Flight control system and flight control method

Abstract

To reduce workload of a worker and processing load of an unmanned aircraft.SOLUTION: A flight control system includes an unmanned aircraft, and a plurality of electronic devices installed in a plurality of power transmission / distribution facilities. The unmanned aircraft includes: a first communication unit configured to communicate with the electronic devices; a first storage unit configured to store first position information on the electronic devices; and a movement control unit configured to control movement based on the first position information. Each of the electronic devices includes: a second communication unit configured to communicate with the unmanned aircraft; a second storage unit configured to store second position information on an electronic device to which the unmanned aircraft moves next to the self-device; and a communication control unit that causes the second position information stored in the second storage unit to be transmitted from the second communication unit to the first communication unit. When the first communication unit receives the second position information, the movement control unit controls movement based on the received second position information.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] The present invention relates to a flight control system and a flight control method. [Background technology]

[0002] Conventionally, a patrol inspection system for reducing the burden on workers in patrol inspection work of wiring facilities is known. This patrol inspection system is described in, for example, Patent Document 1. The patrol inspection system of Patent Document 1 sets a flight path for a drone having a camera, and patrols and inspects the inspection facility based on image data captured when the drone is automatically flown along the set flight path. In order to set the flight path, the patrol inspection system displays coordinate information including latitude, longitude, altitude, and facility height for multiple distribution facilities that are the inspection facilities. The patrol inspection system calculates a flight path based on coordinates corresponding to a selected distribution facility from the displayed distribution facilities, and displays the calculated flight path on a map. In addition, in the patrol inspection system, the drone determines the three-dimensional coordinates of the utility pole in order to automatically fly along the flight path. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2021-189663 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, the patrol inspection system described in Patent Document 1 needs to set a flight path for each patrol inspection. The task of setting a flight path requires displaying and checking coordinate information for the patrol inspection and inputting the coordinate information to correct it, which can increase the burden on the worker. Furthermore, in order to automatically fly the drone along the flight path, the drone needs to calculate three-dimensional coordinates, which increases the processing burden on the drone and can cause problems with the accuracy of the coordinates calculated by the drone.

[0005] The present disclosure has been made in consideration of the above circumstances, and aims to provide a flight control system and a flight control method that can reduce the workload of workers and the processing burden on unmanned aerial vehicles. [Means for solving the problem]

[0006] The present disclosure has been made to solve the above-mentioned problems, and one aspect of the present disclosure is a flight control system comprising an unmanned aerial vehicle and a plurality of electronic devices installed in a plurality of power transmission and distribution facilities, wherein the unmanned aerial vehicle comprises a first communication unit that communicates with the electronic devices, a first memory unit that stores first position information of the electronic devices, and a movement control unit that controls movement based on the first position information stored in the first memory unit, and each of the electronic devices comprises a second communication unit that communicates with the unmanned aerial vehicle, a second memory unit that stores second position information of the electronic device to which the unmanned aerial vehicle will move next after the unmanned aerial vehicle itself, and a communication control unit that causes the second position information stored in the second memory unit to be transmitted from the second communication unit to the first communication unit, and the movement control unit controls movement based on the received second position information when the first communication unit receives the second position information.

[0007] Another aspect of the present disclosure is a flight control method for a flight control system including an unmanned aerial vehicle and a plurality of electronic devices installed in a plurality of power transmission and distribution facilities, the flight control method including the steps of: the unmanned aerial vehicle storing first position information of the electronic devices; the unmanned aerial vehicle controlling movement based on the stored first position information; each of the electronic devices storing second position information of the electronic device to which the unmanned aerial vehicle will move next after the electronic device; each of the electronic devices transmitting the second position information to the unmanned aerial vehicle; and the unmanned aerial vehicle receiving the second position information and controlling movement based on the received second position information. Effect of the Invention

[0008] According to one aspect of the present invention, the workload of workers and the processing burden of unmanned aerial vehicles can be reduced. [Brief description of the drawings]

[0009] [Figure 1] 1 is a block diagram showing an example of a power system to which a flight control system and a flight control method according to an embodiment are applied. FIG. [Diagram 2] 1 is a block diagram showing an example of a flight control system 1 according to an embodiment. [Diagram 3] FIG. 1 is a block diagram showing an example of a schematic of a substation / distribution tower system 20 according to an embodiment. [Figure 4] 1 is a block diagram showing an example of a schematic configuration of a utility pole 30 according to an embodiment. [Diagram 5] FIG. 2 is a block diagram showing an example of an electronic device 34 according to an embodiment. [Figure 6] 1 is a block diagram showing an example of a flight control system 1 according to an embodiment. [Figure 7] 2 is a diagram for explaining the operation of the unmanned aerial vehicle 60 and the electronic device 34 in the embodiment. [Figure 8] 2 is a sequence diagram showing information transmitted and received by each unit in flight control system 1 according to an embodiment. FIG. [Figure 9] A figure showing an example of control of the unmanned aerial vehicle 60 in an embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, a flight control system and a flight control method to which the present invention is applied will be described with reference to the drawings.

[0011] 1 is a block diagram showing an example of a power system to which a flight control system and a flight control method according to an embodiment are applied. The power system includes, for example, a power generation system, a power supply system, and a power distribution system. The power generation system includes large-scale power plants such as hydroelectric power plants, nuclear power plants, and thermal power plants. The power transmitted from the power generation system to the power supply system is high-voltage power such as 500 kV or 275 kV. The power supply system includes, for example, a primary substation, a secondary substation, a hydroelectric power plant, and a thermal power plant. The power supply system may also include a large factory or the like. The primary substation converts high-voltage power such as 500 kV or 275 kV into 154 kV power. The secondary substation converts the power converted by the primary substation and the power generated by the power plant into 77 kV power. The power supply system includes power supply facilities such as a power feeder and a power tower.

[0012] The power distribution system includes a power distribution substation, a power transmission and distribution facility, and consumer facilities such as buildings, factories, and houses. The power transmission and distribution facility includes, but is not limited to, a power distribution tower, a power distribution pole (electric pole), and a power distribution line, and includes various facilities for transmitting or distributing power. The power distribution substation converts the power converted by the secondary substation into power of 33 kV, 22 kV, or 6.6 kV. The power distribution tower converts the power converted by the power distribution substation into power of 6.6 kV. The power converted by the power distribution substation or the power distribution tower is converted into power of 100 to 200 V by a transformer on the power distribution pole, and distributed to consumers.

[0013] The power distribution system may include wind power generation equipment, solar power generation equipment, electric vehicles, smart inverters, battery storage equipment, microgrid systems, etc. The power distribution system may supply power received from the wind power generation equipment, solar power generation equipment, electric vehicles, smart inverters, battery storage equipment, and microgrid systems to power distribution companies and other consumers via distribution poles.

[0014] FIG. 2 is a block diagram showing an example of a flight control system 1 according to an embodiment. The flight control system 1 inspects, for example, a power distribution pole 30 and a power distribution line L1 in the power distribution system in FIG. 1, and the surroundings of the power distribution pole 30 and the power distribution line L1, but is not limited thereto, and may inspect surroundings of a power distribution tower, a power distribution pole, a power line, a power distribution tower, etc. in a power generation system and a power supply system. The flight control system 1 includes, for example, a power distribution automation system 10, a substation / power distribution tower system 20, a power distribution pole 30, a monitoring control system 40, a flight management system 50, and an unmanned aerial vehicle 60. The substation / power distribution tower system 20 and the multiple power distribution poles 30 are connected by a power distribution line L1. The multiple electronic devices 34 in the power distribution pole 30 are connected by a communication line L2. The distribution automation system 10, the substation / distribution tower system 20, the monitoring and control system 40, and the flight management system 50 each have a communication interface (not shown) such as a network interface card (NIC) or a wireless communication module for connecting to a communication network NW such as the Internet. The network may include, for example, a general-purpose network such as the Internet, and a private network such as local 5G or WiFi (registered trademark).

[0015] The power distribution automation system 10 includes an information processing device that communicates with multiple electronic devices 34 in the power distribution system via a communication network NW and automatically controls power distribution. The power distribution automation system 10 performs control by an operator's operation, displays equipment data (charging / power outage, current, voltage) of the power generation system based on voltage information and current information transmitted from the multiple electronic devices 34, and remotely controls multiple switches 32 (section switches). The monitoring and control system 40 includes a master station device 42 that communicates with the multiple electronic devices 34 via the communication network NW and detects abnormalities in the power distribution system. The flight management system 50 includes an information processing device that manages, for example, the flight plan and flight status of an unmanned aerial vehicle 60. The unmanned aerial vehicle 60 is, for example, a drone that flies according to a flight plan.

[0016] The substation / distribution tower system 20 includes, for example, a circuit breaker 22, a transformer 24, and an electronic device 26. The circuit breaker 22 and the transformer 24 supply power fed from a power supply system to a power distribution system. The circuit breaker 22 opens or closes the power supply between the power supply system and the power distribution system. The transformer 24 converts power from the power supply system and supplies it to the power distribution system. The electronic device 26 is, for example, a device called an IED (Intelligent Electronic Device).

[0017] FIG. 3 is a block diagram showing an example of a schematic configuration of a substation / distribution tower system 20 according to an embodiment. The substation / distribution tower system 20 includes, for example, a circuit breaker 22a to which high voltage power (e.g., 22 kV) is supplied, a transformer 24, a circuit breaker 22b that supplies converted power (e.g., 6.6 kV) to the distribution system, and an electronic device 26. The transformer 24 converts the voltage of the power supplied through the distribution line from 22 kV to 6.6 kV. The electronic device 26 has a protection function and a control function for power equipment such as the circuit breakers 22a, 22b and the transformer 24, a function for measuring and recording voltages, currents, etc. related to the power equipment, an HMI (Human Machine Interface) function for display and operation, a contact input / output function, a programmable logic controller (PLC) function, a communication function such as a local area network (LAN), and an expansion function.

[0018] As shown in FIG. 2, the distribution pole 30 includes, for example, a switch 32, an electronic device 34, and a transformer 36. The switch 32 cuts off or passes the power supplied through the distribution line L1. The switch 32 passes or cuts off the power supplied through the distribution line L1. The transformer 36 converts the voltage of the power supplied through the distribution line L1. The electronic device 34 is, for example, a device called an IED. The electronic device 34 has a protection function and a control function for power equipment such as the switch 32 and the transformer 36, a function for measuring and recording the voltage and current related to the power equipment, an HMI function such as display and operation, a contact input / output function, a PLC function, a communication function such as a LAN via a communication line, and an extension function. FIG. 4 is a block diagram showing an example of the outline of the distribution pole 30 in the embodiment. The switch 32, the transformer 36, and the electronic device 34 are installed on a support mechanism 38 such as a power pole or a tower that supports the distribution line L1. The electronic device 34 may also be provided with an arrival port 35 for the unmanned aerial vehicle 60 to arrive.

[0019] 2, the electronic device 34 is connected to other electronic devices 34 via a communication line L2. The power distribution automation system 10, the electronic device 26, and the electronic device 34 may realize mutual communication of data and information by operating in accordance with an international standard such as IEC 61850. Furthermore, the multiple electronic devices 34 may be connected to each other via the communication line L2 for each business operator, for example.

[0020] FIG. 5 is a block diagram showing an example of the electronic device 34 according to the embodiment. The electronic device 34 is, for example, a distribution IED including a control unit 341, a communication unit 342, and an expansion unit 343. The control unit 341 has a function of controlling the operation of the switch 32 and a function of measuring current and voltage values. The communication unit 342 communicates with the electronic device 26, the electronic device 34, and the master station device 42 according to IEC61850 using optical signals or wireless signals. The communication unit 342 communicates with the communication unit 342 of the adjacent distribution pole 30 in a bucket brigade manner to transmit and receive various information. The communication unit 342 may also form a wireless communication network with other communication units 342 to transmit and receive wireless signals. The expansion unit 343 performs an expansion function. The monitoring and control system 40 includes the master station device 42. The master station device 42 communicates with the communication unit 342 of the electronic device 34 as a slave station to control the electronic device 34.

[0021] FIG. 6 is a block diagram showing an example of a flight control system 1 according to an embodiment. The unmanned aerial vehicle 60 includes a first communication unit 62 that communicates with the electronic device 34, a first storage unit 64 that stores first position information of the electronic device 34, and a movement control unit 66 that controls movement based on the first position information stored in the first storage unit 64. The first position information is, for example, position information of an electronic device 34 to which the unmanned aerial vehicle 60 moves first among the multiple electronic devices 34. Without being limited thereto, the first position information may not be position information of the electronic device 34 to which the unmanned aerial vehicle 60 moves first, but may be position information of a power transmission and distribution facility in an area where power transmission and distribution is abnormally affected by a disaster or the like, or may be position information of an electronic device 34 close to an abnormality location reported by a consumer or the like.

[0022] Each of the electronic devices 34 includes a second communication unit 342A that communicates with the unmanned aerial vehicle 60, a second storage unit 343a that stores second position information of the electronic device 34 to which the unmanned aerial vehicle 60 will move next after the electronic device itself, and a communication control unit 343b that transmits the second position information stored in the second storage unit 343a from the second communication unit 342A to the first communication unit 62. The electronic device 34 may further include a position acquisition unit 343c that acquires position information based on a GPS (Global Positioning System) signal. The second communication unit 342A is a wireless communication unit that corresponds to the communication method of the first communication unit 62. When the movement control unit 66 of the unmanned aerial vehicle 60 receives the second position information by the first communication unit 62, it controls the movement based on the received second position information.

[0023] For example, when the unmanned aerial vehicle 60 visits a plurality of power transmission and distribution facilities, the second location information is location information of the electronic device 34 according to the order of visit. Without being limited thereto, the second location information may be, for example, location information indicating a waiting location for the unmanned aerial vehicle 60 to return to after inspection of the power transmission and distribution facilities. The second location information may be rewritable in response to a request from the flight management system 50 or the master station device 42. This allows the flight management system 50 or the master station device 42 to create a visit order for the electronic devices 34 through the operation of an operator, and to store the second location information in the plurality of electronic devices 34.

[0024] The unmanned aerial vehicle 60 may include a detection unit 68 that detects sensing data related to an abnormality in the power distribution line L1 or the support mechanism 38. The movement control unit 66 can control the movement to a position corresponding to the second position information while continuously detecting the power distribution line L1 by the detection unit 68. The sensing data is transmitted, for example, to the electronic device 34 at a position corresponding to the second position information, and transmitted to the master station device 42 via the electronic device 34. The master station device 42 is an example of an external device with respect to the electronic device 34. The electronic device 34 is not limited to the master station device 42, and may transmit the sensing data to an external device such as another electronic device 26 or electronic device 34 designated in advance.

[0025] The flight management system 50 includes, for example, a flight plan unit 52 and a flight control unit 54. The flight plan unit 52 and the flight control unit 54 are realized by a processor such as a CPU (Central Processing Unit) executing a program stored in a program memory. The flight plan unit 52 creates flight plan information in which time and flight position are associated with each unmanned aerial vehicle 60. The flight plan information includes location information corresponding to the first location information. The flight control unit 54 controls the flight of the unmanned aerial vehicle 60 based on the flight plan information. For example, the flight control unit 54 transmits the first location information to the unmanned aerial vehicle 60, thereby storing the first location information in the first storage unit 64. The flight management system 50 transmits second location information to the electronic device 26 and the electronic device 34 included in the flight plan, thereby storing the second location information in the electronic device 26 and the electronic device 34.

[0026] The master station device 42 controls each of the multiple electronic devices 34 connected by the communication line L2 as a slave station. The master station device 42 remotely controls the multiple electronic devices 34 and acquires various data from the multiple electronic devices 34. The master station device 42 includes, for example, a communication unit 421 and an abnormality determination unit 422. The abnormality determination unit 422 is realized by a processor such as a CPU executing a program stored in a program memory. The communication unit 421 communicates with the electronic devices 34 via the communication line L2.

[0027] The abnormality determination unit 422 in the parent station device 42 may detect an abnormality in the power transmission and distribution equipment by comparing the sensing data of the power transmission and distribution equipment during normal operation with the sensing data detected by the detection unit 68. The abnormality determination unit 422 determines an abnormality in the power transmission and distribution equipment based on at least one of the following: bending of the power distribution line L1, breakage of the power distribution line L1, the state of the power distribution tower and the support mechanism 38, the surrounding environment of the power distribution tower and the support mechanism 38, the surrounding environment of the power distribution tower, the support mechanism 38 and the power distribution line L1, obstacles attached to the power distribution tower, the support mechanism 38 and the power distribution line L1, and obstacles attached to the power distribution tower and the support mechanism 38. The surrounding environment of the power distribution line L1, the power distribution tower, and the power distribution pole 30 may be, for example, fallen trees, earth and sand, dangerous acts, etc. The obstacles may be, for example, objects that affect the power transmission and distribution equipment, such as bird nests, flying objects, and living creatures. When the abnormality determination unit 422 detects an abnormality in the power transmission and distribution facility, for example, it reports an alert and displays sensing data related to the power transmission and distribution facility.

[0028] FIG. 7 is a diagram for explaining the operation of unmanned aerial vehicle 60 and electronic device 34 in the embodiment. First, when unmanned aerial vehicle 60 acquires first position information from flight management system 50, it moves toward the position of the first position information at time t1. Note that in FIG. 7, unmanned aerial vehicle 60 at time t1 is indicated as "60(t1)".

[0029] At time t2, the unmanned aerial vehicle 60(t2) arrives near the electronic device 34(1). For example, the unmanned aerial vehicle 60(t2) transmits first position information to the electronic device 34(1) by communicating with the unmanned aerial vehicle 60(t2). The electronic device 34(1) compares the transmitted first position information with the position information acquired by the position acquisition unit 343c, and if the position deviation is within a threshold, continues communication with the unmanned aerial vehicle 60(t2). The electronic device 34(1) transmits second position information to the unmanned aerial vehicle 60(t2) by continuing communication with the unmanned aerial vehicle 60(t2). In addition, the electronic device 34(1) may acquire sensing data from the unmanned aerial vehicle 60(t2) by continuing communication with the unmanned aerial vehicle 60(t2). When the deviation between the first position information transmitted from the unmanned aerial vehicle 60 and the position information acquired by the position acquisition unit 343c exceeds a threshold value, the electronic device 34(1) does not need to transmit the second position information to the unmanned aerial vehicle 60. This allows the electronic device 34(1) to avoid transmitting the second position information to the unmanned aerial vehicle 60 to which the second position information should not be transmitted.

[0030] When the unmanned aerial vehicle 60(t2) acquires the second position information from the electronic device 34(1), it stores the second position information in the second storage unit 343a and moves to the electronic device 34(2) based on the stored second position information. While moving from the electronic device 34(1) to the electronic device 34(2), the unmanned aerial vehicle 60 moves while recognizing the power distribution line L1(1). The unmanned aerial vehicle 60 arrives near the electronic device 34(2) at time t3. The unmanned aerial vehicle 60(t3) transmits the position information (second position information) acquired from the electronic device 34(1) to the electronic device 34(2). The electronic device 34(2) compares the transmitted position information with the position information acquired by the position acquisition unit 343c, and if the position deviation is within a threshold value, continues communication with the unmanned aerial vehicle 60(t3). The electronic device 34(2) transmits the position information (second position information) stored in the second memory unit 343a to the unmanned aerial vehicle 60(t3) by continuing communication with the unmanned aerial vehicle 60(t3). The electronic device 34(2) may also acquire sensing data from the unmanned aerial vehicle 60(t3) by continuing communication with the unmanned aerial vehicle 60. If the deviation between the transmitted position information and the position information acquired by the position acquisition unit 343c exceeds a threshold value, the electronic device 34(2) may not need to transmit the position information (second position information) to the unmanned aerial vehicle 60.

[0031] Next, unmanned aerial vehicle 60 moves while recognizing power distribution line L1(2) based on the position information acquired from electronic device 34(2), and arrives at electronic device 34(3) at time t4. Unmanned aerial vehicle 60(t4) returns to, for example, the arrival port of unmanned aerial vehicle 60 based on the second position information acquired from electronic device 34(3). This allows unmanned aerial vehicle 60 to acquire sensing data including electronic device 34(1), power distribution line L1(1), electronic device 34(2), power distribution line L1(2), and electronic device 34(3).

[0032] The flight plan information may include the identification information of the electronic device 34 in addition to the position information of the electronic device 34. The flight management system 50 stores the position information (first and second position information) of the electronic device 34 and the identification information of the electronic device 34 in each of the electronic devices 34. When the unmanned aerial vehicle 60 moves near the electronic device 34 based on the position information, the electronic device 34 transmits the identification information of the electronic device 34 to the electronic device 34. The electronic device 34 compares its own identification information with the identification information received from the unmanned aerial vehicle 60. When the electronic device 34's own identification information matches the identification information received from the unmanned aerial vehicle 60, the electronic device 34 replies to the unmanned aerial vehicle 60 with the second position information and the identification information stored in the second storage unit 343a. When the electronic device 34's own identification information does not match the identification information received from the unmanned aerial vehicle 60, the electronic device 34 does not transmit the second position information and replies to the unmanned aerial vehicle 60 with an error message or the like. This allows the unmanned aerial vehicle 60 to communicate with the electronic device 34 included in the flight plan information even if, for example, a utility pole 30 is installed nearby.

[0033] FIG. 8 is a sequence diagram showing information transmitted and received by each unit in flight control system 1 according to the embodiment. First, the flight plan unit 52 creates flight plan information for the unmanned aerial vehicle 60 based on, for example, the operation of the operator. The flight management system 50 transmits the second position information P(IEDx) included in the flight plan to the electronic device 34(1), the electronic device 34(2), and the electronic device 34(3) included in the flight plan. In response to receiving the second position information P(IEDx), the electronic device 34(1), the electronic device 34(2), and the electronic device 34(3) store the second position information (steps S10, S11, S12). The flight plan unit 52 may transmit the flight plan information to the master station device 42. The master station device 42 stores the flight plan information (step S13).

[0034] The flight control unit 54 transmits the first position information P(IED1) to the unmanned aerial vehicle 60, and the unmanned aerial vehicle 60 stores the first position information P(IED1) (step S20). The unmanned aerial vehicle 60 arrives near the electronic device 34(1) based on the first position information P(IED1) and transmits a request for the second position information and sensing data to the electronic device 34(1). In response to the request from the unmanned aerial vehicle 60, the electronic device 34(1) replies to the unmanned aerial vehicle 60 with the second position information P(IED2). The unmanned aerial vehicle 60 arrives near the electronic device 34(2) based on the second position information P(IED2) ​​and transmits a request for the second position information and sensing data to the electronic device 34(2). In response to the request from the unmanned aerial vehicle 60, the electronic device 34(2) replies to the unmanned aerial vehicle 60 with the second position information P(IED3). Unmanned aerial vehicle 60 arrives near electronic device 34(3) based on the second position information P(IED3) and transmits a request for the second position information and sensing data to electronic device 34(3). In response to a request from unmanned aerial vehicle 60, electronic device 34(3) transmits the second position information P(IED4) back to unmanned aerial vehicle 60. This enables unmanned aerial vehicle 60 to patrol electronic device 34(1), electronic device 34(2), and electronic device 34(3).

[0035] The electronic device 34(1) transmits sensing data acquired from the unmanned aerial vehicle 60 to the master station device 42, the electronic device 34(2) transmits sensing data acquired from the unmanned aerial vehicle 60 to the master station device 42, and the electronic device 34(3) transmits sensing data acquired from the unmanned aerial vehicle 60 to the master station device 42. In this way, the master station device 42 can acquire sensing data from multiple electronic devices 34.

[0036] FIG. 9 is a diagram showing an example of control of unmanned aerial vehicle 60 in this embodiment. When the detection unit 68 detects a branch of the distribution line L1, the movement control unit 66 may select one of the distribution lines L2 and L3 branched from the distribution line L1 based on the second position information. When the movement control unit 66 detects that the distribution line L1 branches into the distribution line L1(3) and the distribution line L1(4) while moving while recognizing the distribution line L1, the movement control unit 66 selects either the distribution line L1(3) or the distribution line L1(4) based on the second position information, the direction in which the distribution line L1(3) extends, and the direction in which the distribution line L1(4) extends. The movement control unit 66 can, for example, select the distribution line L1(3) having a position close to the second position information, and arrive at the electronic device 34(3) by moving while recognizing the selected distribution line L1(3).

[0037] As described above, according to the flight control system 1 of the embodiment, the unmanned aerial vehicle 60 stores the first position information of the electronic device 34, and the movement is controlled based on the first position information, and each electronic device 34 transmits the second position information of the electronic device 34 to the unmanned aerial vehicle 60 to move to after the electronic device 34. The flight control system 1 causes the unmanned aerial vehicle 60 to receive the second position information, and can control the movement based on the received second position information. As a result, according to the flight control system 1, the unmanned aerial vehicle 60 can patrol multiple electronic devices 34 simply by storing the first position information. As a result, according to the flight control system 1, the work load of the operator can be reduced. Furthermore, according to the flight control system 1, the movement of the unmanned aerial vehicle 60 can be controlled simply by rewriting the position information stored in the unmanned aerial vehicle 60 to the position information received from the electronic device 34. As a result, according to the flight control system 1, the processing load on the unmanned aerial vehicle 60 can be reduced.

[0038] Although each embodiment and each variant have been described, these are merely examples and are not intended to be limiting. For example, any of the embodiments or variants, or a part of each embodiment or a part of each variant, may be combined with one or more other embodiments or one or more other variants to realize one aspect of the present invention. [Explanation of symbols]

[0039] 1...flight control system, 10...power distribution automation system, 20...power distribution tower system, 22, 22a, 22b...circuit breaker, 24...transformer, 26...electronic equipment, 30...power distribution pole, 32...switchgear, 34...electronic equipment, 35...arrival port, 36...transformer, 38...support mechanism, 40...monitoring and control system, 42...master station, 50...flight management system, 52...flight planning unit, 54...flight control unit, 60 ...unmanned aerial vehicle, 62...first communication unit, 64...first memory unit, 66...mobile control unit, 68...detection unit, 341...control unit, 342...communication unit, 342A...second communication unit, 343...expansion unit, 343a...second memory unit, 343b...communication control unit, 343c...position acquisition unit, 421...communication unit, 422...abnormality determination unit, L1, L2, L3...power distribution line, NW...communication network

Claims

1. A flight control system including an unmanned aerial vehicle and a plurality of electronic devices installed in a plurality of power transmission and distribution facilities, The unmanned aerial vehicle includes: A first communication unit that communicates with the electronic device; a first storage unit configured to store first position information of the electronic device; a movement control unit that controls movement based on the first position information stored in the first storage unit, Each of the electronic devices comprises: A second communication unit that communicates with the unmanned aerial vehicle; a second storage unit configured to store second position information of the electronic device to which the unmanned aerial vehicle will move next after the unmanned aerial vehicle itself; a communication control unit that causes the second position information stored in the second storage unit to be transmitted from the second communication unit to the first communication unit, When the first communication unit receives the second location information, the movement control unit controls movement based on the received second location information. Flight control system.

2. The unmanned aerial vehicle includes a detection unit that detects sensing data related to an abnormality in the power transmission and distribution facility, The movement control unit controls the movement to a position corresponding to the second position information while continuously detecting the power distribution line by the detection unit.

10. The flight control system of claim 1.

3. When the unmanned aerial vehicle arrives at the power transmission and distribution facility based on the first location information or the second location information, the first communication unit transmits the sensing data to the second communication unit of the electronic device installed in the power transmission and distribution facility; The communication control unit transmits the sensing data received by the second communication unit to an external device.

3. The flight control system of claim 2.

4. 3. The flight control system according to claim 2, wherein when the detection unit detects a branch of the power distribution line, the movement control unit selects one of the branched power distribution lines based on the second position information.

5. 4. The flight control system according to claim 3, wherein the external device includes an anomaly detection unit that detects an anomaly in the power transmission and distribution equipment by comparing sensing data of the power transmission and distribution equipment under normal conditions with sensing data detected by the detection unit.

6. A flight control method for a flight control system including an unmanned aerial vehicle and a plurality of electronic devices installed in a plurality of power transmission and distribution facilities, comprising: storing, by the unmanned aerial vehicle, first location information of the electronic device; controlling movement of the unmanned aerial vehicle based on the stored first position information; Each of the electronic devices stores second position information of the electronic device to which the unmanned aerial vehicle will move next; causing each of the electronic devices to transmit the second location information to the unmanned aerial vehicle; the unmanned aerial vehicle receives the second position information and controls movement based on the received second position information. Flight control methods.

Images