JP7119032B2 - Overhead line maintenance work system - Google Patents

Description

TECHNICAL FIELD The present invention relates to an overhead wire maintenance work system used for maintenance work of an overhead wire installed on an electric line.

Generally, in electric power lines, transmission lines and overhead ground wires are installed on steel towers that are supports. Overhead ground wires are installed to protect other overhead lines, such as power lines, from lightning strikes. Power companies regularly perform maintenance work on transmission lines and overhead ground lines. Since the overhead ground wire is relatively thin, it is not possible for a person to hang directly from the overhead ground wire to perform the inspection. Therefore, development of automatic inspection equipment for inspecting overhead ground wires is underway (see, for example, Patent Document 1). The automatic inspection equipment is equipped with a battery and can run on the overhead ground wire.

JP 2013-062946 A

The weight of the automatic inspection equipment increases due to the battery and the like. Therefore, each of the multiple workers climbs the steel tower with the automatic inspection equipment disassembled and assembles the equipment at the top of the steel tower.

After being assembled by the workers, the automatic inspection equipment runs on its own through the overhead ground wire from the current tower to the next tower and inspects the overhead ground wire. They are then required to return to the tower where the workers are located. This is because it may be difficult for workers to move to the next tower in mountainous areas.

If the battery runs out of power and the automatic inspection equipment stops in the middle of the overhead ground wire, it is difficult for people to directly go to collect it, so use an aerial work platform or the like to collect it. become. In this case, the inspection cost increases. If an attempt is made to increase the battery capacity so that the power of the battery is not depleted in the middle, the problem arises that the size of the battery increases and the weight of the automatic inspection equipment increases.

The present invention provides an overhead line maintenance work system that facilitates overhead line maintenance work.

An overhead wire maintenance work system according to an embodiment of the present invention has a rotary wing machine having a power generator and an electric motor, and drives the electric motor with supplied electric power to travel along an overhead ground wire. a work device for performing maintenance work on the overhead ground wire, a first cable for suspending the work device from the rotorcraft, and power generated by the power generation device to the work device while the rotorcraft is in flight. and a second cable for feeding.

Electric power is supplied to the work equipment from the power generator of the rotary wing machine, and the work equipment performs maintenance work using the supplied electric power. Since the work equipment does not need to incorporate a heavy battery, or even if it contains a battery, the capacity can be reduced and the weight can be reduced, so maintenance work can be performed for a longer period of time than before. As long as it is within the maximum load capacity of the rotorcraft, the amount of power generated by the power generation device mounted on the rotorcraft can be increased relatively easily, so the work equipment can be operated for a relatively long time.

In one embodiment, the first cable has a weak link device between an end on the rotorcraft side and an end on the work equipment side, and the weak link device is the weak link device. The ends may be physically severed when pulled with a load exceeding a predetermined threshold.

When a load greater than or equal to a predetermined amount is applied to the rotorcraft, the weak link device is disconnected, so that the rotorcraft can be released from the load.

In some embodiments, the threshold may be within a range greater than the weight of the work implement and less than the weight at which the rotorcraft is capable of controlling flight.

By employing a weak link device having a threshold weight greater than the weight of the work equipment to be used and less than the weight at which the rotorcraft can control flight, the rotorcraft can maintain the work equipment while supporting it. can assist

In one embodiment, the threshold may be within a range that is greater than the weight of the work implement and less than the weight capacity of the rotorcraft.

By employing a weak link device having a threshold that is greater than the weight of the work equipment and less than the weight capacity of the rotorcraft, the rotorcraft can assist in maintenance of the work equipment while supporting the work equipment.

In one embodiment, the tension of the first cable may be less than the weight of the work equipment while the work equipment is performing maintenance work on the overhead ground wire.

Since the tension of the first cable becomes smaller than the weight of the work equipment due to the self-running of the work equipment, the weak link device is not disconnected.

In one embodiment, the rotorcraft may tow the work implement with the first cable.

In addition to the self-propelled work equipment, the rotorcraft tows the work equipment with the first cable, so that the work equipment can be moved at a higher speed. By performing maintenance work even during towing, it is possible to speed up the work.

In one embodiment, the first cable may have the weak link device and a cable portion excluding the weak link device, and the threshold may be smaller than a breaking load of the cable portion.

Since the threshold value (cutting load) of the weak link device is smaller than the cutting load of the cable portion, the first cable is cut at the weak link device when a load equal to or greater than the threshold value is applied to the first cable.

In one embodiment, the weak link device may have a rope shape, and the average diameter of the weak link device may be smaller than the average diameter of the cable portion.

By setting the average diameter of the weak link device to be smaller than the average diameter of the cable portion, the threshold at which the weak link device is cut can be made smaller than the breaking load of the cable portion.

In one embodiment, the material constituting the weak link device and the material of the cable portion may be different, and the breaking load of the weak link device may be smaller than the breaking load of the cable portion.

By making the material of the weak link device different from the material of the cable portion and making the breaking load of the weak link device smaller than the breaking load of the cable portion, the threshold at which the weak link device is cut is made lower than the breaking load of the cable portion. can also be made smaller.

In one embodiment, the first cable and the second cable may run side by side.

In one embodiment, at least part of the second cable may be housed inside the first cable.

In one embodiment, the first cable has the weak link device and a cable portion that is a portion excluding the weak link device, the second cable is housed inside the cable portion, and The weak link device may be bypassed.

In one embodiment, the first cable includes a weak link device, a first upstream cable portion on the rotorcraft side when viewed from the weak link device, and a first upstream cable portion on the work equipment side when viewed from the weak link device. a second upstream cable section housed inside the first upstream cable section; and the second cable housed inside the first downstream cable section. a second downstream cable portion, wherein the weak link device includes an upstream connector fixed to the first upstream cable portion and electrically connected to the second upstream cable portion; a downstream connector fixed to a first downstream cable section and electrically connected to the second downstream cable section, wherein the upstream connector and the downstream connector constitute the weak link device; and the upstream connector and the downstream connector are relatively rotatable, and at any rotational position, the second upstream cable portion and the second downstream cable portion are connected to the upstream connector. and may be electrically connected via the downstream connector.

The upstream connector and the downstream connector are relatively rotatable, and the second upstream cable section and the second downstream cable section are electrically connected regardless of their rotational positions. Thereby, the continuity of the second cable can be ensured while avoiding twisting of the first and second cables during transportation and/or work. Further, since the upstream connector and the downstream connector also serve as the weak link device, the configuration can be simplified compared to the case where the weak link device and the weak link device are provided separately.

In one embodiment, the upstream connector and the downstream connector each have an internal electrode terminal including a central axis, and an external electrode terminal surrounding the internal electrode terminal at a predetermined distance from the internal electrode terminal. and the internal electrode terminals of the upstream connector and the internal electrode terminals of the downstream connector are electrically connected at an arbitrary rotational position of the downstream connector with respect to the upstream connector, and The external electrode terminals and the external electrode terminals of the downstream connector may be electrically connected.

Since the upstream connector and the downstream connector are relatively rotatable, twisting of the cable is avoided, and the internal electrode terminals of the upstream connector and the internal electrode terminals of the downstream connector, and the upstream connector. Electrical continuity between the external electrode terminals and the external electrode terminals of the downstream connector can be ensured.

In one embodiment, the first cable includes a weak link device, a first upstream cable portion on the rotorcraft side when viewed from the weak link device, and a first upstream cable portion on the work equipment side when viewed from the weak link device. 1 downstream cable section, wherein the weak link device includes a first magnet mounted on the side of the first upstream cable section and a second magnet mounted on the side of the first downstream cable section. wherein the first magnet and the second magnet constitute the weak link device, and the threshold value is set in advance according to an attraction force determined by the magnetic force of the first magnet and the magnetic force of the second magnet may be defined.

A weak link device is provided having a first magnet attached to the first upstream cable section and a second magnet attached to the first downstream cable section. The first magnet and the second magnet constitute a weak link device. The threshold of the weak link device is determined according to the attraction force with which the first magnet and the second magnet attract each other. This makes it possible to suspend the work equipment from the rotorcraft within a range where the load is smaller than the adsorption force.

In one embodiment, the first cable includes the weak link device, a first upstream cable portion on the rotorcraft side when viewed from the weak link device, and a first upstream cable portion on the work equipment side when viewed from the weak link device. and a first downstream cable portion, wherein the weak link device may be a fastener that fastens the first upstream cable portion and the first downstream cable portion.

In one embodiment, the second cable is arranged along the exterior of the first upstream cable section and the exterior of the first downstream cable section, or the interior of the first upstream cable section and the first cable section. 1 downstream cable section, and may bypass the weak link device.

The second cable is routed along the exterior of or within the first upstream cable section and the first downstream cable section, but bypassing the weak link device at the location of the weak link device. are arranged. This avoids interference between the magnets or fasteners that constitute the weak link device and the second cable.

In one embodiment, the first cable has at least one elastic member between the rotorcraft and the weak link device and/or between the weak link device and the working equipment. good too.

By providing at least one elastic member on the rotary wing machine side and/or the work equipment side of the weak link device, disconnection of the weak link device can be avoided even when a load momentarily exceeding the threshold value is applied.

In one embodiment, it may further include a cable reel for winding and unwinding the first cable and the second cable.

By providing a cable reel for winding or unwinding the first and second cables, it is possible to avoid unnecessary slack in the first and second cables and lifting of the work equipment from the overhead ground wire. This allows adjustment of the distance between the work implement and the overhead ground wire without frequently changing the altitude of the rotorcraft.

In one embodiment, a winding motor is mechanically connected to the cable reel, and the winding motor rotates the cable reel to wind and unwind the first cable and the second cable. may be performed.

A winding motor can be used to motorize the winding and unwinding of the first and second cables.

In one embodiment, the controller further comprises a controller that controls the direction and amount of rotation of the take-up motor, and the controller controls the rotation of the first cable while the work equipment is traveling along the overhead ground wire. and the direction of rotation and the amount of rotation of the winding motor may be adjusted so as to pull the second cable with a predetermined tension.

While the work equipment is traveling along the overhead ground wire, the controller adjusts the direction and amount of rotation of the take-up motor so as to pull the first and second cables with a predetermined tension. This prevents the first and second cables from becoming slack, and prevents the first and second cables from contacting the main rotor of the rotorcraft or contacting other overhead wires.

In one embodiment, the take-up motor has a rotor, and the controller controls a reference position that is a predetermined rotational position of the rotor, the first cable from the cable reel to the work equipment at the reference position, and the The current lengths of the first cable and the second cable are calculated from the relationship with the length of the second cable and the direction and amount of rotation of the winding motor, and the The direction and amount of rotation of the winding motor may be adjusted.

The controller calculates the current lengths of the first cable and the second cable, and adjusts the direction and amount of rotation of the winding motor according to the calculated lengths. By maintaining the length of the first cable and the second cable within a certain range, for example, the distance between the rotorcraft and the work equipment can be generally maintained.

In one embodiment, the controller is capable of outputting a control signal indicating the altitude of the rotorcraft, wherein the lengths of the first cable and the second cable are greater than a predetermined length. is longer, the controller outputs a control signal instructing to lower the altitude of the rotorcraft, and if the lengths of the first cable and the second cable are shorter than a predetermined length Alternatively, the controller may output a control signal instructing the rotorcraft to increase altitude.

If the rotorcraft is too far from the work implement, the controller lowers the altitude of the rotorcraft and flies closer to the work implement. Also, if the rotorcraft is too close to the work implement, the controller will cause the rotorcraft to gain altitude and fly away from the work implement.

In one embodiment, the controller may issue an external warning when the lengths of the first cable and the second cable are shorter than a predetermined length.

If the lengths of the first cable and the second cable are shorter than the predetermined length, the rotorcraft may be too close to the work equipment. In that case, issuing a warning can call attention to the outside.

In some embodiments, the controller may issue the warning by at least one of sound, light and vibration.

By issuing a warning by sound, light and/or vibration, human attention can be accurately aroused.

In one embodiment, a terminal device that communicates with the work equipment by wire or wirelessly is further provided, and the terminal device includes a communication circuit that receives data representing the work status of the work equipment, and a display device that displays the data. and displaying the warning on the display device.

By displaying a warning for calling attention on the display device of the terminal device possessed by the operator or the like, it is possible to visually call attention to the operator.

In some embodiments, a bracket that supports the cable reel and the take-up motor may be further provided.

By fixing the cable reel and the winding motor with the bracket, the rotation of the winding motor can be transmitted to the cable reel.

In one embodiment, the work equipment may have a guide that guides the work equipment to the overhead ground wire when the work equipment is placed on the overhead ground wire.

By providing the guide, the work equipment can be easily placed on the overhead ground wire.

In one embodiment, when the work equipment is placed on the overhead ground wire from above, the guide is parallel to the direction in which the overhead ground wire extends and is oblique to the ground plane. There may be at least one rod-shaped member or plate-shaped member extending in the direction of .

In one embodiment, the guide is at least two plate-like members, and the at least two plate-like members extend in a direction parallel to the extending direction of the overhead ground wire and diagonally with respect to a ground plane, and , the work equipment may be guided to the overhead ground wire so as to include the overhead ground wire between the at least two plate-like members.

In one embodiment, the work equipment includes fins for receiving wind, a sensor for detecting the direction of the wind, an electric motor for changing the direction of the fins, and driving the electric motor according to the direction of the wind detected by the sensor. , and a controller for adjusting the orientation of the fins.

By adjusting the direction of the fins according to the direction of the wind, the direction and posture of the work equipment can be stabilized.

In one embodiment, the rotorcraft may have an engine that rotates the rotor.

Since the rotorcraft is equipped with an engine, it is possible to fly for a relatively long time, and the work equipment can be used for a long time.

In one embodiment, the rotorcraft has a drone motor that rotates a rotor blade, and the power generator supplies power to the work equipment via the second cable and power to rotate the drone motor. and the work equipment may drive the electric motor using the electric power supplied to the work equipment, and may self-run the overhead ground wire.

When the rotorcraft rotates the rotor blades with a drone motor, by mounting a fuel cell on the rotorcraft, the fuel cell can be used to supply power to both the drone motor and the work equipment.

In one embodiment, the work equipment may have at least one camera, and the camera may be used to photograph the overhead ground wire for the maintenance work.

In one embodiment, at least one electric wire is arranged in the same direction as the overhead ground wire, the at least one camera is two or more cameras, and each of the two or more cameras is the An overhead ground wire and the at least one wire may be photographed.

In some embodiments, the at least one camera may be connected to the work equipment via a gimbal.

In one embodiment, the rotorcraft may be an unmanned helicopter.

According to the overhead line maintenance work system according to the embodiment of the present invention, power is supplied from the power generator of the rotary wing machine to the work equipment, and the work equipment performs maintenance work using the supplied power. Since the work equipment does not need to incorporate a heavy battery, or even if it does, the capacity can be reduced and the weight can be reduced, so maintenance work can be performed for a longer period of time than before. As long as it is within the maximum load capacity of the rotorcraft, the amount of power generated by the power generation device mounted on the rotorcraft can be increased relatively easily, so the work equipment can be operated for a relatively long time.

1 is a diagram showing an overhead line maintenance work system 100 for performing maintenance work on an overhead line according to an embodiment of the present invention; FIG. 1 is an external side view of an unmanned helicopter 1 and work equipment 30 according to an embodiment of the present invention; FIG. 1 is a front view of an unmanned helicopter 1 and work equipment 30 according to an embodiment of the present invention; FIG. It is a figure which shows the 1st cable 51, the 2nd cable 52, and the 3rd cable 53 which concern on embodiment of this invention. It is a figure which shows the 2nd, 3rd cables 52 and 53 provided so that the 1st cable 51 and the 1st cable 51 which concern on embodiment of this invention may run parallelly. 2 is a diagram showing a hardware configuration example of a flight control box 15 of the unmanned helicopter 1 according to the embodiment of the present invention; FIG. 3 is a diagram showing a hardware configuration example of a control device 35 of the work equipment 30 according to the embodiment of the present invention; FIG. FIG. 3 is a diagram showing a configuration example of a winding motor 21 that rotates a cable reel 22 according to the embodiment of the present invention; It is a figure which shows the structural example of the rotating connector 55 which concerns on embodiment of this invention. FIG. 3 is a diagram showing an example of a weak link device 56 according to an embodiment of the present invention; FIG. FIG. 4 is a diagram showing another example of a weak link device 56 according to an embodiment of the present invention; FIG. 10 is a diagram showing still another example of the weak link device 56 according to the embodiment of the present invention; FIG. 10 is a diagram showing still another example of the weak link device 56 according to the embodiment of the present invention; FIG. 10 is a diagram showing still another example of the weak link device 56 according to the embodiment of the present invention; FIG. 10 is a diagram showing still another example of the weak link device 56 according to the embodiment of the present invention; 1 is a diagram showing a tablet computer 110 as an example of a terminal device according to an embodiment of the invention; FIG. FIG. 3 is a diagram showing a base station control device 110a, which is another example of a terminal device according to an embodiment of the present invention; 2 is a diagram showing a hardware configuration example of a tablet computer 110 according to an embodiment of the present invention; FIG. FIG. 5 shows a first cable 51 with an elastic member 57 according to an embodiment of the invention; It is a figure which shows the working equipment 30 provided with the fin 81 which concerns on embodiment of this invention. 3 is a diagram showing work equipment 30 equipped with a camera 38a that captures an image of a power transmission line 92 according to an embodiment of the present invention; FIG. It is a figure which shows the plate-shaped guide 37 which concerns on embodiment of this invention. It is a figure which shows the guide 37 which serves as the skid which concerns on embodiment of this invention.

Hereinafter, an overhead line maintenance work system according to an embodiment of the present invention will be described with reference to the drawings. In the description of the embodiments, the same constituent elements are denoted by the same reference numerals, and the description thereof will be omitted when overlapping. The following embodiments are examples, and the present invention is not limited to the following embodiments.

FIG. 1 is a diagram showing an overhead line maintenance work system 100 for performing maintenance work on an overhead line according to an embodiment.

Overhead lines refer to electric wires suspended in the air using steel towers, concrete pillars, and the like. Electrical lines that carry electrical power include overhead lines such as power lines and overhead ground wires. In the following description, the overhead line maintenance work system 100 performs maintenance work on an overhead ground wire among overhead lines. It is also applicable to maintenance work. Maintenance work includes, for example, photographing overhead ground wires, cleaning (wiping off dirt, washing) and repairs. By photographing the overhead ground wire, the degree of deterioration of the overhead ground wire can be confirmed. Although photography of an overhead ground wire will be described below as maintenance work, the overhead wire maintenance work system 100 can also be applied to other maintenance work (for example, cleaning and repair).

Referring to FIG. 1, in an electric line 90 that carries electric power, a power transmission line 92 is installed via an insulator 93 on a steel tower 91 that is a support. An overhead ground wire 94 is installed above the steel tower 91 . The overhead wire maintenance work system 100 includes a rotary wing machine 1 , a work device 30 that performs maintenance work on an overhead ground wire 94 , and a first cable 51 that suspends the work device 30 from the rotary wing machine 1 . The work equipment 30 travels along the overhead ground wire 94 while being suspended from the flying rotorcraft 1 to perform maintenance work on the overhead ground wire 94 .

FIG. 2 is an external side view of the rotorcraft 1 and the work equipment 30. FIG. FIG. 3 is a front view of the rotorcraft 1 and the work equipment 30. FIG.

The rotorcraft 1 is an aircraft that flies by obtaining all or part of lift and thrust from rotating wings (rotor wings). The rotorcraft 1 in this embodiment is, for example, an unmanned helicopter or an unmanned multicopter. The rotor may be rotated by an engine or may be rotated by an electric motor. As the flight of the rotorcraft 1, any of autonomous flight by a computer program, semi-autonomous flight in which a part is automated, and flight by remote control by a person using radio can be performed. The rotorcraft 1 can fly while measuring and correcting its current position three-dimensionally with the aid of a GNSS (Global Navigation Satellite System). In the exemplary embodiment described below, rotorcraft 1 is an unmanned helicopter. The term "unmanned" means that a person does not need to be on board to operate the rotorcraft 1, and does not exclude that the unmanned aerial vehicle carries a person other than the operator.

2 and 3, an unmanned helicopter (rotary wing aircraft) 1 has a fuselage 4 having a main body 2 and a tail body 3 . The main body 2 is equipped with an engine 8 that is an internal combustion engine, a power generator 9 and a flight control box 15 . A main rotor 5 which is a rotating blade is provided above the main body 2 , and a tail rotor 6 is provided at the rear of the tail body 3 . Rotation generated by the engine 8 is transmitted to the main rotor 5 and the tail rotor 6, and the unmanned helicopter 1 flies as the main rotor 5 and the tail rotor 6 rotate. A radiator 7 is provided in the front part of the main body 2 . The main body 2 accommodates an intake system, a main rotor shaft, and a fuel tank, all of which are not shown.

A control panel 10 is provided on the rear upper side of the main body 2, and an indicator lamp 11 is provided on the rear lower side. The control panel 10 displays pre-flight checkpoints, self-check results, and the like. The display on the control panel 10 can also be confirmed at the ground station. The indicator lamp 11 displays the state of GNSS control, an abnormality warning of the aircraft, and the like. Under the main body 2, skids 12 are provided as legs for supporting the airframe 4 during landing.

A cable reel 22 for winding and unwinding the first cable 51 and a winding motor 21 mechanically connected to the cable reel 22 are provided below the central portion of the main body 2 . Cable reel 22 and take-up motor 21 are supported by bracket 23 fixed to the underside of main body 2 . The winding motor 21 rotates the cable reel 22 to wind and unwind the first cable 51 . By using the winding motor 21, the winding and unwinding of the first cable 51 can be motorized. One end of the first cable 51 is fixed to the work equipment 30 .

The work equipment 30 includes a housing 31 and wheels 32 . Wheels 32 are provided on each of the front and rear portions of work equipment 30 . Each wheel 32 is rotatably supported by the housing 31 via an axle 36 . An electric motor 33 , a power transmission mechanism 34 , and a control device 35 are mounted on the housing 31 .

The unmanned helicopter 1 flies while suspending the working equipment 30 via the first cable 51, and moves the working equipment 30 to the position of the overhead ground wire 94 (FIG. 1). The unmanned helicopter 1 lowers the working device 30 from above the overhead ground wire 94 and places it on the overhead ground wire 94 . 2 and 3, a guide 37 for guiding the work equipment 30 to the overhead ground wire 94 when the work equipment 30 is placed on the overhead ground wire 94 is provided at the lower portion of the housing 31 of the work equipment 30. is provided.

Referring to FIG. 3 , guides 37 are provided at the lower right portion and the lower left portion of housing 31 . A guide 37 provided in the lower right portion of the housing 31 is a rod-shaped member extending obliquely downward to the right from the housing 31 . A guide 37 provided in the lower left portion of the housing 31 is a rod-shaped member extending obliquely downward to the left from the housing 31 . Referring to FIG. 2, a pair of guides 37 as described above are provided at the front and rear of housing 31, respectively. Referring to FIG. 3 , work equipment 30 is guided to overhead ground wire 94 so that work equipment 30 is positioned between guides 37 provided on the left and right sides of work equipment 30 . It can be easily put on the overhead ground wire 94 . By providing the work equipment 30 with the guide 37 , the work equipment 30 can be easily placed on the overhead ground wire 94 .

Rotation generated by the electric motor 33 ( FIG. 2 ) of the work equipment 30 is transmitted to at least one wheel 32 via the power transmission mechanism 34 . The wheels 32 to which the rotation of the electric motor 33 is transmitted rotate. The work equipment 30 runs along the overhead ground wire 94 by rotating the wheels 32 on the overhead ground wire 94 . The wheel 32 has a groove 32a (FIG. 3), and the working device 30 can stably travel along the overhead ground wire 94 by fitting the overhead ground wire 94 into the groove 32a.

Work equipment 30 includes at least one camera 38 . By capturing the overhead ground wire 94 with the camera 38 while traveling along the overhead ground wire 94, it is possible to acquire an image of the overhead ground wire 94 in the area where the work device 30 has traveled. The work equipment 30 may be equipped with two or more cameras 38 , and the overhead ground wire 94 may be photographed by the two or more cameras 38 .

It should be noted that the work equipment 30 may temporarily stop traveling to perform maintenance work. The maintenance work to be performed while the vehicle is temporarily stopped also falls under the category of "maintenance work to be performed while traveling on the overhead ground wire 94".

In the overhead line maintenance work system 100 of this embodiment, power is supplied from the unmanned helicopter 1 to the work equipment 30, and the work equipment 30 operates with the supplied power.

FIG. 4 shows a first cable 51 for suspending the work equipment 30 from the unmanned helicopter 1, a second cable (power line) 52 for supplying power from the unmanned helicopter 1 to the work equipment 30, the unmanned helicopter 1 and the work equipment. 3 is a diagram showing a third cable (signal line) 53 for transmitting and receiving data to and from the device 30. FIG. In the example shown in FIG. 4 , the second cable 52 and the third cable 53 are housed inside the first cable 51 . For example, one end of each of the second and third cables 52 and 53 is connected to the flight control box 15 of the unmanned helicopter 1 , and the other end of each of the second and third cables 52 and 53 is connected to the control device 35 of the work equipment 30 . It is connected to the.

In the example shown in FIG. 4 , the second and third cables 52 and 53 were accommodated inside the first cable 51, but the second and third cables 52 and 53 were arranged outside the first cable 51 to provide a third cable. It may be provided so as to run parallel to the 1 cable 51 . FIG. 5 is a diagram showing second and third cables 52 and 53 provided so as to run parallel to the first cable 51. As shown in FIG.

A configuration of the overhead line maintenance work system 100 including the third cable 53 will be described below. It doesn't have to be.

FIG. 6 is a diagram showing a hardware configuration example of the flight control box 15 of the unmanned helicopter 1. As shown in FIG. The flight control box 15 includes a GPS module 15a, an acceleration sensor 15b, an atmospheric pressure sensor 15c, a geomagnetic sensor 15d, an ultrasonic sensor 15e, a communication circuit 15f, a signal processing circuit 15g, and a storage device 15j such as ROM 15h and RAM 15i. Flight control box 15 further comprises power supply circuit 41 , motor drive circuit 42 and battery 43 . Each component can send and receive data to and from each other, for example, via wires or internal bus 15k. It should be noted that the position where various sensors including the GPS module 15a are provided does not always have to be inside the flight control box 15 . For example, the GPS module 15a may be provided on the upper portion of the tail body 3 in order to facilitate acquisition of signals from GPS satellites.

The flight control box 15 includes a GPS module 15a as an example of a GNSS module. The GPS module 15a acquires flight data such as the current position and flight speed using GPS (Global Positioning System). The number of GPS modules 15a may be one, or plural (for example, two).

The acceleration sensor 15b is a three-axis acceleration sensor that detects acceleration in each direction of the X-axis, Y-axis and Z-axis. If the acceleration sensor 15b is a six-axis acceleration sensor, the roll acceleration, pitch angular velocity and yaw acceleration of the unmanned helicopter 1 can be detected. The atmospheric pressure sensor 15c detects atmospheric pressure. The current altitude can be known from the detected atmospheric pressure. Since the relational expression between atmospheric pressure and altitude is well known, the description thereof is omitted in this specification. A geomagnetic sensor 15 d detects the current azimuth of the unmanned helicopter 1 . The current attitude of the unmanned helicopter 1 can be determined by using the data (body data) output from each of the acceleration sensor 15b and the geomagnetic sensor 15d. Flight data and aircraft data are provided to signal processing circuitry 15g.

The communication circuit 15f has a communication circuit that performs wireless communication conforming to the Bluetooth (registered trademark) and/or Wi-Fi (registered trademark) standards. The communication circuit 15f may also perform wireless communication using a mobile phone line or a line via an artificial satellite. The communication circuit 15f receives flight route data before flight, and performs necessary wireless communication with the ground during flight.

A signal processing circuit (controller) 15g causes the unmanned helicopter 1 to fly by executing a control program stored in the storage device 15j. More specifically, the signal processing circuit 15g controls the unmanned helicopter 1 along a flight route prepared in advance while monitoring the above-described flight data, aircraft data, operating state data such as engine speed and throttle opening. let it fly

An operator who manages the flight and operation of the unmanned helicopter 1 can also fly the unmanned helicopter 1 along a flight route prepared in advance while visually observing the flight state. A remote control receiving antenna 13 for receiving a command signal from a remote controller is provided at the rear end of the tail body 3 .

A signal processing circuit 15 g controls the operation of the engine 8 . Rotation generated by the engine 8 is transmitted to the main rotor 5 and the tail rotor 6 (FIG. 2), and also transmitted to the power generator 9 (FIG. 6), and the power generator 9 generates power. Electric power generated by the power generation device 9 is supplied to the power supply circuit 41 . A power supply circuit 41 supplies power to each component of the flight control box 15 . Also, the power supply circuit 41 supplies power to the work equipment 30 via the second cable 52 . The electric power generated by the power generation device 9 is supplied to the work equipment 30 via the second cable 52 while the unmanned helicopter 1 is in flight. The signal processing circuit 15 g transmits and receives data to and from the work machine 30 via the third cable 53 .

When rotating the cable reel 22 to wind and unwind the cables 51 , 52 , 53 , the signal processing circuit 15 g controls the motor drive circuit 42 to rotate the winding motor 21 . The motor drive circuit 42 outputs a drive current to the winding motor 21 according to the control signal received from the signal processing circuit 15g to rotate the winding motor 21 .

The battery 43 is charged with power supplied from the power supply circuit 41 . The battery 43 supplies power to the power supply circuit 41 when the engine 8 is not driven, that is, when the generator 9 is not generating power. This allows each component of the flight control box 15 to operate even when the engine 8 is not running. The power output by the battery 43 may be supplied to the work equipment 30 via the second cable 52 .

FIG. 7 is a diagram showing a hardware configuration example of the control device 35 of the work equipment 30. As shown in FIG. The control device 35 includes a signal processing circuit 35a, a memory 35b, a motor driving circuit 35c, and a communication circuit 35d. Power is supplied from the unmanned helicopter 1 to the control device 35 via the second cable 52, and each component of the control device 35, the electric motor 33 and the camera 38 can operate.

Like the communication circuit 15f of the unmanned helicopter 1, the communication circuit 35d has a communication circuit that performs wireless communication conforming to the Bluetooth (registered trademark) and/or Wi-Fi (registered trademark) standards. The communication circuit 35d may also perform wireless communication using a mobile phone line or a line via an artificial satellite. The communication circuit 35d receives data regarding maintenance work before maintenance work, and performs necessary communication with the ground by radio during maintenance work.

The signal processing circuit 35a executes a control program stored in the memory 35b to control the operation of the work equipment 30. FIG. When the work equipment 30 on the overhead ground wire 94 is caused to travel, the signal processing circuit 35a controls the motor drive circuit 35c to rotate the electric motor 33 . The motor drive circuit 35c outputs a drive current to the electric motor 33 according to the control signal received from the signal processing circuit 35a to rotate the electric motor 33 . The signal processing circuit 35 a controls the operation of the camera 38 to photograph the overhead ground wire 94 . The obtained image data of the overhead ground wire 94 is recorded in the memory 35b. The image data of the overhead ground wire 94 may be transmitted to equipment on the ground via the communication circuit 35d. The image data of the overhead ground wire 94 is used, for example, to confirm the degree of deterioration of the overhead ground wire 94 .

The operator who manages the operation of the work equipment 30 may remotely operate the work equipment 30 while visually observing the state of the maintenance work.

In the overhead line maintenance work system 100 of this embodiment, power is supplied from the unmanned helicopter 1 to the work equipment 30, and the work equipment 30 uses the supplied power to perform maintenance work. The work equipment 30 does not need to incorporate a heavy battery, or even if it contains a battery, the capacity can be reduced and the weight can be reduced, so maintenance work can be performed for a longer period of time than before. As long as it is within the maximum load capacity of the unmanned helicopter 1, the amount of power generated by the power generator 9 mounted on the unmanned helicopter 1 can be increased relatively easily, so the work equipment 30 can be operated for a relatively long time.

The unmanned helicopter 1 is equipped with an engine 8 that is an internal combustion engine. As a result, it is possible to fly for a relatively long time, and it is possible to secure a long working time for the work equipment 30 .

In the overhead line maintenance work system 100 of the present embodiment, the first, second and third cables 51, 52 and 53 are wound up or unwound by the cable reel 22 (FIG. 2). As a result, unnecessary slack in the cables 51 , 52 , 53 and lifting of the work equipment 30 from the overhead ground wire 94 can be avoided. Thereby, the distance between the work equipment 30 and the overhead ground wire 94 can be adjusted without frequently changing the altitude of the unmanned helicopter 1 .

FIG. 8 is a diagram showing a configuration example of the take-up motor 21 that rotates the cable reel 22. As shown in FIG. The winding motor 21 includes a motor case 211 , a rotor 212 , a stator 213 and a motor rotation sensor 214 . The stator 213 is arranged inside the motor case 211 . A coil (not shown) is wound around the stator 213 . The rotor 212 is arranged inside the stator 213 . Rotor 212 is rotatably supported by motor case 211 . The outer peripheral surface of the rotor 212 is alternately magnetized with N poles and S poles in the circumferential direction.

Motor rotation sensor 214 is, for example, an encoder. The motor rotation sensor 214 detects the rotation angle of the rotor 212 and outputs a signal corresponding to the rotation angle to the signal processing circuit 15g (FIG. 6) and the motor drive circuit . For example, the motor rotation sensor 214 detects the rotation of the rotor 212 every predetermined angle and outputs a rectangular wave signal or a sine wave signal. The signal processing circuit 15g and the motor drive circuit 42 can calculate the number of rotations, the rotation speed, etc. of the winding motor 21 from the output signal of the motor rotation sensor 214. FIG. The signal processing circuit 15g calculates the current lengths of the cables 51, 52, and 53 from the direction and amount of rotation of the rotor 212 of the winding motor 21. FIG. For example, the storage device 15j (FIG. 6) shows the relationship between the reference position, which is the predetermined rotational position of the rotor 212, and the lengths of the cables 51, 52, 53 from the cable reel 22 to the work equipment 30 at the reference position. Information is pre-stored. The signal processing circuit 15g can calculate the current lengths of the cables 51, 52, 53 from the information indicating the relationship between the reference position and length, and the rotation direction and rotation amount of the rotor 212. FIG. The signal processing circuit 15g adjusts the direction and amount of rotation of the winding motor 21 according to the calculated length. By maintaining the lengths of the cables 51, 52, 53 within a certain range, for example, the distance between the unmanned helicopter 1 and the work device 30 can be maintained substantially constant.

As described above, the signal processing circuit 15g controls the direction and amount of rotation of the winding motor 21. FIG. While the work equipment 30 is traveling along the overhead ground wire 94, the signal processing circuit 15g controls the direction and amount of rotation of the winding motor 21 so as to pull the cables 51, 52, 53 with a predetermined tension. adjust. As a result, the cables 51, 52, 53 can be prevented from becoming slack, and the cables 51, 52, 53 can be prevented from coming into contact with the main rotor 5 of the unmanned helicopter 1 or with other overhead wires. The signal processing circuit 15g also outputs a control signal that indicates the altitude of the unmanned helicopter 1. FIG. If the lengths of the cables 51, 52, 53 are longer than a predetermined length, the signal processing circuit 15g outputs a control signal instructing the unmanned helicopter 1 to lower its altitude. lower the When the lengths of the cables 51, 52, 53 are shorter than a predetermined length, the signal processing circuit 15g outputs a control signal instructing the unmanned helicopter 1 to increase its altitude, and the unmanned helicopter 1 Raise

When the unmanned helicopter 1 is too far away from the work equipment 30, the signal processing circuit 15g lowers the altitude of the unmanned helicopter 1 and makes it fly closer to the work equipment 30. - 特許庁Also, when the unmanned helicopter 1 is too close to the work equipment 30 , the signal processing circuit 15 g raises the altitude of the unmanned helicopter 1 to fly away from the work equipment 30 . In parallel with changing the altitude of the unmanned helicopter 1, the signal processing circuit 15g adjusts the direction and amount of rotation of the winding motor 21 so as to pull the cables 51, 52, 53 with a predetermined tension.

Next, a mechanism for reducing twisting of the cables 51, 52, 53 will be described. 2 and 3, the first cable 51 has a rotating connector 55. As shown in FIG. The rotating connector 55 is arranged at a position between the unmanned helicopter 1 and the working device 30 on the first cable 51 . The portion of the first cable 51 closer to the unmanned helicopter 1 than the rotating connector 55 and the portion of the first cable 51 closer to the work equipment 30 than the rotating connector 55 can rotate independently of each other by the rotating connector 55. . Therefore, for example, even when the work equipment 30 rotates in the air, the twist amount of the first cable 51 can be reduced.

In this example, the second cable 52 and the third cable 53 are accommodated inside the first cable 51 as described above. The rotating connector 55 can maintain continuity between the second cable 52 and the third cable 53 even if rotation occurs.

FIG. 9 is a diagram showing an example of the configuration of the rotary connector 55. As shown in FIG. The rotary connector 55 shown in FIG. 9 is also called a slip ring. The rotary connector 55 includes a rotor 61 and a support member 64 that rotatably supports the rotor 61 . The support member 64 is fixed to the housing 67 . Rotor 61 is rotatable relative to support member 64 and housing 67 . The vertical movement of the rotor 61 with respect to the housing 67 is restricted by the support member 64 . A plurality of ring electrodes 62 are arranged on the rotor 61 with a gap therebetween. A brush 63 is in contact with each of the plurality of ring electrodes 62 .

The first cable 51 closer to the unmanned helicopter 1 than the rotating connector 55 is fixed to the housing 67 . The first cable 51 closer to the work equipment 30 than the rotating connector 55 is fixed to the rotor 61 .

Cables 52 and 53 closer to unmanned helicopter 1 than rotary connector 55 are electrically connected to multiple brushes 63 via multiple electrodes 65 . Cables 52 and 53 closer to work equipment 30 than rotary connector 55 are electrically connected to a plurality of ring electrodes 62 via a plurality of electrodes 66 . That is, the cables 52 and 53 on the unmanned helicopter 1 side and the cables 52 and 53 on the work equipment 30 side are electrically connected via a plurality of brushes 63 and a plurality of ring electrodes 62 .

When the work equipment 30 rotates in the air, a force is generated to rotate the cable 51, 52 and 53 portion on the work equipment 30 side. At this time, since the rotor 61 rotates independently of the support member 64 and the housing 67, the amount of torsion of the cables 51, 52 and 53 can be reduced.

When rotor 61 rotates, ring electrode 62 slips against brushes 63 while maintaining electrical contact with brushes 63 . Even if the rotor 61 rotates relative to the housing 67, the electrical connection is maintained.

The vertical movement of the rotor 61 with respect to the housing 67 is restricted by the support member 64 . As a result, electrical contact between the brush 63 and the ring electrode 62 is maintained even when the cables 51, 52 and 53 are pulled vertically.

Next, a weak link device that disconnects the cables 51, 52 and 53 when the load applied to the unmanned helicopter 1 exceeds a certain level will be described. When a load large enough to make flight control difficult is applied to the unmanned helicopter 1, the cables 51, 52 and 53 are cut to release the unmanned helicopter 1 from the load.

Referring to FIGS. 2 and 3, first cable 51 has weak link device 56 . The weak link device 56 is arranged at a position between the end of the first cable 51 on the rotorcraft 1 side and the end on the work equipment 30 side. The weak link device 56 is physically cut when both ends of the weak link device 56 are pulled with a load exceeding a predetermined threshold. The threshold is greater than the weight of the work implement 30 and less than the weight at which the unmanned helicopter 1 can control flight. For example, the threshold is greater than the weight of the work equipment 30 and less than the weight capacity of the unmanned helicopter 1 .

By adopting the weak link device 56 having a threshold weight greater than the weight of the work equipment 30 to be used and less than the weight at which the unmanned helicopter 1 can control the flight, the unmanned helicopter 1 supports the work equipment 30 while performing maintenance work. can assist. Also, when a load greater than a predetermined value is applied, the unmanned helicopter 1 can be released from the load by disconnecting the weak link device 56 .

FIG. 10 is a diagram showing an example of the weak link device 56. As shown in FIG. The weak link device 56 shown in FIG. 10 has connectors 71 and 72 .

The first cable 51 has a first upstream cable portion 51 a on the unmanned helicopter 1 side when viewed from the weak link device 56 and a first downstream cable portion 51 b on the work equipment 30 side when viewed from the weak link device 56 . The second cable 52 includes a second upstream cable portion 52a housed inside the first upstream cable portion 51a and a second downstream cable portion 52b housed inside the first downstream cable portion 51b. have. The third cable 53 includes a third upstream cable portion 53a housed inside the first upstream cable portion 51a and a third downstream cable portion 53b housed inside the first downstream cable portion 51b. have.

The connector (upstream connector) 71 is fixed to the first upstream cable portion 51a and electrically connected to the second upstream cable portion 52a and the third upstream cable portion 53a. The connector (downstream connector) 72 is fixed to the first downstream cable portion 51b and electrically connected to the second downstream cable portion 52b and the third downstream cable portion 53b.

The connector 71 includes a plurality of electrode terminals 73 electrically connected to the second upstream cable portion 52a and the third upstream cable portion 53a. The connector 72 includes a plurality of electrode terminals 74 electrically connected to the second downstream cable portion 52b and the third downstream cable portion 53b. In the example shown in FIG. 10, the electrode terminal 73 is a female terminal and the electrode terminal 74 is a male terminal. The relationship between the male terminal and the female terminal may be reversed. By inserting the male terminal into the female terminal, the second upstream cable portion 52a and the second downstream cable portion 52b are electrically connected, and the third upstream cable portion 53a and the third downstream cable are connected. 53b are electrically connected.

When the electrode terminal 74 is inserted into the electrode terminal 73, at least one of the electrode terminals 73 and 74 is elastically deformed. A frictional force is generated between the electrode terminal 73 and the electrode terminal 74 due to the elastic force generated by the elastic deformation. This frictional force maintains the connection between the electrode terminals 73 and 74 .

The material, shape, and size of the electrode terminals 73 and 74 are set in advance so that the maximum static frictional force acting between the electrode terminals 73 and 74 is equal to the threshold value of the weak link device 56 . As a result, the unmanned helicopter 1 can assist maintenance work while supporting the work equipment 30, and when a load exceeding a predetermined level is applied, the weak link device 56 is cut off to release the unmanned helicopter 1 from the load. can do.

When the wheels 32 of the work equipment 30 are on the overhead ground wire 94 , part of the weight of the work equipment 30 rests on the overhead ground wire 94 . Therefore, the tension of the first cable 51 becomes smaller than the weight of the work equipment 30 while the work equipment 30 is performing maintenance work on the overhead ground wire 94 . When the work equipment 30 rides on the overhead ground wire 94, the tension of the first cable 51 becomes smaller than the weight of the work equipment 30. Therefore, the period during which the work equipment 30 is performing maintenance work on the overhead ground wire 94 is a week. Link device 56 is not disconnected.

Note that the unmanned helicopter 1 may tow the work equipment 30 with the first cable 51 . In addition to the work equipment 30 being self-propelled, the unmanned helicopter 1 towing the work equipment 30 with the first cable 51 allows the work equipment 30 to move at a higher speed. By performing maintenance work even during towing, it is possible to speed up the work.

FIG. 11 is a diagram showing another example of the weak link device 56. As shown in FIG.

The weak link device 56 shown in FIG. 11 has a first magnet 75 attached to the first upstream cable portion 51a and a second magnet 76 attached to the first downstream cable portion 51b. In the example shown in FIG. 11 , the first magnet 75 is fixed to the connector 71 and the second magnet 76 is fixed to the connector 72 .

When the connector 71 and the connector 72 are connected, an attractive force is generated between the first magnet 75 and the second magnet 76 due to magnetic force.

The first and second magnets 75 and 76 are arranged so that the sum of the maximum static frictional force acting between the electrode terminals 73 and 74 and the attraction force due to the magnetic force is equal to the magnitude of the threshold value of the weak link device 56 . preset the magnitude of the magnetic force of As a result, the unmanned helicopter 1 can assist maintenance work while supporting the work equipment 30, and when a load exceeding a predetermined level is applied, the weak link device 56 is cut off to release the unmanned helicopter 1 from the load. can do.

Further, the magnitudes of the magnetic forces of the first and second magnets 75 and 76 may be set so that the attracting force due to the magnetic force is equal to the magnitude of the threshold value of the weak link device 56 . In this case, even if the maximum static frictional force acting between the electrode terminals 73 and 74 is small, the magnetic force allows the connectors 71 and 72 to function as the weak link device 56 .

FIG. 12 is a diagram showing still another example of the weak link device 56. As shown in FIG.

The connector 71 shown in FIG. 12 has, as the electrode terminals 73, an internal electrode terminal 73a including the central axis, and external electrode terminals 73b, 73c, and 73d surrounding the internal electrode terminal 73a at predetermined distances from the internal electrode terminal 73a. Prepare. The connector 72 includes, as electrode terminals 74, an internal electrode terminal 74a including a central axis, and external electrode terminals 74b, 74c, and 74d surrounding the internal electrode terminal 74a at predetermined distances from the internal electrode terminal 74a.

The connection between the connectors 71 and 72 is maintained by the attraction force acting between the first magnet 75 and the second magnet 76 . The connected connector 71 and connector 72 are relatively rotatable. During rotation, the first magnet 75 and the second magnet 76 slip relative to each other, but the connection is maintained by their attractive force.

Electrical connection between the internal electrode terminals 73a and 74a is maintained at any rotational position of the connector 72 with respect to the connector 71 . At any rotational position, the electrical connection between the external electrode terminal 73b and the external electrode terminal 74b, the electrical connection between the external electrode terminal 73c and the external electrode terminal 74c, the external electrode terminal 73d and the external electrode terminal 74d maintains electrical connection with

The connectors 71 and 72 are relatively rotatable, and the upstream cable section and the downstream cable are electrically connected regardless of their rotational positions. This ensures continuity while avoiding twisting of the cable during transportation and/or work. Further, since the connectors 71 and 72 can also serve as rotary connectors, the rotary connector 55 (FIG. 2) can be omitted. The configuration can be simplified as compared with the case where the rotary connector 55 and the weak link device 56 are provided separately.

FIG. 13 is a diagram showing still another example of the weak link device 56. As shown in FIG.

In the example shown in FIG. 13 , part of the first cable 51 functions as the weak link device 56 . The first cable 51 has a weak link device 56 and a cable portion other than the weak link device 56 . For example, the first cable 51 has a rope shape, and the average diameter of the portion 51c of the first cable 51 is smaller than the average diameter of the cable portion. A portion 51 c of the first cable 51 functions as a weak link device 56 .

The breaking load of the weak link device 56, which is the portion 51c of the first cable 51, is smaller than the breaking load of the other cable portions. The magnitude of the breaking load of the weak link device 56 is set to the above threshold value. Since the threshold (cutting load) of the weak link device 56 is smaller than the cutting load of the cable portion, the first cable 51 is cut at the weak link device 56 when a load equal to or greater than the threshold is applied to the first cable 51. .

FIG. 14 is a diagram showing still another example of the weak link device 56. As shown in FIG.

In the example shown in FIG. 14, a portion 51d of the first cable 51 functions as the weak link device 56. In the example shown in FIG. The material forming the weak link device 56 of the first cable 51 and the material of the cable portion are different from each other. The breaking load of the weak link device 56, which is the part 51d of the first cable 51, is set to the above threshold value.

The breaking load of the weak link device 56 is smaller than the breaking load of the cable portion. By making the material of the weak link device 56 different from the material of the cable portion and making the breaking load of the weak link device 56 smaller than the breaking load of the cable portion, the threshold at which the weak link device 56 is cut is set to the value of the cable portion. It can be smaller than the cutting load.

FIG. 15 is a diagram showing still another example of the weak link device 56. As shown in FIG.

In the example shown in FIG. 15, the weak link device 56 is a fastener that stops the first upstream cable portion 51a and the first downstream cable portion 51b. The fastener shown in FIG. 15 has a ring shape and is attached to the lower end of the first upstream cable portion 51a and the upper end of the first downstream cable portion 51b.

The second and third cables 52 and 53 housed inside the first cable 51 are exposed to the outside at the position of the weak link device 56 and bypass the weak link device 56 . The second and third cables 52 and 53 may be routed along the exterior of the first cable 51 and bypass the weak link device 56 . This avoids interference between the weak link device 56 and the second and third cables 52 and 53 .

The material, shape and size of the fastener (weak link device) 56 are set in advance such that the load capacity of the fastener (weak link device) 56 is equal to the above-described threshold value of the weak link device 56 . As a result, the unmanned helicopter 1 can assist the maintenance work while supporting the work equipment 30, and when a predetermined load or more is applied, the fastener 56 is cut off to release the unmanned helicopter 1 from the load. be able to.

Next, the terminal device operated by the operator will be described.

The operator uses a terminal device such as a tablet computer or a base station control device to set the flight path of the unmanned helicopter 1, set maintenance work for the overhead ground wire 94 by the work equipment 30, and the like. Such a terminal device can also be included in the overhead line maintenance work system 100 .

FIG. 16 is a diagram showing a tablet computer 110 as an example of a terminal device. FIG. 17 is a diagram showing a base station control device 110a, which is another example of a terminal device.

The tablet computer 110 and the base station operating device 110a display map data and the like for setting the flight route on the display device and receive instructions from the operator. The tablet computer 110 has a touch screen panel, and receives instructions by touch operation from the operator. It is assumed that the base station control device 110a according to this embodiment is a notebook PC and supports touch operations similar to those of the tablet computer 110. FIG.

Hereinafter, the tablet computer 110 shown in FIG. 16 will be described as an example. The basic configuration of the tablet computer 110 and the basic configuration of the base station control device 110a are substantially the same. Therefore, the following description can be read as the description of the base station controller 110a.

FIG. 18 shows a hardware configuration example of the tablet computer 110. As shown in FIG.

Tablet computer 110 has CPU 111 , memory 112 , communication circuit 113 , image processing circuit 114 , display device 115 , touch screen panel 116 , communication bus 117 , and notification device 118 . The CPU 111, memory 112, communication circuit 113, image processing circuit 114, touch screen panel 116, and notification device 118 are connected by a communication bus 117, and can exchange data with each other via the communication bus 117. .

The CPU 111 is a signal processing circuit (computer) that controls the operation of the tablet computer 110 . CPU 111 is typically a semiconductor integrated circuit. The CPU 111 is sometimes simply called a "processing circuit".

The memory 112 is a non-volatile storage device (eg, flash memory) and a volatile storage device (eg, RAM) that store computer programs executed by the CPU 111 . The RAM can also be used as a work memory when the CPU 111 performs calculations. When the tablet computer 110 is activated, the CPU 111 reads a computer program from the flash memory, develops it in the RAM, and executes it.

Communication circuit 113 is, for example, a wireless communication circuit that performs wireless communication conforming to the Bluetooth (registered trademark) and/or Wi-Fi (registered trademark) standards. As with the communication circuit 15f of the unmanned helicopter 1, in this specification, the tablet computer 110 performs wireless communication conforming to the Bluetooth (registered trademark) standard and/or the Wi-Fi standard, and communicates with the unmanned helicopter 1 and the work equipment 30. do. Communication circuit 113 receives data to be transmitted to unmanned helicopter 1 and work equipment 30 from CPU 111 via communication bus 117 . Communication circuit 113 also transmits data received from unmanned helicopter 1 and work equipment 30 to CPU 111 and/or memory 112 via communication bus 117 . The communication circuit 113 receives, for example, data representing the work status of the unmanned helicopter 1 and the work equipment 30 and transmits the data to the CPU 111 and/or the memory 112 .

The image processing circuit 114 generates an image to be displayed on the display device 115 according to instructions from the CPU 111 . The touch screen panel 116 detects operator touches made with a finger, pen, or the like. Known detection methods include an electrostatic method, a resistive film method, an optical method, an ultrasonic method, an electromagnetic method, and the like. For example, in the case of capacitive touch screen panel 116 , touch screen panel 116 detects a change in capacitance at a particular location and transmits data about the change to CPU 111 via communication bus 117 . The CPU 111 determines whether or not the operator has touched on the basis of the sent data.

In this embodiment, the touch screen panel 116 is provided so as to overlap the display device 115 . The operator performs a touch operation while viewing the image displayed on the display device 115 . It should be noted that other input devices such as a mouse, keyboard, joystick, microphone, etc. may be used in place of or in conjunction with the touch screen panel 116 .

The flight control box 15 of the unmanned helicopter 1 performs an operation of issuing a warning to the outside when an abnormality is detected during flight. For example, when the length of the first cable 51 is shorter than a predetermined length, the signal processing circuit 15g (FIG. 6) transmits warning data to the tablet computer 110 via the communication circuit 15f. When the communication circuit 113 of the tablet computer 110 (FIG. 18) receives the warning data, the alerting device 118 alerts the operator by at least one of sound, light and vibration. If the length of the first cable 51 is shorter than a predetermined length, there is a possibility that the unmanned helicopter 1 is too close to the work equipment 30 . In that case, an operator or the like can be alerted by issuing a warning.

In addition, the display device 115 may display an image regarding the warning to warn the operator. By displaying a warning for calling attention on the display device 115 of the terminal device 110 operated by the operator, it is possible to visually call attention to the operator.

Next, the first cable 51 having elastic members will be described.

FIG. 19 shows the first cable 51 with the elastic member 57. FIG. The first cable 51 may have at least one elastic member 57 . The first cable 51 shown in FIG. 19 has one elastic member 57 between the unmanned helicopter 1 and the weak link device 56 . The elastic member 57 may be provided between the weak link device 56 and the work equipment 30 in the first cable 51 . The elastic member 57 is, for example, a spring.

During the flight of the unmanned helicopter 1, there is a possibility that a load exceeding the threshold value of the weak link device 56 will momentarily occur. The elastic member 57 expands and contracts according to the load when such a large load is momentarily generated. As the elastic member 57 expands and contracts according to the load, the load applied to the weak link device 56 can be reduced. In this way, by providing the first cable 51 with the elastic member 57, it is possible to avoid disconnection of the weak link device 56 when a load momentarily exceeding the threshold value is applied.

Next, the working equipment 30 having fins will be described.

FIG. 20 is a diagram showing work equipment 30 having fins. The work equipment 30 shown in FIG. 20 includes fins 81 for receiving wind, an electric motor 83 for changing the direction of the fins 81, and a wind direction sensor 85 for detecting the wind direction. The electric motor 83 is, for example, a servomotor.

Fins 81 are supported by support members 82 . The electric motor 83 changes the orientation of the fins 81 by rotating the support member 82 around the rotation shaft 84 . Information about the direction of the wind detected by the wind direction sensor 85 is input to the signal processing circuit 35a (FIG. 7) of the control device 35. FIG. The signal processing circuit 35 a controls the driving of the electric motor 83 according to the direction of the wind detected by the wind direction sensor 85 to change the direction of the fins 81 .

For example, by adjusting the orientation of the fins 81 so that the extending direction of the plane portions of the fins 81 is parallel to the wind direction, the orientation and posture of the work equipment 30 can be stabilized.

Next, the work equipment 30 for photographing the power transmission line 92 (FIG. 1) in addition to photographing the overhead ground wire 94 will be described.

FIG. 21 is a diagram showing work equipment 30 equipped with a camera for photographing power transmission line 92 . The work equipment 30 shown in FIG. 21 includes a camera 38 for photographing the overhead ground wire 94 and a camera 38a for photographing the power transmission line 92 . The camera 38 a is attached to the housing 31 of the work equipment 30 via the gimbal 87 . By supporting the camera 38a with the gimbal 87, the orientation of the camera 38a can be stabilized.

In the electric line 90 (FIG. 1), a plurality of power transmission lines 92 are arranged side by side in the same direction as the overhead ground line 94 . The camera 38 photographs the overhead ground wire 94 while the wheels 32 of the work equipment 30 are on the overhead ground wire 94 . In parallel, the camera 38a images at least one power line 92. While the work equipment 30 travels along the overhead ground wire 94, the camera 38a photographs the power transmission line 92, thereby obtaining an image of the power transmission line 92 corresponding to the area in which the work equipment 30 has traveled.

In the above-described embodiment, the guide 37 (FIGS. 2 and 3) of the work equipment 30 is a rod-shaped member, but the guide 37 is not limited to a rod-shaped member, and may be a plate-shaped member, for example.

FIG. 22 is a diagram showing a plate-like guide 37. As shown in FIG. As described above with reference to FIG. 3, the guides 37 are provided at the lower right and lower left portions of the housing 31 of the work equipment 30, respectively. The plate-shaped guide 37 extends parallel to the extending direction of the overhead ground wire 94 and obliquely to the ground plane. By guiding the work equipment 30 to the overhead ground wire 94 so that the work equipment 30 is positioned between the plate-shaped guides 37 provided on the left and right sides of the work equipment 30, the work equipment 30 can be easily moved to the overhead ground wire. It can be placed on line 94 .

The guides 37 may also serve as skids that serve as legs for supporting the housing 31 when the work equipment 30 is placed on the ground. FIG. 23 shows a guide 37 that also serves as a skid. Since the guide 37 also serves as a skid, the working equipment 30 can be stably placed on the ground.

In the above-described embodiment, the main rotor 5 (FIG. 2) of the unmanned helicopter 1 was rotated by the engine 8, but the main rotor 5 may be rotated by an electric motor. The electric motor is, for example, a drone motor. In this case, the generator 9 may be a fuel cell that generates electric power. Electric power generated by the fuel cell is used to drive the drone motor 8 and is also supplied to the work equipment 30 via the second cable 52 . The work equipment 30 can run by itself on the overhead ground wire 94 by driving the electric motor 33 using the electric power supplied to the work equipment 30 from the fuel cell.

In the above-described embodiment, the work equipment 30 is mounted on the overhead ground wire 94 to perform maintenance work. Maintenance work may be performed.

In the above-described embodiment, the cables 51, 52, and 53 are wound up and unreeled by the winding motor 21 rotating the cable reel 22. However, a mechanism different from the winding motor 21 rotates the cable reel 22. You can rotate it. For example, the cables 51, 52, and 53 may be wound by rotating the cable reel 22 using a spiral spring mechanism. In this case, the winding force may be made smaller than the weight of the working device 30, and a lock mechanism may be provided to lock the rotation of the mainspring mechanism and/or the cable reel 22 when the winding operation is not performed.

Exemplary embodiments of the present invention have been described above.

An overhead wire maintenance work system 100 according to an embodiment of the present invention has a rotary wing machine 1 having a power generator 9 and an electric motor 33 . a working device 30 that performs maintenance work on the overhead ground wire 94 while traveling along the road; and a second cable 52 that feeds the work implement 30 during flight.

Electric power is supplied from the power generator 9 of the rotorcraft 1 to the work equipment 30, and the work equipment 30 uses the supplied electric power to perform maintenance work. Since the work equipment 30 does not need to incorporate a heavy battery, or even if it contains a battery, the capacity can be reduced and the weight can be reduced, so maintenance work can be performed for a longer period of time than before. As long as it is within the maximum load capacity of the rotorcraft 1, the amount of power generated by the power generation device 9 mounted on the rotorcraft 1 can be increased relatively easily, so the work equipment 30 can be operated for a relatively long time.

In one embodiment, the first cable 51 has a weak link device 56 between the end on the rotorcraft 1 side and the end on the work equipment 30 side. may be physically severed when both ends of the are pulled with a load exceeding a predetermined threshold.

When a load greater than or equal to a predetermined amount is applied to the rotorcraft 1, the weak link device 56 is disconnected, so that the rotorcraft 1 can be released from the load.

In some embodiments, the threshold may be in the range greater than the weight of work implement 30 and less than the weight at which rotorcraft 1 can control flight.

Employing a weak link device 56 having a threshold weight greater than the weight of the work implement 30 to be used and less than the weight at which the rotorcraft 1 can control flight allows the rotorcraft 1 to support the work implement 30. Maintenance work of the work equipment 30 can be assisted.

In some embodiments, the threshold may be within a range that is greater than the weight of work implement 30 and less than the weight capacity of rotorcraft 1 .

By adopting the weak link device 56 having a threshold value greater than the weight of the work equipment 30 and less than the weight capacity of the rotorcraft 1, the rotorcraft 1 supports the work equipment 30 while assisting the maintenance work of the work equipment 30. can.

In one embodiment, the tension in first cable 51 may be less than the weight of work equipment 30 while work equipment 30 is performing maintenance work on overhead ground wire 94 .

Since the work equipment 30 runs by itself, the tension of the first cable 51 becomes smaller than the weight of the work equipment 30, so the weak link device 56 is not cut.

In one embodiment, the rotorcraft 1 may tow the work implement 30 with the first cable 51 .

In addition to the work equipment 30 self-propelled, the rotorcraft 1 tows the work equipment 30 with the first cable 51, so that the work equipment 30 can move at a higher speed. By performing maintenance work even during towing, it is possible to speed up the work.

In one embodiment, the first cable 51 has a weak link device 56 and a cable portion other than the weak link device 56, and the threshold may be smaller than the breaking load of the cable portion.

Since the threshold (cutting load) of the weak link device 56 is smaller than the cutting load of the cable portion, the first cable 51 is cut at the weak link device 56 when a load equal to or greater than the threshold is applied to the first cable 51. .

In one embodiment, the weak link device 56 has a rope shape, and the average diameter of the weak link device 56 may be smaller than the average diameter of the cable portion.

By making the average diameter of the weak link device 56 smaller than the average diameter of the cable portion, the threshold at which the weak link device 56 is cut can be made smaller than the breaking load of the cable portion.

In one embodiment, the material constituting the weak link device 56 and the material of the cable portion may be different, and the breaking load of the weak link device 56 may be smaller than the breaking load of the cable portion.

By making the material of the weak link device 56 different from the material of the cable portion and making the breaking load of the weak link device 56 smaller than the breaking load of the cable portion, the threshold at which the weak link device 56 is cut is set to the value of the cable portion. It can be smaller than the cutting load.

In some embodiments, the first cable 51 and the second cable 52 may run side by side.

In some embodiments, at least part of the second cable 52 may be housed inside the first cable 51 .

In one embodiment, the first cable 51 has a weak link device 56 and a cable portion other than the weak link device 56, and the second cable 52 is housed inside the cable portion and is weak. Linking device 56 may be bypassed.

In one embodiment, the first cable 51 includes the weak link device 56, the first upstream cable portion 51a on the rotorcraft 1 side when viewed from the weak link device 56, and the work equipment 30 side when viewed from the weak link device 56. The second cable 52 includes a second upstream cable portion 52a housed inside the first upstream cable portion 51a and an inside of the first downstream cable portion 51b. The weak link device 56 is fixed to the first upstream cable portion 51a and electrically connected to the second upstream cable portion 52a. and a downstream connector 72 fixed to the first downstream cable portion 51b and electrically connected to the second downstream cable portion 52b. constitutes the weak link device 56, the upstream connector 71 and the downstream connector 72 are relatively rotatable, and at any rotational position, the second upstream cable portion 52a and the second downstream cable portion 52 b may be electrically connected via the upstream connector 71 and the downstream connector 72 .

The upstream connector 71 and the downstream connector 72 are relatively rotatable, and the second upstream cable portion 52a and the second downstream cable portion 52b are electrically connected regardless of their rotational positions. Thereby, it is possible to ensure continuity of the second cable 52 while avoiding twisting of the first and second cables 51 and 52 during transportation and/or work. In addition, since the upstream connector 71 and the downstream connector 72 also serve as the weak link device 56, the configuration can be simplified compared to the case where the weak link device 56 and the weak link device 56 are provided separately.

In one embodiment, the upstream connector 71 and the downstream connector 72 respectively have internal electrode terminals 73a and 74a including the central axis and internal electrode terminals 73a and 74a at positions separated from the internal electrode terminals 73a and 74a by a predetermined distance. At any rotational position of the downstream connector 72 with respect to the upstream connector 71, the internal electrode terminal 73a of the upstream connector 71 and the internal electrode terminal 74a of the downstream connector 72 are electrically connected. Moreover, the external electrode terminal 73b of the upstream connector 71 and the external electrode terminal 74b of the downstream connector 72 may be electrically connected.

Since the upstream connector 71 and the downstream connector 72 are relatively rotatable, the internal electrode terminal 73a of the upstream connector 71 and the internal electrode terminal 74a of the downstream connector 72 are connected to each other while avoiding twisting of the cable. In addition, electrical continuity between the external electrode terminal 73b of the upstream connector 71 and the external electrode terminal 74b of the downstream connector 72 can be ensured.

In one embodiment, the first cable 51 includes a weak link device 56, a first upstream cable portion 51a on the rotorcraft 1 side when viewed from the weak link device 56, and a work equipment 30 side when viewed from the weak link device 56. The weak link device 56 has a first magnet 75 attached to the side of the first upstream cable portion 51a and a first magnet 75 attached to the side of the first downstream cable portion 51b. The first magnet 75 and the second magnet 76 constitute the weak link device 56, and the threshold is determined by the magnetic force of the first magnet 75 and the magnetic force of the second magnet 76. It may be predetermined according to force.

A weak link device 56 is provided having a first magnet 75 attached to the first upstream cable section 51a and a second magnet 76 attached to the first downstream cable section 51b. The first magnet 75 and the second magnet 76 constitute the weak link device 56 . The threshold value of the weak link device 56 is determined according to the attraction force with which the first magnet 75 and the second magnet 76 attract each other. This makes it possible to suspend the working device 30 from the rotorcraft 1 within a range in which the load is smaller than the adsorption force.

In one embodiment, the first cable 51 includes a weak link device 56, a first upstream cable portion 51a on the rotorcraft 1 side when viewed from the weak link device 56, and a work equipment 30 side when viewed from the weak link device 56. and the weak link device 56 may be a fastener that stops the first upstream cable portion 51a and the first downstream cable portion 51b.

In some embodiments, the second cable 52 is routed along the exterior of the first upstream cable section 51a and the exterior of the first downstream cable section 51b, or the interior of the first upstream cable section 51a and the first cable section 51b. The weak link device 56 may be bypassed by being disposed inside the downstream cable portion 51b.

The second cable 52 is arranged along the exterior of the first upstream cable section 51a and the first downstream cable section 51b or within them, but at the position of the weak link device 56, the weak link device 56 is bypassed. This avoids interference between the magnets or fasteners forming the weak link device 56 and the second cable 52 .

In one embodiment, the first cable 51 has at least one elastic member 57 between the rotorcraft 1 and the weak link device 56 and/or between the weak link device 56 and the working device 30. may

By providing at least one elastic member 57 on the rotorcraft 1 side and/or the work equipment 30 side of the weak link device 56, the weak link device 56 can be operated even when a load instantaneously exceeding the threshold value is applied. You can avoid cutting.

In some embodiments, it may further have a cable reel 22 for winding and unwinding the first cable 51 and the second cable 52 .

By providing the cable reel 22 for winding or unwinding the first and second cables 51 and 52, unnecessary slack in the first and second cables 51 and 52 and the work equipment 30 from the overhead ground wire 94 can be prevented. You can avoid floating. Thereby, the distance between the work equipment 30 and the overhead ground wire 94 can be adjusted without frequently changing the altitude of the rotorcraft 1 .

In one embodiment, the winding motor 21 is mechanically connected to the cable reel 22 , and the winding motor 21 rotates the cable reel 22 to wind the first cable 51 and the second cable 52 . You may carry out a draw.

By using the winding motor 21, the winding and unwinding of the first cable 51 and the second cable 52 can be motorized.

In one embodiment, the controller 15 is further provided to control the direction and amount of rotation of the take-up motor 21, and while the work equipment 30 is traveling along the overhead ground wire 94, the controller 15 The rotation direction and rotation amount of the winding motor 21 may be adjusted so that the winding motor 21 and the second cable 52 are pulled with a predetermined tension.

While the work equipment 30 is traveling along the overhead ground wire 94, the controller 15 controls the direction and amount of rotation of the winding motor 21 so as to pull the first and second cables 51, 52 with a predetermined tension. to adjust. This can prevent the first and second cables 51 and 52 from becoming slack and prevent the first and second cables 51 and 52 from coming into contact with the main rotor of the rotorcraft 1 or other overhead wires. can be avoided.

In one embodiment, the take-up motor 21 has a rotor 212, and the controller 15 controls a reference position, which is a predetermined rotational position of the rotor 212, and the first cable 51 and the first cable 51 from the cable reel 22 to the work implement 30 at the reference position. The current lengths of the first cable 51 and the second cable 52 are calculated from the relationship with the length of the second cable 52 and the direction and amount of rotation of the winding motor 21, and winding is performed according to the calculated lengths. The direction and amount of rotation of the take-up motor 21 may be adjusted.

The controller 15 calculates the current lengths of the first cable 51 and the second cable 52, and adjusts the direction and amount of rotation of the winding motor 21 according to the calculated lengths. By maintaining the lengths of the first cable 51 and the second cable 52 within a certain range, for example, the distance between the rotorcraft 1 and the work equipment 30 can be generally maintained.

In one embodiment, the controller 15 can output a control signal indicating the altitude of the rotorcraft 1, and the lengths of the first cable 51 and the second cable 52 are greater than a predetermined length. is longer, the controller 15 outputs a control signal instructing to lower the altitude of the rotorcraft 1, and if the lengths of the first cable 51 and the second cable 52 are shorter than a predetermined length , the controller 15 may output a control signal instructing the rotorcraft 1 to increase its altitude.

If the rotorcraft 1 is too far from the work equipment 30 , the controller 15 lowers the altitude of the rotorcraft 1 to fly closer to the work equipment 30 . If the rotorcraft 1 is too close to the work equipment 30 , the controller 15 raises the altitude of the rotorcraft 1 to fly away from the work equipment 30 .

In one embodiment, the controller 15 may issue a warning to the outside if the lengths of the first cable 51 and the second cable 52 are shorter than a predetermined length.

If the lengths of the first cable 51 and the second cable 52 are shorter than a predetermined length, the rotorcraft 1 may be too close to the work equipment 30 . In that case, issuing a warning can call attention to the outside.

In some embodiments, controller 15 may issue an alert by at least one of sound, light and vibration.

By issuing a warning by sound, light and/or vibration, human attention can be accurately aroused.

In one embodiment, a terminal device 110 that communicates with the work equipment 30 by wire or wirelessly is further provided, and the terminal device 110 includes a communication circuit 113 that receives data representing the work status of the work equipment 30 and a display device that displays the data. 115 and may display a warning on the display device 115 .

By displaying a warning for calling attention on the display device 115 of the terminal device 110 possessed by the operator or the like, it is possible to visually call attention to the operator.

In some embodiments, a bracket 23 that supports the cable reel 22 and the take-up motor 21 may also be included.

By fixing the cable reel 22 and the winding motor 21 with the bracket 23 , the rotation of the winding motor 21 can be transmitted to the cable reel 22 .

In some embodiments, work implement 30 may have guides 37 that guide work implement 30 to overhead ground wire 94 when work implement 30 is placed on overhead ground wire 94 .

By providing the guide 37 , the working equipment 30 can be easily placed on the overhead ground wire 94 .

In one embodiment, when the work equipment 30 is placed on the overhead ground wire 94 from above, the guides 37 are parallel to the extending direction of the overhead ground wire 94 and oblique to the ground plane. There may be at least one rod-shaped member or plate-shaped member extending in the direction of .

In one embodiment, the guide 37 is at least two plate-like members, and the at least two plate-like members extend in a direction parallel to the direction in which the overhead ground wire 94 extends and obliquely to the ground plane, and Work equipment 30 may be guided to overhead ground wire 94 to include overhead ground wire 94 between at least two plate-shaped members.

In one embodiment, the work device 30 includes fins 81 for receiving wind, a sensor 85 for detecting the direction of the wind, an electric motor 83 for changing the direction of the fins 81, and the electric motor 83 depending on the direction of the wind detected by the sensor 85. and a controller 35 that drives and adjusts the orientation of the fins 81 .

By adjusting the orientation of the fins 81 according to the direction of the wind, the orientation and posture of the work equipment 30 can be stabilized.

In one embodiment, the rotorcraft 1 may have an engine 8 that rotates the rotors 5 .

By mounting the engine 8 on the rotorcraft 1, it is possible to fly for a relatively long time, and the working time of the work equipment 30 can be secured for a long time.

In one embodiment, the rotorcraft 1 has a drone motor 8 that rotates the rotor blades 5 , and the power generator 9 supplies power to the work equipment 30 via the second cable 52 and rotates the drone motor 8 . The working equipment 30 may use the electric power supplied to the working equipment 30 to drive the electric motor 33 and run the overhead ground wire 94 by itself.

When the rotorcraft 1 rotates the rotor blades 5 with the drone motor 8, by mounting a fuel cell on the rotorcraft 1, power can be supplied to both the drone motor 8 and the work equipment 30 by using the fuel cell. can do.

In some embodiments, work equipment 30 may include at least one camera 38 that may be used to image overhead ground wire 94 for maintenance operations.

In some embodiments, at least one electrical wire 92 runs in the same direction as the overhead ground wire 94, the at least one camera is the two or more cameras 38, 38a, and the two or more cameras 38, 38a may capture an overhead ground wire 94 and at least one wire 92 .

In some embodiments, at least one camera 38 a may be connected to work equipment 30 via gimbal 87 .

In one embodiment, rotorcraft 1 may be an unmanned helicopter.

The technology of the present invention can be suitably used for maintenance work of overhead lines.

1: unmanned helicopter (rotary wing aircraft), 2: main body, 3: tail body, 4: fuselage, 5: main rotor, 6: tail rotor, 7: radiator, 8: engine, 9: generator, 10: control Panel 11: Indicator light 12: Skid 13: Remote control receiving antenna 15: Flight control box (control device) 15a: GPS module 15b: Acceleration sensor 15c: Air pressure sensor 15d: Geomagnetic sensor 15e: Super sonic wave sensor 15f: communication circuit 15g: signal processing circuit (controller) 15h: ROM 15i: RAM 15j: storage device 15k: internal bus 21: take-up motor 22: cable reel 23: bracket 30: Working equipment 31: Housing 32: Wheel 32a: Groove 33: Electric motor 34: Power transmission mechanism 35: Control device 35a: Signal processing circuit 35b: Memory 35c: Motor drive circuit 35d: Communication circuit 36: Axle 37: Guide 38: Camera 38a: Camera 41: Power supply circuit 42: Motor drive circuit 43: Battery 51: First cable 52: Second cable (power line) 53: Third cable (signal line) 55: Rotary connector 56: Weak link device 57: Elastic member 61: Rotor 62: Ring electrode 63: Brush 64: Support member 65: Electrode 66 : electrode 67: housing 71: connector 72: connector 73: electrode terminal 74: electrode terminal 75: first magnet 76: second magnet 81: fin 82: support member 83: electric Motor, 84: Rotating shaft, 85: Wind direction sensor, 87: Gimbal, 90: Electric line, 91: Steel tower, 92: Power transmission line, 93: Insulator, 94: Overhead ground wire, 100: Overhead wire maintenance work system, 110: Tablet computer (terminal device) 110a: base station control device 111: CPU 112: memory 113: communication circuit 114: image processing circuit 115: display device 116: touch screen panel 117: communication bus 118 : Notification device, 211: Motoke 212: Rotor 213: Stator 214: Rotation sensor

Claims (37)

a rotorcraft having a power generator;
a work device having an electric motor and performing maintenance work on the overhead ground wire while running along the ground wire by driving the electric motor with supplied electric power;
a first cable for suspending the work equipment from the rotorcraft;
a second cable that supplies electric power generated by the power generation device to the work equipment while the rotorcraft is in flight ;
An overhead wire maintenance work system , wherein electric power generated by the power generation device is supplied from the rotary wing machine to the work equipment while the work equipment is performing the maintenance work on the overhead ground wire . a rotorcraft having a power generator;
a work device having an electric motor and performing maintenance work on the overhead ground wire while running along the ground wire by driving the electric motor with supplied electric power;
a first cable for suspending the work equipment from the rotorcraft;
a second cable that supplies electric power generated by the power generation device to the work equipment while the rotorcraft is in flight;
with
the first cable has a weak link device between an end on the rotorcraft side and an end on the work equipment side;
The overhead line maintenance work system , wherein the weak link device is physically disconnected when both ends of the weak link device are pulled with a load exceeding a predetermined threshold. 3. The overhead line maintenance work system of claim 2, wherein the threshold is greater than the weight of the work equipment and within a range less than the weight at which the rotorcraft can control flight. 3. The overhead line maintenance work system according to claim 2, wherein the threshold is greater than the weight of the work equipment and within a range of less than the weight capacity of the rotorcraft. 5. The overhead wire maintenance work system according to claim 3, wherein the tension of said first cable is smaller than the weight of said work equipment while said work equipment is performing said maintenance work on said overhead ground wire. . 6. The overhead line maintenance work system according to claim 5, wherein said rotorcraft tows said work equipment with said first cable. The first cable has the weak link device and a cable portion that is a portion excluding the weak link device,
5. The overhead line maintenance work system according to any one of claims 2 to 4, wherein said threshold value is smaller than a cutting load of said cable portion. The weak link device has a rope shape,
8. The overhead line maintenance work system according to claim 7, wherein the average diameter of said weak link device is smaller than the average diameter of said cable portion. The material constituting the weak link device and the material of the cable portion are different,
8. The overhead line maintenance work system according to claim 7, wherein the breaking load of said weak link device is smaller than the breaking load of said cable portion. 2. The overhead line maintenance work system according to claim 1, wherein said first cable and said second cable run in parallel. 10. The overhead line maintenance work system according to any one of claims 1 to 9, wherein at least part of said second cable is housed inside said first cable. The first cable has the weak link device and a cable portion that is a portion excluding the weak link device,
10. The overhead line maintenance work system according to claim 2, wherein said second cable is accommodated inside said cable portion and bypasses said weak link device. The first cable is
the weak link device;
a first upstream cable portion on the rotorcraft side when viewed from the weak link device;
a first downstream cable portion on the work equipment side when viewed from the weak link device;
The second cable is
a second upstream cable portion housed inside the first upstream cable portion;
a second downstream cable portion housed inside the first downstream cable portion;
The weak link device
an upstream connector fixed to the first upstream cable section and electrically connected to the second upstream cable section;
a downstream connector secured to the first downstream cable section and electrically connected to the second downstream cable section;
The upstream connector and the downstream connector constitute the weak link device,
The upstream connector and the downstream connector are relatively rotatable, and at any rotational position, the second upstream cable section and the second downstream cable section are connected to the upstream connector and the 10. The overhead line maintenance work system according to any one of claims 2 to 9, electrically connected via a downstream connector. The upstream connector and the downstream connector, respectively,
an internal electrode terminal including a central axis;
an external electrode terminal surrounding the internal electrode terminal at a predetermined distance from the internal electrode terminal;
at any rotational position of the downstream connector relative to the upstream connector,
The internal electrode terminals of the upstream connector and the internal electrode terminals of the downstream connector are electrically connected, and the external electrode terminals of the upstream connector and the external electrode terminals of the downstream connector are electrically connected. The overhead line maintenance work system according to claim 13, wherein: The first cable is
the weak link device;
a first upstream cable portion on the rotorcraft side when viewed from the weak link device;
a first downstream cable portion on the work equipment side when viewed from the weak link device;
The weak link device
a first magnet attached to the side of the first upstream cable section;
a second magnet attached to the side of the first downstream cable section;
The first magnet and the second magnet constitute the weak link device, and the threshold value is predetermined according to an attraction force determined by the magnetic force of the first magnet and the magnetic force of the second magnet. 8. The overhead line maintenance work system according to 7. The first cable is
the weak link device;
a first upstream cable portion on the rotorcraft side when viewed from the weak link device;
a first downstream cable portion on the work equipment side when viewed from the weak link device;
8. The overhead line maintenance work system according to claim 7, wherein said weak link device is a fastener for stopping said first upstream cable section and said first downstream cable section. The second cable is disposed along the exterior of the first upstream cable section and the exterior of the first downstream cable section, or the interior of the first upstream cable section and the first downstream cable section. 17. The overhead line maintenance work system according to claim 15 or 16, wherein the overhead line maintenance work system is disposed inside of and bypasses the weak link device. 2 to 3 , wherein the first cable has at least one elastic member between the rotorcraft and the weak link device and/or between the weak link device and the working equipment. 18. The overhead line maintenance work system according to any one of claims 9 and 12 to 17. 2. The overhead line maintenance work system according to claim 1, further comprising a cable reel for winding and feeding said first cable and said second cable. a winding motor mechanically connected to the cable reel;
20. The overhead wire maintenance work system according to claim 19, wherein said winding motor rotates said cable reel to wind and unwind said first cable and said second cable. a rotorcraft having a power generator;
a work device having an electric motor and performing maintenance work on the overhead ground wire while running along the ground wire by driving the electric motor with supplied electric power;
a first cable for suspending the work equipment from the rotorcraft;
a second cable that supplies electric power generated by the power generation device to the work equipment while the rotorcraft is in flight;
a cable reel for winding and feeding the first cable and the second cable;
a take-up motor mechanically connected to the cable reel;
a controller that controls the direction and amount of rotation of the winding motor;
with
The winding motor rotates the cable reel to wind and unwind the first cable and the second cable,
While the work equipment is traveling along the overhead ground wire, the controller controls the direction and amount of rotation of the winding motor so as to pull the first cable and the second cable with a predetermined tension. overhead line maintenance work system . the take-up motor has a rotor;
The controller is
a relationship between a reference position, which is a predetermined rotational position of the rotor, and lengths of the first cable and the second cable from the cable reel to the work equipment at the reference position; and
The current lengths of the first cable and the second cable are calculated from the rotation direction and rotation amount of the winding motor, and the rotation direction and rotation amount of the winding motor are adjusted according to the calculated lengths. 22. The overhead line maintenance work system according to claim 21. the controller is capable of outputting a control signal indicative of an altitude of the rotorcraft;
when the lengths of the first cable and the second cable are longer than a predetermined length, the controller outputs a control signal instructing the rotorcraft to lower its altitude;
23. If the lengths of said first cable and said second cable are shorter than a predetermined length, said controller outputs a control signal instructing said rotorcraft to increase altitude. The overhead line maintenance work system described in . 24. The overhead line maintenance work system according to claim 23, wherein said controller issues a warning to the outside when the lengths of said first cable and said second cable are shorter than a predetermined length. 25. The overhead line maintenance work system according to claim 24, wherein said controller issues said warning by at least one of sound, light and vibration. further comprising a terminal device that communicates with the work equipment in a wired or wireless manner;
The terminal device
a communication circuit for receiving data representing the work status of the work equipment;
a display device for displaying the data,
25. The overhead line maintenance work system according to claim 24, wherein said warning is displayed on said display device. a rotorcraft having a power generator;
a work device having an electric motor and performing maintenance work on the overhead ground wire while running along the ground wire by driving the electric motor with supplied electric power;
a first cable for suspending the work equipment from the rotorcraft;
a second cable that supplies electric power generated by the power generation device to the work equipment while the rotorcraft is in flight;
a cable reel for winding and feeding the first cable and the second cable;
a take-up motor mechanically connected to the cable reel;
a bracket that supports the cable reel and the winding motor;
with
An overhead wire maintenance work system , wherein the winding motor rotates the cable reel to wind and pay out the first cable and the second cable . The overhead wire according to any one of claims 1 to 27, wherein the working equipment has a guide for guiding the working equipment to the overhead ground wire when the working equipment is placed on the overhead ground wire. maintenance work system. When the work equipment is placed on the overhead ground wire from above, the guide extends in a direction parallel to the direction in which the overhead ground wire extends and in a direction oblique to the ground plane, 29. The overhead line maintenance work system according to claim 28, which is at least one rod-shaped member or plate-shaped member. The guides are at least two plate-shaped members,
The at least two plate-shaped members extend in a direction parallel to the direction in which the overhead ground wire extends and obliquely with respect to the ground plane, and include the overhead ground wire between the at least two plate-shaped members. 29. The overhead wire maintenance work system according to claim 28, wherein the work equipment is guided to the overhead ground wire. The work equipment includes:
fins that catch the wind,
a sensor that detects the wind direction;
an electric motor for changing the orientation of the fins;
a control device that drives the electric motor according to the direction of the wind detected by the sensor and adjusts the orientation of the fins;
The overhead line maintenance work system according to claim 28, comprising: 32. The overhead line maintenance work system according to any one of claims 1 to 31, wherein the rotorcraft has an engine that rotates a rotor blade. The rotorcraft has a drone motor that rotates the rotor,
The power generator is a fuel cell that generates power to be supplied to the work equipment via the second cable and power to rotate the drone motor,
32. The overhead wire maintenance according to any one of claims 1 to 31, wherein the work equipment drives the electric motor using the electric power supplied to the work equipment and self-runs the overhead ground wire. working system. 34. The overhead wire maintenance work according to any one of claims 1 to 33, wherein said work equipment has at least one camera, and said camera is used to photograph said overhead ground wire for said maintenance work. system. At least one electric wire is installed in the same direction as the overhead ground wire,
the at least one camera is two or more cameras;
35. The overhead wire maintenance work system according to claim 34, wherein each of said two or more cameras images said overhead ground wire and said at least one electric wire. 36. The overhead line maintenance work system according to claim 34 or 35, wherein said at least one camera is connected to said work equipment via a gimbal. 37. The overhead line maintenance work system according to any one of claims 1 to 36, wherein said rotorcraft is an unmanned helicopter.

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