Transport system and transport method

Abstract

The invention provides a conveying system and a conveying method. Provided is a novel technique that can be used to achieve as soon as possible recovery of lifeline such as power and tap water in disaster-affected areas. Objects (4) to be laid, which are any one of an electric wire, a hose, and a cable, are suspended at intervals by a plurality of unmanned aerial vehicles (5). The unmanned aerial vehicle (5) autonomously flies so as to fly up and down along the laying path. When the unmanned aerial vehicle (5) having the flight order of No.1 arrives at the final destination point (22), the plurality of unmanned aerial vehicles (5) release the suspended laying object (4) together, and the laying object (4) is disposed on the ground surface.

Description

Technical Field

[0001] This invention relates to a system for transporting objects to be laid, etc. Background Technology

[0002] There are known technologies for using drones to transport power lines to any location during the installation of power lines (e.g., see Patent Document 1).

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2018-148719 Summary of the Invention

[0006] The problem the invention aims to solve

[0007] For disaster-stricken areas affected by earthquakes or other natural disasters, the most important thing is to restore lifelines such as electricity and water supply as quickly as possible. In many disaster-stricken areas, roads are cut off, and delivering power lines and water hoses to these locations must wait until roads are restored.

[0008] The technology in Patent Document 1 requires the existence of towers for extending overhead power lines. Therefore, it is not practical to apply the technology in Patent Document 1 to projects such as power lines to disaster-stricken areas where the goal is to restore power as quickly as possible.

[0009] The problem this invention aims to solve is to provide a new technology that can be used to quickly restore lifelines such as electricity and tap water in disaster-stricken areas.

[0010] Solution for solving the problem

[0011] The first invention for solving the above-mentioned problem is a system for transporting a laying object, the laying object being any one of wires, hoses, and ropes, the system comprising: a plurality of unmanned aerial vehicles (UAVs) that suspend the laying object at intervals for flight; and a computer that controls the plurality of UAVs to make the plurality of UAVs fly in formation along a given laying path.

[0012] According to the first invention, even in disaster-stricken areas where roads are disrupted, the laying objects can be transported by air. Therefore, it enables the development of a technology that can be used to quickly restore lifelines such as electricity and water supply in disaster-stricken areas.

[0013] The second invention is that, in the above system, the plurality of unmanned aerial vehicles (UAVs) suspend the communication cables and power supply cables for flight control connecting each UAV and perform the column flight.

[0014] For example, when transporting and laying objects over long distances in mountainous areas, reliable wireless communication with unmanned aerial vehicles (UAVs) may not be possible. Moreover, this tendency increases with the length of the laying distance. Additionally, there are limitations to the transport distance when the UAV is powered by batteries. According to the second invention, communication and power supply to the UAV are achieved via a wired connection, thus enabling the transport of laying objects without being affected by communication barriers or battery capacity.

[0015] The third invention is that, in the above system, the unmanned aerial vehicle has a first separation control unit, which controls the distance between adjacent unmanned aerial vehicles during the column flight, i.e., the separation between the aircraft bodies, in a first range.

[0016] According to the third invention, by keeping the separation between the fuselages of adjacent unmanned aerial vehicles flying in a column within a first range, collisions between unmanned aerial vehicles can be prevented.

[0017] The fourth invention is that, in the above system, the unmanned aerial vehicle has a first range setting unit, which sets the first range based on the altitude above the ground and the length of the laying object suspended by the adjacent unmanned aerial vehicle.

[0018] According to the fourth invention, a first range can be set based on various specifications that can vary depending on the conditions of the site to be transported, such as the flight altitude above the ground and the length of the object to be laid suspended by an adjacent unmanned aerial vehicle.

[0019] The fifth invention is that, in the above system, the unmanned aerial vehicle has: a positioning function; and a positioning reference separation estimation unit, which estimates the separation between the aircraft bodies based on the positioning information of the positioning function.

[0020] According to the fifth invention, it is possible to estimate the separation between aircraft bodies based on the positioning information of unmanned aerial vehicles.

[0021] The sixth invention is that, in the above system, the unmanned aerial vehicle has: a measuring unit for measuring the tension of the suspended object being laid; and a tension reference separation estimation unit for estimating the separation between the bodies based on the measurement results of the measuring unit and the length and weight of the object being laid suspended by adjacent unmanned aerial vehicles.

[0022] According to the sixth invention, the separation between bodies can be estimated based on the tension acting on the laying object body suspended by the unmanned aerial vehicle.

[0023] The seventh invention is that, in the above system, the unmanned aerial vehicle has: a positioning function; a positioning reference separation estimation unit that estimates the positioning reference separation based on the positioning information of the positioning function; a measurement unit that measures the tension of the suspended laying object; a tension reference separation estimation unit that estimates the tension reference separation based on the measurement results of the measurement unit and the length and weight of the laying object suspended by the adjacent unmanned aerial vehicle; and a determination unit that determines the separation between the aircraft bodies based on the positioning reference separation and the tension reference separation.

[0024] According to the seventh invention, the separation between bodies can be determined based on positioning reference separation and tension reference separation.

[0025] The eighth invention is that, in the above system, the unmanned aerial vehicle has: a measuring unit for measuring the tension of a connecting line between adjacent unmanned aerial vehicles; and a tension reference separation estimation unit for estimating the separation between the aircraft bodies based on the measurement results of the measuring unit and the length and weight of the connecting line between adjacent unmanned aerial vehicles.

[0026] According to the eighth invention, the separation between airframes can be estimated based on the tension of the connecting lines between adjacent unmanned aerial vehicles.

[0027] The ninth invention is that, in the above system, the unmanned aerial vehicle has: a positioning function; a positioning reference separation estimation unit that estimates the positioning reference separation based on the positioning information of the positioning function; a measurement unit that measures the tension of the connecting line between adjacent unmanned aerial vehicles; a tension reference separation estimation unit that estimates the tension reference separation based on the measurement results of the measurement unit and the length and weight of the connecting line between adjacent unmanned aerial vehicles; and a determination unit that determines the separation between the aircraft bodies based on the positioning reference separation and the tension reference separation.

[0028] According to the ninth invention, the separation between bodies can be determined based on positioning reference separation and tension reference separation.

[0029] The tenth invention is that, in the above system, the unmanned aerial vehicle has: a safety determination unit that determines the safety of the transport flight of the laying object based on the distance difference between the positioning reference separation and the tension reference separation; and a security flight control unit that performs flight control of the unmanned aerial vehicle based on the determination result of the safety determination unit.

[0030] According to the tenth invention, the safety of the transport flight of the object to be laid can be determined based on the distance difference between the positioning reference separation and the tension reference separation, and the flight control of the unmanned aerial vehicle can be carried out based on the determination result.

[0031] The eleventh invention is that, in the above system, the unmanned aerial vehicle is able to hover, and when the determination result of the safety determination unit is that the prescribed standby conditions are met, the security flight control unit performs control to make the unmanned aerial vehicle hover.

[0032] According to the eleventh invention, when the safety assessment result is that the prescribed standby conditions are met, the transport flight can be temporarily stopped by making the unmanned aerial vehicle hover.

[0033] The twelfth invention is that, in the above system, if the determination result of the safety determination unit is that the prescribed emergency landing conditions are met, the security flight control unit performs control to land the unmanned aerial vehicle.

[0034] According to the twelfth invention, an unmanned aerial vehicle can be landed when the safety assessment result meets the prescribed emergency landing conditions.

[0035] The thirteenth invention is that, in the above system, the unmanned aerial vehicle has a second separation control unit, which controls the distance between the unmanned aerial vehicles in the column flight, i.e., the separation between the unmanned aerial vehicles, in a second range.

[0036] According to the thirteenth invention, it is possible to maintain the distance between the two aircraft in column flight, i.e., the separation between the aircraft, within a second range.

[0037] The fourteenth invention is that, in the above system, the unmanned aerial vehicle has: a gripping part capable of being remotely controlled to release the suspended object being laid; and a release execution control part that executes control to release the gripping part.

[0038] According to the fourteenth invention, it is possible to remotely release a laying object suspended by an unmanned aerial vehicle.

[0039] The fifteenth invention is a method for transporting a laying object, wherein the laying object is any one of wires, hoses, and ropes, the method comprising: multiple unmanned aerial vehicles (UAVs) suspending the laying object at intervals for flight; and controlling the multiple UAVs to fly in a column formation along a given laying path.

[0040] According to the fifteenth invention, even in disaster-stricken areas where roads are disrupted, the laying objects can be transported by air. Therefore, a technology can be developed to enable the rapid restoration of lifelines such as electricity and water supply in disaster-stricken areas. Attached Figure Description

[0041] Figure 1 This is a diagram illustrating a structural example of the system used in this embodiment.

[0042] Figure 2 This is a side view showing a structural example of an unmanned aerial vehicle.

[0043] Figure 3 This is a front view showing a structural example of an unmanned aerial vehicle.

[0044] Figure 4 It is a diagram used to illustrate the selection of the laying path for the laying object.

[0045] Figure 5 It is a diagram used to illustrate the selection of the laying path for the laying object.

[0046] Figure 6 It is a diagram used to illustrate flight control for transport operations and maintaining separation between aircraft.

[0047] Figure 7 This is a diagram used to illustrate the control that keeps the machine separation within a second range.

[0048] Figure 8 This is a diagram used to illustrate the separation of machines.

[0049] Figure 9 This diagram illustrates the transport of the object to be laid using a convoy of unmanned aerial vehicles.

[0050] Figure 10 It is a diagram used to illustrate the release and laying of the object being laid.

[0051] Figure 11 This is a diagram illustrating an example of programs and data stored in an unmanned aerial vehicle.

[0052] Figure 12 This is a diagram used to illustrate the structure of the flight control unit.

[0053] Figure 13 It is a diagram used to illustrate examples of programs and data stored in a central computer, as well as the functions implemented by the central computer.

[0054] Figure 14 It is a flowchart used to illustrate the processing flow in the system.

[0055] Figure 15 It is a continuation Figure 14 The flowchart.

[0056] Figure 16 It is a continuation Figure 15 The flowchart.

[0057] Figure 17 It is a continuation Figure 16 The flowchart.

[0058] Figure 18 It is a continuation Figure 17 The flowchart.

[0059] Figure 19 It is a continuation Figure 18 The flowchart. Detailed Implementation

[0060] Figure 1 This is a diagram illustrating a structural example of the system 1000 in this embodiment.

[0061] System 1000 is a system in which long laying objects 4 are suspended at intervals by unmanned aerial vehicles 5, and the unmanned aerial vehicles 5 are controlled to fly in a column along multiple laying paths, thereby transporting the laying objects 4.

[0062] The fourth object to be laid is a long object such as an electrical wire, flexible hose, or rope. Flexible hoses are used to supply water or fuel, while ropes are cables or cords.

[0063] System 1000 has a central control computer 1100 and multiple unmanned aerial vehicles 5 (5a, 5b, ...).

[0064] Unmanned Aerial Vehicle 5 is a multi-rotor electric unmanned aerial vehicle capable of vertical take-off and landing.

[0065] Multiple unmanned aerial vehicles 5 (5a, 5b, ...) are connected by connecting lines 6 (6a, 6b, ...) in the order of their column flight.

[0066] The multi-cable 10 is suspended from the connecting cable 6.

[0067] The multi-cable 10 is a rope-like structure formed by twisting the communication cable 11 and the power supply cable 12 together. The communication cable 11 is connected to the management computer 1100. The power supply cable 12 is connected to the ground power supply device 1200.

[0068] The unmanned aerial vehicle 5 obtains power from the power supply cable 12 to fly and communicates with the control computer 1100 via the communication cable 11. In addition, the unmanned aerial vehicles 5 communicate with each other via the communication cable 11.

[0069] The control computer 1100, implemented via a personal computer, tablet computer, or similar device, functions as the wireless control device for the unmanned aerial vehicle (UAV) 5. Furthermore, the control computer 1100 communicates with multiple UAVs 5, managing and controlling them as a group. Alternatively, the wireless control device for the UAV 5 can be a different device from the control computer 1100.

[0070] The system management computer 1100 has a control board 1150.

[0071] The control board 1150 is equipped with: a CPU (Central Processing Unit) 1151, a GPU (Graphics Processing Unit), a DSP (Digital Signal Processor), and other microprocessors; various IC memories such as VRAM, RAM, and ROM 1152; a wired communication module 1153; a wireless communication module 1154; and a positioning module 1155. Furthermore, some or all of the functions on the control board 1150 can also be implemented using an ASIC (Application Specific Integrated Circuit), FPGA (Field Programmable Gate Array), or SoC (System on a Chip).

[0072] The wired communication module 1153 communicates with the unmanned aerial vehicle 5 via the communication cable 11.

[0073] The positioning module 1155 performs positioning based on signals from GNSS (Global Navigation Satellite System) satellite 7 and outputs positioning information. The positioning information includes latitude, longitude, altitude above the ground, azimuth, speed above the ground, and time.

[0074] Figure 2 This is a side view showing an example of the structure of unmanned aerial vehicle 5. Figure 3 This is a front view showing an example of the structure of unmanned aerial vehicle 5.

[0075] The unmanned aerial vehicle 5 has a fuselage 52, four electric propellers 54, a front camera 55, a control board 60, and a suspension unit 82. In addition, the number of electric propellers 54 can be appropriately set.

[0076] Four electric propellers 54 are respectively located at the front end of the arms 53 extending from the four corners of the fuselage 52, and are driven and controlled by the control board 60.

[0077] The arm 53 is equipped with a ground height sensor 56 for measuring the height above the ground.

[0078] The ground altitude sensor 56 is implemented, for example, by a visual sensor pointing downwards or an ultrasonic sensor pointing downwards. The ground altitude measured by this sensor is used for flight control of the unmanned aerial vehicle 5.

[0079] The front camera 55 is fixed to the front of the body 52 by means of a gimbal, which can swing up, down and left and right, and is used to shoot the front, left and right and the bottom of the body.

[0080] The control board 60 is built into the body 52.

[0081] The control board 60 includes a microcomputer 61, an IC memory 62, a propeller drive circuit 63, a positioning module 64, an IMU (Inertial Measurement Unit) 65, and a communication module 66. Additionally, the control board 60 includes a first converter 67a, a second converter 67b, and an interface IC 68.

[0082] The microcomputer 61 is a control unit equipped with a CPU that performs calculations on the prescribed programs stored in the IC memory 62. By executing the program, the microcomputer 61 drives and controls the four electric propellers 54, thereby performing various flight controls such as takeoff, landing, hovering, and autonomously flying to a designated position while in formation with other aircraft.

[0083] The propeller drive circuit 63 is a circuit section that controls the drive of the motor of the electric propeller 54, and includes circuits such as PWM (Pulse Width Modulation), ESC (Electric Speed ​​Controller), and BSC (Battery Eliminator Circuit).

[0084] The positioning module 64 receives signals from GNSS satellite 7 to determine its current location and outputs positioning information.

[0085] The IMU 65 detects the angular velocity and acceleration around three orthogonal axes: front-rear axis, up-down axis, and left-right axis. Based on these, it calculates and outputs the attitude angles (pitch, yaw) and azimuth angles.

[0086] The communication module 66 enables data communication with the management computer 1100. Specifically, the communication module 66 enables communication with external devices via the communication cable 11. Furthermore, the communication module 66 enables communication with other machines.

[0087] The first converter 67a is connected to the connecting line tension measuring unit 86.

[0088] The tension measuring unit 86 of the connecting line is implemented, for example, by a load sensor, and also serves as a fixing part for mounting the connecting line 6 to the suspension part 82.

[0089] The first converter 67a calculates and outputs the line tension Tw acting on the connecting line 6 based on the signal output from the connecting line tension measuring unit 86.

[0090] The second converter 67b is connected to the bending beam measuring instrument of the laying object tension measuring unit 120, and calculates and outputs the laying object tension Tf acting on the laying object 4.

[0091] Interface IC 68 controls the input and output of signals between the control board 60 and the outside world.

[0092] The suspension part 82 is a structural part used to suspend the object 4 to be laid.

[0093] The suspension unit 82 is detachably fixed to the lower surface of the fuselage 52 via a connecting part 83 provided at its upper end. The suspension unit 82 has a clamp 100 at its lower end for holding the object to be laid 4.

[0094] The suspension part 82 has a wire fixing part 84 on the upper front side.

[0095] The line fixing part 84 is a part used to detachably fix the rear end of the connecting line 6 that connects other aircraft flying in front of the aircraft in column flight to the aircraft.

[0096] The suspension unit 82 has a connecting line tension measuring unit 86 on its upper rear side.

[0097] The tension measuring unit 86 is implemented, for example, by a load sensor, one end of which is fixed to the suspension unit 82, and the other end is fitted with a wire fixing metal piece 87. The front end of the connecting line 6, which connects the following aircraft flying behind the main aircraft in column flight, to the main aircraft, is fixed to the wire fixing metal piece 87.

[0098] The connecting line tension measuring unit 86 is connected to the first converter 67a. The connecting line tension measuring unit 86 and the first converter 67a measure the load, i.e., the line tension Tw, acting on the connecting line 6 stretched between the machine and the downstream machine.

[0099] The suspension part 82 has a socket 88 on the right or left side (see reference). Figure 3 ).

[0100] Socket 88 is the insertion port for plugs 13 arranged at specified intervals on the multi-cable 10. The unmanned aerial vehicle 5 is designed to be hot-swappable relative to the multi-cable 10.

[0101] The suspension unit 82 has a gripping part 90 at its lower end that can be remotely controlled to release the suspended laying object 4.

[0102] The holding part 90 includes a swing base 91, a swing plate 93 supported on the swing base 91 by a swing shaft 92, and a locking module 94 for fixing / unlocking the swing plate 93 relative to the swing base 91.

[0103] The locking module 94 is an electromagnetic actuator operated by the control board 60. When not energized, the locking pin 95 protrudes and inserts into the upper end of the swing plate 93 through the force of the spring, thereby locking. The locking module 94 is unlocked by pulling out the locking pin 95 inserted into the upper end of the swing plate 93 when energized.

[0104] When the swing plate 93 is locked by the locking module 94, it is fixed in a "suspended posture" along the vertical direction of the body. When the lock is released, it becomes a "free state" that can swing freely.

[0105] A clamp 100 for holding the object to be laid 4 is provided on the front left side of the swing plate 93 (the left side in terms of the machine body). The specifications of the clamp 100 can be appropriately selected according to the size, elasticity, outer shape, etc. of the object to be laid 4, but it is set to the following specifications: when the swing plate 93 becomes free, it swings due to its own weight, thereby releasing the clamp 100.

[0106] Specifically, for example, the clamp 100 fixes the object 4 to be laid by clamping it from top to bottom with an upper clamping block 101 and a lower clamping block 102. The clamp 100 has the following structure: the upper clamping block 101 is set on the swing base 91, and the lower clamping block 102 is supported on the left side of the swing plate 93 so as to be movable up and down, and the up and down position can be adjusted by adjusting the bolt 103.

[0107] The portion of the object 4 suspended between the machine and the downstream machine is stretched, with its front end fixed by the clamp 100 of the machine and its rear end fixed by the clamp 100 of the downstream machine.

[0108] On the rear left side of the swing plate 93 (the left side from the perspective of the machine body), a fixed pulley 110 is installed using a rotation axis facing left and right to hang the object 4 on it (see reference). Figure 2 ).

[0109] The portion of the object 4 suspended between the machine and the downstream machine is stretched into a straight line between the clamp 100 and the fixed pulley 110.

[0110] The swing plate 93 has a tension measuring part 120 for the object to be laid on its left side near the center of the front and rear.

[0111] The tension measuring unit 120 for the laying object has a free roller mounted with its long side in the left-right direction and a bending beam measuring gauge as its axis. Alternatively, the tension measuring unit 120 for the laying object may include a force-applying unit (e.g., a spring support structure, actuator, etc.) that pushes the free roller upward.

[0112] The bending beam type gauge of the laying object tension measuring unit 120 is connected to the second converter 67b. The laying object tension measuring unit 120 and the second converter 67b measure the laying object tension Tf of the laying object 4 based on the load received from the laying object 4.

[0113] In addition, an anti-fall claw 98 extending downward is appropriately provided on the left side of the swing base 91 to prevent the object 4, which is mounted on the clamp 100, the object tension measuring part 120 and the fixed pulley 110, from falling to the left side of the machine body when the swing plate 93 is in a suspended position.

[0114] In order for the holding part 90 to hold the laying object 4, the operator turns on the manual operation switch provided by the locking module 94, temporarily setting it to power on (ON), so that the locking pin 95 is pulled out from the swing plate 93, thereby making the swing plate 93 free.

[0115] Next, the operator uses their hand to slightly swing the swing plate 93 from its suspended position to create a gap between the swing plate 93 and the anti-drop claw 98. Then, the object to be laid 4 is placed and placed on the clamp 100 → object tension measuring unit 120 → fixed pulley 110.

[0116] Then, the operator returns the swing plate 93 to the suspended position, cuts off the manual operation switch of the locking module 94 and returns it to the OFF position, locking the swing plate 93 in the suspended position.

[0117] Figure 4 and Figure 5 This is a diagram used to illustrate the selection of the laying path for the laying object 4. Figure 4 Equivalent to a topographic profile. Figure 5 It is equivalent to an aerial view of the terrain.

[0118] The paving site for object 4 is in the following condition: due to disasters such as earthquakes, typhoons, floods, and landslides, roads are interrupted, making it difficult to advance work vehicles along the road to carry out restoration work on lifelines such as electricity and water. As an emergency measure before road restoration, system 1000 is used to transport and lay object 4 along the intended paving path.

[0119] One of the unmanned aerial vehicles 5 is pre-dispatched as a separate survey aircraft 5x to investigate and determine the laying path of the laying object 4.

[0120] That is, the operator uses the management computer 1100 as a wireless control device to remotely control the survey machine 5x from the laying start point 20 (the location where the management computer 1100 is set up) to the final laying destination point 22. The front camera 55 of the survey machine 5x can be monitored in the management computer 1100 (see reference). Figure 2 The operator directs the survey machine 5x from the laying start point 20 to the final laying destination point 22 to find a laying path that allows the laying object 4 to be unloaded from the air and laid. Figure 4 and Figure 5 The example illustrates finding a path along an open area of ​​the forest. A path can also be serpentine.

[0121] After finding the laying path, the operator returns the survey aircraft 5x to the laying start point 20. Then, after the operator performs the prescribed flight path storage start operation on the control computer 1100, the operator again re-flies the survey aircraft 5x along the flight path 24 that flies over the laying path to the final destination point 22. At this time, the operator remotely controls the aircraft to set the following altitude increase interval 26: the survey aircraft 5x slightly takes off from its ground position GL, and while moving along the flight path 24, gradually increases its flight altitude to the standard flight altitude Hs.

[0122] When the control computer 1100 starts operating after the flight path is entered into the storage, it generates and records data for the flight path 24 based on the positioning information from the survey aircraft 5x.

[0123] Furthermore, the latitude and longitude of flight path 24 utilize positioning information from survey aircraft 5x. The flight altitude of flight path 24 is basically set as follows: the lowest point of the drooping object 4, suspended and transported by unmanned aerial vehicle 5, is at a sufficient height above the ground to avoid contact with utility poles, overhead lines, buildings, trees, etc. This is referred to as the "standard flight altitude Hs".

[0124] Once the flight path 24 is ready, the operator begins the transport operation to lay the object 4.

[0125] Figure 6 This diagram illustrates the flight control for transport operations and maintaining the relative distance, or interbody separation D, between adjacent unmanned aerial vehicles 5.

[0126] The operator sets the flight sequence for multiple unmanned aerial vehicles (UAVs) 5 (5a, 5b, ...). Figure 6In the example, the order of the lowercase letters following the number "5" in the attached figure indicates the flight sequence. The flight sequence can also be preset, for example, via a DIP switch on the control board 60. In the following description, the unmanned aerial vehicle 5 will be referred to as aircraft number 1, aircraft number 2, ... according to the preset flight sequence.

[0127] The operator connects the front end of the first connecting cable 6 to the wire fixing metal part 87 of machine number 1, inserts the first plug 13 from the front end of the multi-cable 10 into the socket 88 of machine number 1, and suspends the multi-cable 10 from the connecting cable 6 with a clamp. Then, the operator uses the holding part 90 of machine number 1 to hold the laying object 4.

[0128] Next, the operator connects the rear end of the first connecting cable 6 to the cable fixing part 84 of machine number 2, connects the front end of the second connecting cable 6 to the cable fixing metal part 87 of machine number 2, and then inserts the second plug 13 from the front end of the multi-cable 10 into the socket 88 of machine number 2. Then, the operator uses a clamp to suspend the multi-cable 10 from the connecting cable 6, and makes the holding part 90 of machine number 2 hold the laying object 4.

[0129] Therefore, the takeoff preparations for aircraft No. 1 were completed, and the operator carried out the takeoff operation for aircraft No. 1 through the central computer 1100.

[0130] The control computer 1100 determines the approach position of aircraft 1, which is the target aircraft for takeoff, based on the takeoff operation (the forward position on the prescribed flight path 24 is moved forward by an amount corresponding to the length of the connecting line 6), and sends the takeoff instruction and approach information to aircraft 1 together.

[0131] After receiving the departure information and takeoff instructions, the No. 1 aircraft took off and flew autonomously toward the departure position. At the departure position, it hovered and waited for the next instruction.

[0132] The operator connects the rear end of the second connecting cable 6 to the cable fixing part 84 of machine number 3, connects the front end of the third connecting cable 6 to the cable fixing metal part 87 of machine number 3, and then inserts the third plug 13 from the front end of the multi-cable 10 into the socket 88 of machine number 3. Then, the operator uses a clamp to suspend the multi-cable 10 from the connecting cable 6, and makes the holding part 90 of machine number 3 hold the laying object 4.

[0133] Therefore, the takeoff preparations for aircraft No. 2 were completed, and the operator carried out the takeoff operation for aircraft No. 2 through the central computer 1100.

[0134] The control computer 1100 determines the respective takeoff positions of aircraft number 1 (in flight) and aircraft number 2 (takeoff target). The control computer 1100 sends the new takeoff position and takeoff command to aircraft number 1, and sends the takeoff position and takeoff command to aircraft number 2.

[0135] Aircraft No. 1 and No. 2 began moving approximately simultaneously, autonomously flying towards their respective starting positions. In other words, Aircraft No. 1 and No. 2 flew in column formation along flight path 24 (the laid path).

[0136] After that, the connection of the connecting line 6 and the multiple cables 10 to the new unmanned aerial vehicle 5 and the suspension and takeoff of the object 4 are repeated until the No. 1 aircraft reaches the airspace above the final destination after intermittently and repeatedly moving towards the departure position.

[0137] Flight control is applied to the unmanned aerial vehicle 5 in flight to maintain the distance between adjacent unmanned aerial vehicles 5 in the flight sequence, i.e., the interbody separation D, within a first range (Dmin. to Dmax.). This is referred to as "first separation control".

[0138] The first range is set based on the standard flight altitude Hs (ground altitude), the length L of the laying object 4 suspended by the adjacent unmanned aerial vehicle 5, and the type of the laying object 4. Specifically, information such as the standard flight altitude Hs, the length L of the laying object 4 suspended by the adjacent unmanned aerial vehicle 5, and the type of the laying object 4 are input into the management computer 1100, and the first range is automatically calculated by referring to the prescribed function or table data.

[0139] The minimum height Hmin can be set appropriately. For example, Hmin can be set to "3m", "5m", "10m", etc. It can be set appropriately according to the height of obstacles around the flight path during installation.

[0140] The minimum value Dmin. of the first range is determined as follows: the curved portion of the laying object 4 suspended between adjacent UAVs 5 will not reach the specified minimum height Hmin. Specifically, the minimum value Dmin. is determined based on the maximum suspension load of the UAV 5, the length L of the laying object 4 suspended between adjacent UAVs 5, and the elasticity determined by the type of laying object 4. The minimum value Dmin. of the first range is calculated using a pre-prepared function (e.g., a function that can determine the minimum value Dmin. by using the type information of the laying object 4 and the length L as variables). Of course, it can also be set to be read from table data that can refer to the minimum value Dmin.

[0141] The maximum value Dmax of the first range is determined as the upper limit of the impact on the unmanned aerial vehicle 5 that can be tolerated due to excessive stretching of the connecting line 6. The maximum value Dmax is determined based on the type and flexibility of the connecting line 6.

[0142] The interbody separation D observed in the first separation control is based on the positioning reference separation Dp estimated from the positioning results of the unmanned aerial vehicle 5 and the tension measurement unit 120 of the laid object (reference). Figure 2 The tension reference interval Dt is determined by the tension Tf of the object being laid, which is measured.

[0143] The tension reference separation Dt is obtained according to the formula (1), which is the formula obtained by assuming that the laying object 4 suspended between adjacent unmanned aerial vehicles 5 forms a catenary between two points and by performing a Taylor expansion of the formula of the catenary.

[0144] L≈Dt+(W 3 Dt 3 / 24Tf 2 )...Equation (1)

[0145] L is the length of a portion of the object 4 suspended between adjacent unmanned aerial vehicles 5. W is the weight per unit length of the object 4.

[0146] Since L and W are known, the tension reference interval Dt can be calculated by substituting the measured tension Tf of the laying object into equation (1) and solving it as a cubic equation of the tension reference interval Dt. Furthermore, regarding equation (1), the approximate accuracy can be improved by increasing the order of the Taylor expansion, so the order can be increased as needed, but it should be noted that solving higher-order equations will increase the computational load.

[0147] The unmanned aerial vehicle 5 continuously transmits its own positioning information and the tension information Tf of the object being laid, corresponding to its own body ID, to the management computer 1100 via the communication cable 11. The management computer 1100 then distributes this information to all unmanned aerial vehicles 5 via the communication cable 11.

[0148] As a first separation control, each unmanned aerial vehicle 5 continuously calculates the separation D between itself and the following aircraft flying after it, and autonomously controls its acceleration and deceleration in a manner that keeps the separation D within a first range.

[0149] Specifically, the unmanned aerial vehicle 5 calculates the positioning reference separation Dp between itself and the follow-up aircraft based on the positioning information of itself and the follow-up aircraft.

[0150] Then, if the distance difference (|Dp-Dt|) between the positioning reference separation Dp and the tension reference separation Dt is less than or equal to a predetermined threshold, the UAV 5 is considered to be in a state of normal positioning and high safety for itself and subsequent aircraft. Moreover, the UAV 5 sets the inter-body separation D as the average value of the positioning reference separation Dp and the tension reference separation Dt for the first separation control.

[0151] On the other hand, if the distance difference between the positioning reference separation Dp and the tension reference separation Dt exceeds a predetermined threshold, the UAV 5 determines that the positioning results of itself and / or subsequent aircraft are abnormal, the reliability of the positioning reference separation Dp is low, and the safety of the first separation control using the positioning reference separation Dp is low. Furthermore, the UAV 5 sets the inter-body separation D as the tension reference separation Dt for the first separation control.

[0152] Figure 7 This diagram illustrates the control used to maintain the distance between aircraft in a column formation, i.e., the distance between aircraft (DW), within a second range.

[0153] Flight control is applied to the unmanned aerial vehicle 5 in flight to maintain the separation distance (DW) within a second range (DWmin. to DWmax.). This is referred to as "second separation control." Figure 7 In the example, three unmanned aerial vehicles (UAVs) 5 (5c, 5d, 5e) are shown flying in a column, with the spacer DW being the distance from the first UAV 5c to the third UAV 5e.

[0154] like Figure 8 As shown, the inter-drone separation distance (DW) is calculated as a scalar value (absolute value) of the sum of the position vector P1 from the location of the second UAV 5d to the first UAV 5c and the position vector P2 from the third UAV 5e to the second UAV 5d. Specifically, each UAV 5 considers itself as the first UAV and continuously calculates the inter-drone separation distance (DW) based on its own positioning information and the positioning information of the last of the two following UAVs obtained via the control computer 1100.

[0155] The second range is set based on the altitude above the ground and the length 2L of the laying object 4 suspended by three unmanned aerial vehicles 5 flying in formation.

[0156] Specifically, the minimum value of the second range, DWmin, is set so that even if the second unmanned aerial vehicle (UAV) 5d in a formation of three consecutive UAVs loses buoyancy, the aircraft will not fall to the minimum altitude Hmin.

[0157] The minimum value DWmin. for the second range is determined based on the maximum suspended load of the UAV 5, the length 2L of the laying object 4 suspended by three consecutive UAVs, the elasticity determined by the type of laying object 4, and the weight of the UAV 5. A function that can determine the minimum value DWmin. using the type of laying object 4 and its length L as variables is prepared in advance, or a table of data that can be referenced to the minimum value DWmin. is prepared in advance.

[0158] The maximum value of the second range, DWmax, is preset as the upper limit of the impact on the unmanned aerial vehicle 5 that can be tolerated due to excessive stretching of the connecting line 6. The maximum value, DWmax, is preset based on the type and flexibility of the connecting line 6.

[0159] As a second separation control, each unmanned aerial vehicle (UAV) 5 continuously calculates the separation distance (DW) between itself and the two aircraft flying in a middle column behind it, and autonomously controls its own acceleration and deceleration to keep the separation distance (DW) within the second range. The second separation control takes precedence over the first separation control.

[0160] Figure 9 This diagram illustrates the transport of multiple unmanned aerial vehicles (UAVs) 5 to the object 4 being laid in a column formation.

[0161] As described above, multiple unmanned aerial vehicles (UAVs) 5 connect the connecting lines 6 and multiple cables 10 in flight sequence, suspend the object to be laid 4, and take off. During flight, they fly autonomously in the following manner: they advance together to the designated starting position at intermittent intervals. That is, multiple UAVs 5 advancing along the flight path 24 transport the object to be laid from the laying start point 20 to the final destination point 22.

[0162] Figure 10 This is a diagram used to illustrate the release and laying of the laying object 4.

[0163] When Unit 1 (UAV 5a) reaches the airspace above the final destination 22, which is the end of flight path 24, the control computer 1100 sends a release instruction to all UAVs 5 at the same time.

[0164] When multiple unmanned aerial vehicles 5 simultaneously receive a release signal, the locking module 94 actuates to pull the locking pin 95 out of the swing plate 93 (see reference). Figure 3 The center of gravity of the swing plate 93 is located directly below the swing axis 92. Therefore, the swing plate 93 swings at the swing axis 92 due to its own weight. Through this swing, the clamping by the clamp 100 is released, and the gaps between the tension measuring part 120 of the laying object and the anti-drop claw 98 and the gaps between the fixed pulley 110 and the anti-drop claw 98 are opened. The laying object 4, which was held, falls from the holding part 90 by its own weight and is placed (laid) on the ground.

[0165] Once the release is complete, the control computer 1100 sends a return-to-home instruction to all unmanned aerial vehicles (UAVs) 5. Upon receiving the return-to-home instruction, the UAVs 5 fly in a column formation along the reverse flight path 24 to autonomously reach the laying start point 20. At this time, the UAV 5 sets the relative distance between itself and other UAVs flying ahead as the inter-aircraft separation D and performs first and second separation control during flight.

[0166] However, during the first separation control upon return, the unmanned aerial vehicle 5 uses the tension measuring unit 86 (see reference) to measure the tension of the connecting line. Figure 2 The line tension Tw is measured and the tension reference gap Dt is calculated based on the above formula (1).

[0167] Figure 11 This is a diagram showing an example of the programs and data stored in the unmanned aerial vehicle 5.

[0168] The unmanned aerial vehicle 5 stores flight control program 501, airframe ID 510, flight sequence 512, flight path data 514, laying specification data 516, first range setting data 520, second range setting data 522 and measurement data 530 in IC memory 62.

[0169] In addition, the unmanned aerial vehicle 5 stores in the IC memory 62 historical data 532 of the current position coordinates that are saved in time sequence, positioning reference separation data 534 representing the positioning reference separation Dp, and tension reference separation data 536 representing the tension reference separation Dt.

[0170] Additionally, the unmanned aerial vehicle 5 stores in its IC memory 62 interbody separation data 538 representing interbody separation D, advance position coordinates 540, and duration 542 representing the duration for which the distance difference between the positioning reference separation Dp and the tension reference separation Dt exceeds a threshold. Of course, other data may also be stored as appropriate.

[0171] Unmanned aerial vehicle 5 executes flight control program 501 and performs calculations via microcomputer 61 to achieve... Figure 12 It functions as the flight control unit 200 as shown.

[0172] Based on positioning information, the flight control unit 200 autonomously controls the aircraft to maintain a standard flight altitude Hs, keep a distance from other aircraft along the flight path 24, and fly in formation. Furthermore, the flight control unit 200 can control hovering at the standard flight altitude Hs or a specified altitude when given conditions are met. The flight control unit 200 includes a first range setting unit 202, a second range setting unit 204, a positioning reference separation estimation unit 206, a tension reference separation estimation unit 208, and an inter-aircraft separation determination unit 210. Additionally, the flight control unit 200 includes a first separation control unit 212, a safety determination unit 220, a security flight control unit 222, a second separation control unit 224, and a release execution control unit 226.

[0173] The first range setting unit 202 sets the first range based on the ground altitude (standard flight altitude Hs) and the length of the laying object 4 suspended by the adjacent unmanned aerial vehicle 5.

[0174] The second range setting unit 204 sets the second range based on the ground altitude (standard flight altitude Hs), the length 2L of the laying object 4 suspended by three consecutive unmanned aerial vehicles 5, and the weight of the unmanned aerial vehicles 5.

[0175] The positioning reference separation estimation unit 206 estimates the positioning reference separation Dp based on the positioning information of the unmanned aerial vehicle 5.

[0176] Tension reference separation estimation unit 208 based on the tension measurement unit 120 of the laying object of the unmanned aerial vehicle 5 (reference) Figure 2 The tension reference separation Dt is estimated by measuring the results of the measurement and the length L and weight W of the laying object 4 suspended by the adjacent unmanned aerial vehicle 5.

[0177] The inter-body separation determination unit 210 determines the inter-body separation D based on the positioning reference separation Dp and the tension reference separation Dt. Specifically, when the distance difference is less than or equal to a predetermined threshold, the inter-body separation determination unit 210 determines the inter-body separation D as the average value of the positioning reference separation Dp and the tension reference separation Dt; when the distance difference is greater than the predetermined threshold, the inter-body separation D is determined as the tension reference separation Dt.

[0178] The first separation control unit 212 controls the distance between adjacent unmanned aerial vehicles 5 during column flight, i.e., the separation D between the aircraft bodies, in a first range.

[0179] The safety determination unit 220 determines the safety of the transport flight of the object to be laid 4 based on the distance difference between the positioning reference separation Dp and the tension reference separation Dt. Specifically, if the distance difference is greater than a predetermined threshold, the safety determination unit 220 determines that the object is in a low-safety state due to a positioning problem. Furthermore, it performs time control on the duration 542 of the state where the distance difference is greater than the predetermined threshold, and determines the safety of continuing flight based on the timed duration.

[0180] The security flight control unit 222 controls the flight of the unmanned aerial vehicles (UAVs) 5 based on the determination results of the safety determination unit 220. Specifically, when the safety determination unit 220 determines that a predetermined standby condition has been met for a duration based on a distance difference greater than a predetermined threshold, the security flight control unit 222 controls all UAVs 5 to hover temporarily to interrupt flight. Furthermore, when the safety determination unit 220 determines that a predetermined emergency landing condition has been met, indicating a worse safety situation compared to meeting the standby condition, the security flight control unit 222 controls all UAVs 5 to land.

[0181] The second separation control unit 224 controls the distance between aircraft in column flight, i.e., the separation distance DW, in a second range.

[0182] Release execution control unit 226 executes the control to release the laying object 4 held by the holding unit 90.

[0183] Back Figure 11 Flight path data 514 is generated for each checkpoint of the defined flight path 24, and is acquired and stored from the control computer 1100. A flight path data set 514 includes the path sequence, position coordinates (longitude and latitude), and standard flight altitude. Of course, other data may also be stored as appropriate.

[0184] The laying specification data 516 contains various settings related to laying, and is obtained and stored from the management computer 1100. The laying specification data 516 may include, for example, the type of the laying object 4, the weight W per unit length of the laying object 4, the suspension length L of the laying object 4, the minimum height Hmin, etc. Of course, it may also appropriately include other data.

[0185] Measurement data 530 includes various measurement data. For example, measurement data 530 includes positioning information, line tension Tw, and the tension Tf of the laid object. Of course, it may also appropriately include other data besides these.

[0186] Figure 13This is a diagram used to illustrate examples of programs and data stored in the management computer 1100, as well as the functions implemented by the management computer 1100.

[0187] The control computer 1100 stores the control program 503, airframe registration data 600, flight path data 610 corresponding to the original data of flight path 24, laying specification data 612, and flight management data 700 in the IC memory 1152. Of course, other data may also be stored as appropriate.

[0188] The management computer 1100 performs the functions of the management control unit 240 by executing the management control program 503 and performing calculations by the CPU 1151.

[0189] The overall control unit 240 performs various controls related to the flight control of multiple unmanned aerial vehicles 5 in groups or platoons. The overall control unit 240 includes an information distribution control unit 250, a sequential take-off and landing control unit 252, an approach position determination unit 254, a release instruction control unit 256, and a return instruction control unit 258.

[0190] The information distribution control unit 250 obtains positioning information and tension information from each unmanned aerial vehicle 5 and distributes the received positioning information, so that the unmanned aerial vehicles 5 can obtain each other's positioning information.

[0191] The sequential takeoff and landing control unit 252 controls the unmanned aerial vehicle 5 to take off and land in the flight sequence.

[0192] The departure position determination unit 254 determines the next departure position for each unmanned aerial vehicle 5 along the flight path 24 and performs transmission control to each unmanned aerial vehicle.

[0193] Release instruction control unit 256, based on the fact that Unit 1 has reached the airspace above the final destination 22, sends a release instruction to all unmanned aerial vehicles 5 to release the laying objects 4 they are holding at the same time.

[0194] The return instruction control unit 258 controls the transmission of a return instruction to the unmanned aerial vehicle 5 that has completed its release and is to return to the laying start point 20.

[0195] Aircraft registration data 600 is prepared for each unmanned aerial vehicle (UAV) 5. Each aircraft registration data 600 stores the aircraft ID and flight sequence.

[0196] Flight management data 700 is prepared for each unmanned aerial vehicle (UAV) 5.

[0197] Flight management data 700 includes an aircraft ID 702, and aircraft positioning information 704 and tension information 706 received from the aircraft. Additionally, flight management data 700 includes departure position coordinates 710, takeoff target marker 712, and in-flight aircraft marker 714. Of course, it may also appropriately include other data.

[0198] In the initial state before the laying begins, the starting position coordinate 710 is set to undetermined.

[0199] The takeoff target flag 712 is initially set to "0" and is set to "1" when it becomes the target of takeoff control.

[0200] The aircraft marking 714 is initially set to "0 (not yet taken off)" and is set to "1 (in flight)" after takeoff.

[0201] Figures 14 to 19 This is a flowchart used to illustrate the processing flow in System 1000.

[0202] In addition, the flight sequence of each unmanned aerial vehicle 5 has been set. Furthermore, the data for the flight path 24 has been stored in the management computer 1100.

[0203] like Figure 14 As shown, the unmanned aerial vehicle 5 wirelessly connects to the control computer 1100 to perform preparation processes (steps S10 and S12).

[0204] Specifically, as a preparatory process, the management computer 1100 displays a predefined laying specification input screen and accepts input of laying specifications (e.g., the type of laying object 4, the suspension length L of the laying object 4, the weight per unit length W of the laying object 4, the minimum altitude Hmin, etc.). Then, the management computer 1100 stores the input laying specifications as laying specification data 612 and distributes the flight path data 610 and the laying specification data 612 to all unmanned aerial vehicles 5 via communication.

[0205] As part of the preparatory process, the unmanned aerial vehicle 5 stores the laying specifications and flight path data received from the control computer 1100, and determines the first range (Dmin. to Dmax.; refer to...) Figure 6 ) and the second range (DWmin. to DWmax.; see reference) Figure 7 Then, the unmanned aerial vehicle 5 uses the latitude, longitude, and altitude above the ground of the positioning information as the latest current position coordinates to begin recording historical data 532 of the current position coordinates. Furthermore, as a preparatory process, the unmanned aerial vehicle 5 begins measuring the positioning information and tension information, and begins controlling the transmission of the measurement results to the control computer 1100 via the multi-cable 10.

[0206] After the preparation process is completed, the control computer 1100 begins to record the positioning information and tension information received from each aircraft as control of the body positioning information 704 and tension information 706 (step S24), and begins to distribute the control of the body positioning information 704 of all aircraft to all unmanned aerial vehicles 5 (step S26).

[0207] The control computer 1100 sets the unmanned aerial vehicle 5 with the lowest flight sequence among the non-flying aircraft as the takeoff target (step S30), and waits for the operator to input the takeoff permission operation.

[0208] When the operator connects the connecting cable 6 and multiple cables 10 between the unmanned aerial vehicle 5, which is the takeoff target, and the unmanned aerial vehicle 5, which is the next to fly in the flight sequence, and makes the two aircraft hold the laying target body 4, the operator inputs the takeoff permission operation on the management computer 1100.

[0209] When the control computer 1100 detects a takeoff clearance operation input ("Yes" in step S32), it sends a hover instruction to the takeoff target aircraft (step S34).

[0210] When the unmanned aerial vehicle 5 receives a hovering instruction for itself, it begins to hover (step S36). The control computer 1100 sets the in-flight body flag 714 of the takeoff target aircraft to "1" and registers it as an in-flight body (step S38).

[0211] The control computer 1100 determines the departure position coordinates 710 for each aircraft in flight, which correspond to the next moving destination on the flight path 24 (step S50).

[0212] The new departure position coordinates 710 are the position from the current position of the aircraft in flight shown in the latest aircraft positioning information 704, moved forward along the flight path 24 by an amount corresponding to the length of the connecting line 6 when viewed from above the suspended state. The departure position is contained within the altitude increase interval 26 (see reference). Figure 4 In the case of ), the ground elevation shown at the starting position coordinate 710 is a gradually increasing height Hp (Hp1, Hp2, ...; refer to) as it moves further away from the laying start point 20. Figure 6 ).

[0213] Then, the control computer 1100 sends the departure position coordinates and departure start instructions to each aircraft in flight (step S52).

[0214] When the unmanned aerial vehicle 5 receives the departure start instruction, it begins to fly autonomously toward its departure position coordinates (step S54).

[0215] Go to Figure 15Unmanned aerial vehicle 5 performs the first separation control 31 (steps S70 to S106).

[0216] Specifically, the unmanned aerial vehicle 5 begins calculating the positioning reference separation Dp, tension reference separation Dt, and spaced-machine separation DW (step S70). Thereafter, during the execution of the first separation control, the positioning reference separation Dp, tension reference separation Dt, and spaced-machine separation DW are constantly recalculated and updated in conjunction with the acquisition of new positioning information.

[0217] If the distance difference between the positioning reference separation Dp and the tension reference separation Dt is less than or equal to a predetermined threshold ("Yes" in step S72), then the UAV 5 sets the average value of the positioning reference separation Dp and the tension reference separation Dt as the interbody separation D (step S74). Then, the UAV 5 stops timing the duration 542 and resets it to "0" (step S76).

[0218] If the distance difference exceeds the threshold (No in step S72), the unmanned aerial vehicle 5 is considered to have a positioning fault or anomaly, and the duration 542 is timed (step S80), and the latest duration 542 is compared with the prescribed first reference value (step S82).

[0219] During the period when the first reference value is not reached for duration 542 ("Yes" in step S82), the unmanned aerial vehicle 5 is considered to have a positioning reference separation Dp that is unreliable due to a positioning failure, but this is likely still temporary, and the tension reference separation Dt is set to the interbody separation D (step S84).

[0220] Then, the unmanned aerial vehicle 5 updates the latest position coordinates (latitude, longitude and altitude of the positioning information) of the current position coordinate historical data 532 to the position coordinates calculated assuming that it has moved for the positioning period of the positioning information at the ground speed from the previous position coordinates (step S86).

[0221] Next, the unmanned aerial vehicle 5 executes the second separation control 32 (steps S90 to S96).

[0222] Specifically, the unmanned aerial vehicle 5 determines whether the spacer separation DW is within the second range (step S90). Furthermore, if the answer is no ("No" in step S90), and the spacer separation DW is less than or equal to the minimum value DWmin of the second range (DW≤DWmin in step S92), then the unmanned aerial vehicle 5 accelerates (step S94). If the spacer separation DW is greater than or equal to the maximum value DWmax of the second range (DWmax ≤ DW in step S92), then the unmanned aerial vehicle 5 decelerates (step S96).

[0223] Go to Figure 16Next, the unmanned aerial vehicle 5 determines whether the inter-body separation D set in step S72 or step S84 is within the first range (step S100). Furthermore, if the result is negative ("No" in step S100), and the inter-body separation D is less than or equal to the minimum value Dmin of the first range (D≤Dmin in step S102), then the unmanned aerial vehicle 5 accelerates (step S104). If the set inter-body separation D is greater than or equal to the maximum value Dmax of the first range (Dmax≤D in step S102), then the unmanned aerial vehicle 5 decelerates (step S106).

[0224] Back Figure 15 On the other hand, if the duration 542 exceeds the first reference value (No in step S82), the unmanned aerial vehicle 5 sends a suspension request to the management computer 1100 (step S110). That is, the unmanned aerial vehicle 5 detects that the positioning failure is likely to affect the safe transport flight of the laying object 4 and has reached the standby conditions that meet the prescribed suspension of transport flight, and notifies the management computer 1100 of this situation.

[0225] Go to Figure 16 When the control computer 1100 receives a pause request ("Yes" in step S112), it sends a pause instruction to all aircraft in flight (step S114).

[0226] When the unmanned aerial vehicle 5 receives a pause instruction ("Yes" in step S120), it stops moving toward the heading position coordinate 540 and begins to hover and wait in place (step S122).

[0227] During hovering, if the distance difference between the positioning reference separation Dp and the tension reference separation Dt recovers to less than or equal to the threshold ("Yes" in step S124), the unmanned aerial vehicle 5 sends a request to release the pause to the management computer 1100 (step S126).

[0228] The duration 542 is also continuously accumulated during the hovering standby period. When the duration 542 exceeds the prescribed second reference value ("Yes" in step S130), the unmanned aerial vehicle 5 considers that there is an anomaly that meets the prescribed emergency landing conditions that may impair the safety of the transport flight, and sends a message to the control computer 1100 that the anomaly has been detected (step S132).

[0229] When the control computer 1100 receives the release request ("Yes" in step S134), it sends a release instruction for the suspension to all aircraft in flight (step S136).

[0230] When the unmanned aerial vehicle 5 receives the pause release instruction ("Yes" in step S140), it releases the hover and resumes moving towards the departure position coordinate 540 (step S142).

[0231] Go to Figure 17 The control computer 1100 performs fault diagnosis on the aircraft in flight based on the measurement results received from each aircraft in flight (step S160). For example, it can also be configured such that the control computer 1100 determines that the aircraft in flight "has a fault" when the data (latitude, longitude, altitude above ground, etc.) of the successively received positioning information show abnormal changes.

[0232] If the control computer 1100 has a faulty body (faulty body) that is determined to be "faulty" through fault diagnosis, or if it receives an abnormal detection signal from the unmanned aerial vehicle 5 ("Yes" in step S162), it sends an emergency landing instruction to the body in flight (step S184).

[0233] When the unmanned aerial vehicle 5 receives an emergency landing instruction ("Yes" in step S186), it performs landing control (step S188).

[0234] Unmanned aerial vehicle 5 moves from the starting position coordinate 540 to the arrival position (No in step S190), and repeats steps S70 to S186.

[0235] If the aircraft safely reaches the departure position coordinate 540 ("Yes" in step S190), the unmanned aerial vehicle 5 will switch to hovering (step S192) and wait to receive the next departure position coordinate 540 and departure instruction ("No" in step S210).

[0236] On the other hand, before the first unmanned aerial vehicle 5, which controls the computer 1100, reaches the airspace above the final destination 22 (No in step S204), steps S30 to S162 are repeated.

[0237] When the aircraft reaches the departure position coordinate 540 and hovers, the operator adds the next UAV 5 to the formation, connects it to the connecting cable 6 and multi-cable 10, and holds the laying target 4. Then, the operator enters takeoff clearance into the control computer 1100. Thus, as UAV 5 is added to the formation, the laying target 4 gradually extends from the laying start point 20 along the laying path.

[0238] When aircraft 1 reaches the airspace above the final destination 22 ("Yes" in step S204), the control computer 1100 sends a descent preparation instruction to the aircraft in flight (step S206).

[0239] When the unmanned aerial vehicle 5 receives the preparation to descend instruction ("Yes" in step S210), it descends together to the prescribed laying height (step S212). The laying height is set to a height that will not cause damage to the laying object 4 even if it falls to the ground, or will not cause unnecessary rebound upon landing. For example, it can be set to about 100cm.

[0240] After a predetermined time has elapsed since the control computer 1100 sent the preparation for descent instruction, it sends a release instruction to the aircraft in flight (step S214).

[0241] When the unmanned aerial vehicle 5 receives a release instruction, it engages the locking module 94 (see reference). Figure 3 The action is performed to release the laying object 4 together (step S216).

[0242] After a specified time has elapsed since the release instruction was sent, the control computer 1100 sends a return instruction to the aircraft in flight (step S218).

[0243] Go to Figure 18 When the unmanned aerial vehicle 5 receives the return instruction, it ascends together to the standard flight altitude Hs and begins autonomous flight in the reverse direction along flight path 24 (step S230), and begins the first separation control 31 (refer to...). Figure 15 , Figure 16 (Step S232).

[0244] Specifically, in the first separation control during return, the acceleration / deceleration process when the inter-body separation D is moved out of the first range based on the line tension Tw is the opposite of the process in the first separation control 31 during takeoff. That is, if the inter-body separation D is less than or equal to the minimum value Dmin of the first range, the returning UAV 5 decelerates; if it is greater than or equal to the maximum value Dmax of the first range, the returning UAV 5 accelerates.

[0245] Additionally, the acceleration / deceleration handling when the isolation zone DW is removed from the second range is related to the second isolation control 32 during advance (see reference). Figure 15 The opposite is true for the other type of drone. That is, if the interval DW is less than or equal to the minimum value DWmin. of the second range, the drone 5 returning to base decelerates; if it is greater than or equal to the maximum value DWmax. of the second range, the drone 5 returning to base accelerates.

[0246] In addition, unmanned aerial vehicle 5 also performs security flight control 33 (33a, 33b, 33c) upon returning to base; see reference Figures 15 to 17 (Step S234).

[0247] When the last aircraft in flight reaches the airspace above the starting point of flight path 24 ("Yes" in step S240), the control computer 1100 sends a recovery standby instruction to the aircraft in flight (step S242).

[0248] When the unmanned aerial vehicle 5 receives the recovery standby instruction, it stops its reverse movement along the flight path 24 and hovers in place (step S244).

[0249] The control computer 1100 sets the aircraft with the highest flight sequence among the aircraft in flight (at this time, the aircraft closest to the laying start point 20) as the landing target aircraft (step S250). If a recovery standby instruction has just been sent, the last aircraft is set as the landing target aircraft.

[0250] Next, the control computer 1100 determines the backward position coordinates for each in-flight aircraft other than the landing target aircraft (step S252). The backward position coordinates are equivalent to the starting position coordinates 540 when moving backward along the flight path 24. Therefore, the backward position coordinates of the in-flight aircraft other than the landing target aircraft are the positions from the hovering position on the flight path 24 (latitude and longitude from the positioning information received from each UAV 5) and backward a predetermined distance along the flight path 24 based on the length of the connecting line 6.

[0251] Next, the control computer 1100 sends a landing instruction to the target aircraft (step S254), and sends the reverse position coordinates and reverse start instruction to the other aircraft in flight (step S256). Then, the control computer 1100 removes the target aircraft from the registration of the aircraft in flight (step S258).

[0252] Go to Figure 19 When the unmanned aerial vehicle 5 receives the backward position coordinates and the instruction to start backward movement ("Yes" in step S280), it begins to fly autonomously toward the backward position coordinates. When it reaches the backward position coordinates, it stops hovering and waits (step S282).

[0253] In addition, when the unmanned aerial vehicle 5 receives a landing instruction ("Yes" in step S284), it executes landing control to gradually reduce the rotation of the propeller, and stops the propeller after landing (step S286).

[0254] The operator disconnects the connecting cable 6 from the tension measuring unit 86 of the landing unmanned aerial vehicle 5, releases the clamp securing the connecting cable 6 to the multi-cable 10, and unplugs the connector 13. At this point, the unmanned aerial vehicle 5, which was the landing target, is recovered.

[0255] Furthermore, when the operator completes the recycling, they input the prescribed recycling completion operation into the management computer 1100.

[0256] When the system management computer 1100 receives the input "Recovery Completed" ("Yes" in step S290), it determines whether the landing target machine is machine number 1, that is, whether the recovery of machine number 1 has been completed (step S292).

[0257] If Unit 1 has not been recovered (No in step S292), then the management computer 1100 repeats steps S250 to S290.

[0258] If the recycling of Unit 1 is completed ("Yes" in step S292), the management computer 1100 will end a series of processes.

[0259] As described above, the system 1000 according to this embodiment enables new technologies that can be used to quickly restore lifelines such as electricity and tap water in disaster-stricken areas.

[0260] The unmanned aerial vehicle 5 is powered and communicated via multiple cables 10. Therefore, the unmanned aerial vehicle 5 can fly continuously without relying on the capacity of its onboard battery and can lay the target body 4 over long distances.

[0261] In addition, the unmanned aerial vehicles 5 flying in formation are controlled to keep the separation D between the aircraft within a first range, so as not only to prevent contact between adjacent aircraft in the flight sequence, but also to prevent entanglement of multiple cables 10, laying objects 4, or undesirable sagging.

[0262] Furthermore, the unmanned aerial vehicles (UAVs) flying in tandem are controlled to maintain the spaced-out distance (DW) within the second range. Therefore, even if the second UAV 5 in a flight sequence of three UAVs flying side-by-side becomes incapacitated, it can be recovered using the first and third UAVs and the transport flight can continue.

[0263] Wired communication via multiple cables 10 enables reliable exchange of positioning information between unmanned aerial vehicles 5, even in disaster-stricken areas with harsh wireless communication environments such as mountainous regions, thereby helping to stably maintain the separation between aircraft D and the separation between aircraft DW.

[0264] Furthermore, the unmanned aerial vehicle 5 can remotely release the suspended laying object 4. Therefore, a group of unmanned aerial vehicles can be reused to lay multiple laying objects 4.

[0265] Furthermore, in the first separation control related to the interbody separation D, the tension reference separation Dt is used as the interbody separation D based on the distance difference between the positioning reference separation Dp and the tension reference separation Dt. Thus, even under conditions where positioning information is unreliable (e.g., when it is difficult to receive radio waves from GNSS satellite 7, or when radio wave reception is prone to errors), the interbody separation D can be stably maintained.

[0266] Furthermore, by connecting the unmanned aerial vehicles 5 according to the flight sequence via the connecting lines 6, the tension of each connecting line 6 can be measured by the connecting line tension measuring unit 86. Therefore, even after the laying object 4 has been released, the tension reference separation Dt can be calculated, thereby enabling flight control that maintains the separation D between the aircraft in both the path where the laying object 4 is suspended and the loop after the laying object 4 has been released.

[0267] [Variation Example]

[0268] Although embodiments of the present invention have been described, the ways in which the present invention can be applied are not limited to the above embodiments, and the addition, omission, and modification of constituent elements can be appropriately implemented.

[0269] (Example 1)

[0270] In the above embodiments, the following example is shown, but not limited to: before the laying of the object 4, a survey aircraft 5x is dispatched to pre-set the laying path and flight path 24 of the object 4, and the unmanned aerial vehicle 5 can fly autonomously along the flight path 24.

[0271] For example, the survey of the laying path and the transport flight of the laying object 4 can be carried out simultaneously. That is, the first unit of the unmanned aerial vehicle 5 can also serve as the survey aircraft 5x. Moreover, it is also possible that while the operator is operating the first unit to survey the laying path of the laying object 4, the transport flight of the unmanned aerial vehicle 5 to the laying object 4 can be carried out in parallel.

[0272] In this case, the control computer 1100 distributes the positioning information obtained by aircraft 1 during flight as the data of flight path 24 in the structure to aircraft 2 and subsequent aircraft in flight.

[0273] The second UAV, followed by the fifth UAV, autonomously flies by comparing its own location information with the location information of the first UAV's flight path, while tracking the first UAV's flight path. Based on this structure, even when multiple UAVs 5 cannot fly autonomously simultaneously, the operator only needs to operate the first UAV to perform the delivery operation.

[0274] (Second variation)

[0275] According to the above embodiments, a structure that omits the connecting line 6 and the communication cable 11 can also be adopted. For example, it can also be configured such that the communication module 66 of the unmanned aerial vehicle 5 enables wireless communication between adjacent airframes and supports multi-hop communication. Moreover, in the above embodiments, the management computer 1100 replaces the communication implemented via the communication cable 11 with multi-hop communication.

[0276] Explanation of reference numerals in the attached figures

[0277] 4: Laying target; 5: Unmanned aerial vehicle; 6: Connecting line; 11: Communication cable; 12: Power supply cable; 20: Laying start point; 22: Final destination; 24: Flight path; 31: First separation control; 32: Second separation control; 33: Security flight control; 60: Control board; 64: Positioning module; 66: Communication module; 86: Connecting line tension measurement unit; 90: Holding part; 100: Clamp; 120: Laying target tension measurement unit; 200: Flight control unit; 202: First range setting unit; 204: Second range setting unit; 206: Positioning reference separation estimation unit; 208: Tension reference separation estimation unit; 210: Inter-body separation determination unit; 212: First separation control unit; 220: Safety determination unit; 222: Security flight control unit; 224: Second separation control unit; 22 6: Release Execution Control Unit; 501: Flight Control Procedure; 503: Overall Control Procedure; 514: Flight Path Data; 520: First Range Setting Data; 522: Second Range Setting Data; 530: Measurement Data; 532: Current Position Coordinate Historical Record Data; 534: Positioning Reference Separation Data; 536: Tension Reference Separation Data; 538: Inter-Aircraft Separation Data; 540: Departure Position Coordinates; 542: Duration; 610: Flight Path Data; 612: Laying Specification Data; 704: Aircraft Positioning Information; 706: Tension Information; 710: Departure Position Coordinates; 1000: System; 1100: Overall Control Computer; D: Inter-Aircraft Separation; DW: Separation Between Aircraft; Dp: Positioning Reference Separation; Dt: Tension Reference Separation; L: Suspension Length; Tf: Tension of Laying Object; Tw: Line Tension.

Claims

1. A transport system for transporting objects to be laid, The object to be laid is any one of electrical wires, flexible hoses, and ropes. The delivery system includes: Multiple unmanned aerial vehicles (UAVs) that suspend the laid object at intervals during flight; and A computer controls the plurality of unmanned aerial vehicles to make them fly in formation along a given laid path.

2. The transport system according to claim 1, wherein, The multiple unmanned aerial vehicles will be suspended by the communication cables and power cables connecting the flight control of each unmanned aerial vehicle and will then conduct the column flight.

3. The transport system according to claim 1, wherein, The unmanned aerial vehicle has a first separation control unit that controls the distance between adjacent unmanned aerial vehicles during the convoy flight, i.e., the inter-aircraft separation, in a first range.

4. The transport system according to claim 3, wherein, The unmanned aerial vehicle has a first range setting unit, which sets the first range based on the altitude above the ground and the length of the laying object suspended by the adjacent unmanned aerial vehicle.

5. The transport system according to claim 3, wherein, The unmanned aerial vehicle has the following features: Location function; and The positioning reference separation estimation unit estimates the separation between the bodies based on the positioning information of the positioning function.

6. The transport system according to claim 3, wherein, The unmanned aerial vehicle has the following features: A measuring unit, used to measure the tension of the suspended object being laid; and The tension reference separation estimation unit estimates the separation between the bodies based on the measurement results of the measurement unit and the length and weight of the laying object suspended by the adjacent unmanned aerial vehicle.

7. The transport system according to claim 3, wherein, The unmanned aerial vehicle has the following features: Location function; The positioning reference separation estimation unit estimates the positioning reference separation based on the positioning information of the positioning function; A measuring unit for measuring the tension of the suspended object being laid; The tension reference separation estimation unit estimates the tension reference separation based on the measurement results of the measurement unit and the length and weight of the laying object suspended by the adjacent unmanned aerial vehicle; and The decision-making unit determines the separation between the bodies based on the positioning reference separation and the tension reference separation.

8. The transport system according to claim 3, wherein, The unmanned aerial vehicle has the following features: A measuring unit for measuring the tension of the connecting line between adjacent unmanned aerial vehicles; and The tension reference separation estimation unit estimates the separation between the airframes based on the measurement results of the measurement unit and the length and weight of the connecting line between adjacent unmanned aerial vehicles.

9. The transport system according to claim 3, wherein, The unmanned aerial vehicle has the following features: Location function; The positioning reference separation estimation unit estimates the positioning reference separation based on the positioning information of the positioning function; A measuring unit for measuring the tension of the connecting lines between adjacent unmanned aerial vehicles; A tension reference separation estimation unit estimates the tension reference separation based on the measurement results of the measuring unit and the length and weight of the connecting line between adjacent unmanned aerial vehicles; and The decision-making unit determines the separation between the bodies based on the positioning reference separation and the tension reference separation.

10. The transport system according to claim 7 or 9, wherein, The unmanned aerial vehicle has the following features: A safety determination unit determines the safety of the transport flight of the laid object based on the distance difference between the positioning reference separation and the tension reference separation; and The security flight control unit performs flight control of the unmanned aerial vehicle based on the determination results of the security determination unit.

11. The transport system according to claim 10, wherein, The unmanned aerial vehicle is capable of hovering. If the safety determination unit determines that the specified standby conditions are met, the security flight control unit will control the unmanned aerial vehicle to hover.

12. The transport system according to claim 10 or 11, wherein, If the safety determination unit determines that the prescribed emergency landing conditions are met, the security flight control unit will control the unmanned aerial vehicle to land.

13. The transport system according to any one of claims 3 to 9, wherein, The unmanned aerial vehicle has a second separation control unit that controls the distance between the unmanned aerial vehicles in the column flight, i.e., the separation between the unmanned aerial vehicles, in a second range.

14. The transport system according to any one of claims 1 to 9, wherein, The unmanned aerial vehicle has the following features: The holding part, which can be remotely controlled to release the suspended laying object; and The release execution control unit performs the control that causes the holding unit to release.

15. A method for transporting a laying object, wherein, The object to be laid is any one of electrical wires, flexible hoses, and ropes. The transportation method includes: Multiple unmanned aerial vehicles (UAVs) suspend the laid object at intervals to fly; and The plurality of unmanned aerial vehicles are controlled to fly in a column along a given laid path.

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