confirmation request information. For example, if the location confirmation request information includes coordinate information about a specific location, the server processor 230 checks whether the coordinates match the location corresponding to the first location (i.e., the inspection performance location) It is possible to determine whether it is appropriate to initiate testing. For another example, when the location confirmation request information includes surrounding image information, the server processor 230 compares the surrounding image information with a pre-stored line surrounding image related to the first location to determine whether it is appropriate to start the test. You may.

According to one embodiment of the present invention, the server processor 230 may transmit a second position movement command signal to the unmanned flying vehicle 100. Specifically, when the server processor 230 determines that the unmanned aircraft 100 is located in an appropriate location to start the test through the location confirmation request information, it may transmit a second position movement command signal to the unmanned aircraft 100. there is. In other words, the server processor 230 commands the unmanned aircraft 100 to move to the second position only when it is determined that the unmanned aircraft 100 is currently located in an appropriate location through the location confirmation request information of the unmanned aircraft 100. By transmitting a signal, the unmanned air vehicle 100 can be moved or flown to a second location that is different from the first location. The second position movement command signal may be a control signal for moving the unmanned aircraft 100 to the second position. Accordingly, the second position movement command signal may include position information related to the second position. For example, the second location may be a location that is a certain distance away from the first location along the transmission line and may be a location related to the destination of the inspection.

According to one embodiment of the present invention, the server processor 230 may receive test performance information from the unmanned air vehicle 100. Here, the test performance information is information based on determining whether the transmission line 1 is broken, and may include at least one of a wire image and a thermal image related to the transmission line. That is, when the unmanned aircraft 100 receives the second position movement command signal, it can control the camera module 130 to obtain a wire image and a thermal image related to the power transmission line 1. The server 200 receives test performance information from the unmanned flying vehicle 100, and can determine whether the transmission line is abnormal (eg, broken) through the test performance information.

Figure 8 shows a flowchart illustrating an exemplary transmission line inspection method using an unmanned aerial vehicle performed through a server related to an embodiment of the present invention.

According to an embodiment of the present invention, the method may include transmitting a first position movement command signal to the unmanned aircraft (S210).

According to one embodiment of the present invention, the method may include the step (S220) of transmitting a second position movement command signal to the unmanned air vehicle moved to the first position of the power transmission line in response to the first position movement command signal. You can.

According to one embodiment of the present invention, the method may include receiving test performance information from the unmanned flying vehicle 100 (S230).

According to one embodiment of the present invention, the method may include a step (S240) of determining whether the transmission line is broken based on test performance information.

The order of the steps shown in FIG. 8 described above may be changed as needed, and at least one step may be omitted or added. That is, the above-described steps are only one embodiment of the present invention, and the scope of the present invention is not limited thereto.

The steps of the method or algorithm described in connection with embodiments of the present invention may be implemented directly in hardware, implemented as a software module executed by hardware, or a combination thereof. The software module may be RAM (Random Access Memory), ROM (Read Only Memory), EPROM (Erasable Programmable ROM), EEPROM (Electrically Erasable Programmable ROM), Flash Memory, hard disk, removable disk, CD-ROM, or It may reside on any type of computer-readable recording medium well known in the art to which the present invention pertains.

The components of the present invention may be implemented as a program (or application) and stored in a medium in order to be executed in conjunction with a hardware computer. Components of the invention may be implemented as software programming or software elements, and similarly, embodiments may include various algorithms implemented as combinations of data structures, processes, routines or other programming constructs, such as C, C++, , may be implemented in a programming or scripting language such as Java, assembler, etc. Functional aspects may be implemented as algorithms running on one or more processors.

Those skilled in the art will understand that various illustrative logical blocks, modules, processors, means, circuits and algorithm steps described in connection with the embodiments disclosed herein can be used in electronic hardware, (for convenience) It will be understood that the implementation may be implemented by various forms of program or design code (referred to herein as “software”) or a combination of both. To clearly illustrate this interoperability of hardware and software, various illustrative components, blocks, modules, circuits and steps have been described above generally with respect to their functionality. Whether this functionality is implemented as hardware or software depends on the specific application and design constraints imposed on the overall system. A person skilled in the art may implement the described functionality in various ways for each specific application, but such implementation decisions should not be construed as departing from the scope of the present invention.

The various embodiments presented herein may be implemented as a method, apparatus, or article of manufacture using standard programming and/or engineering techniques. The term “article of manufacture” includes a computer program, carrier, or media accessible from any computer-readable device. For example, computer-readable media include magnetic storage devices (e.g., hard disks, floppy disks, magnetic strips, etc.), optical disks (e.g., CDs, DVDs, etc.), smart cards, and flash memory. Includes, but is not limited to, devices (e.g., EEPROM, cards, sticks, key drives, etc.). Additionally, various storage media presented herein include one or more devices and/or other machine-readable media for storing information. The term “machine-readable media” includes, but is not limited to, wireless channels and various other media capable of storing, retaining, and/or transmitting instruction(s) and/or data.

It is to be understood that the specific order or hierarchy of steps in the processes presented is an example of illustrative approaches. It is to be understood that the specific order or hierarchy of steps in processes may be rearranged within the scope of the present invention, based on design priorities. The appended method claims present elements of the various steps in a sample order but are not meant to be limited to the particular order or hierarchy presented.

The description of the presented embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be applied to other embodiments without departing from the scope of the invention. Thus, the present invention is not limited to the embodiments presented herein, but is to be construed in the broadest scope consistent with the principles and novel features presented herein.

Claims (1)

In a method performed by one or more processors of an unmanned air vehicle,
Receiving a first position movement command signal from a server;
determining to move the first position of the transmission line in response to the first position movement command signal;
Receiving a second position movement command signal from the server;
Obtaining test performance information while moving from the first position to the second position in response to the second position movement command signal; and
determining to transmit the test performance information to the server; Includes,
The unmanned aircraft,
It includes a coil part provided to have a preset inductance, wherein the coil part receives electric energy related to flight based on induced electromotive force caused by the magnetic field of the transmission line,
The method is:
Identifying a separation distance from the transmission line based on the magnitude of the induced electromotive force generated in the coil unit; and
Controlling the flight to have a separation distance from the transmission line of a preset distance or more; It further includes,
The step of receiving a second position movement command signal from the server,
When moving to the first location, determining whether to generate location confirmation request information and transmit it to the server; and
Receiving the second location movement command signal from the server in response to the location confirmation request information; Includes,
The location confirmation request information is,
Containing at least one of real-time location information or surrounding image information of the unmanned aircraft,
Transmission line inspection method based on real-time location confirmation of unmanned aerial vehicle.

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