Flying object and contact method

Abstract

To reduce a burden of an inspection work by an operator.SOLUTION: A flying object includes: a conductive member 11 configured to make contact with a conductor of a structure; a support frame 12 for supporting the conductive member 11 so as to be disposed in a horizontal direction and in a vertical direction during flying of the flying object; and an imaging means whose imaging range is the horizontal direction during flying. The imaging means is disposed at a position and in a direction of the flying object where the conductive member 11 is not included in at least a part of the imaging range.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a flying object and a contact method.

Background Art

[0002] In recent years, unmanned aerial vehicles have become popular and are used in various applications. Patent Document 1 discloses a technique for inspecting a wind power generation facility using an unmanned aerial vehicle.

Prior Art Document

Patent Document

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In a wind power generation facility, as a lightning protection system for preventing damage caused by lightning strikes, a receptor for receiving lightning at the tip or the like in the longitudinal direction of each blade and a downconductor for discharging the current caused by the lightning received by the receptor to the outside of the wind power generation facility (for example, the ground or water) are provided. In the inspection of a wind power generation facility, an unmanned aerial vehicle equipped with a contact member inspects whether the lightning protection system is operating normally by bringing the contact member into contact with the receptor while floating in the air. However, in the receptor, depending on the type of wind power generation facility, the provided position and shape may be different. Therefore, depending on the position and shape of the receptor provided in the wind power generation facility to be inspected, it is necessary to change the position of the contact member provided on the unmanned aerial vehicle or the position of the blade, or it is difficult to operate the unmanned aerial vehicle to bring the contact member into contact with the receptor, which takes a lot of time, imposing a heavy burden on the operator performing the inspection work of the wind power generation facility.

[0005] Therefore, the present invention has been made in view of these points, and an object thereof is to reduce the burden of inspection work by an operator.

Means for Solving the Problems

[0006] The flying object according to the first aspect of the present invention includes a conductive member for contacting a conductor of a structure, a support frame for supporting the conductive member so as to be arranged in the horizontal direction and the vertical direction during the flight of the flying object, and imaging means having the horizontal direction during flight as an imaging range, and the imaging means is arranged at the position and orientation of the flying object where the conductive member is not included in at least a part of the imaging range.

[0007] The flying object may further include altitude measuring means for measuring the altitude of the flying object during flight.

[0008] The flying object may further include a plurality of imaging means having the horizontal direction during flight and the vertical direction during flight as imaging ranges, and position measuring means for measuring the position coordinates of the flying object during flight. The plurality of imaging means are arranged at the position and orientation of the flying object where the conductive member is included in the imaging range, and the conductive member may be detachable.

[0009] The contact method according to the second aspect of the present invention is a contact method for contacting a conductor of a structure with the conductive member of the flying object described above, and includes a step of recording the altitude of the flying object measured by the altitude measuring means when the imaging means images the conductor, a step of adjusting the orientation of the flying object so that the conductive member arranged in the horizontal direction during the flight of the flying object faces the conductor, and adjusting the height of the flying object so as to be equal to the recorded altitude of the flying object, and a step of contacting the conductive member arranged in the horizontal direction during the flight of the flying object with the conductor while maintaining the adjusted orientation and height of the flying object.

[0010] The contact method according to the third aspect of the present invention is a contact method of bringing the conductor of the structure into contact with the conductive member of the flying object, and in a state where the conductive member is removed from the flying object, when the imaging means images the conductor, recording the altitude of the flying object measured by the position measuring means; in a state where the conductive member is attached to the flying object, adjusting the orientation of the flying object so that the conductive member arranged in the horizontal direction during flight of the flying object faces the conductor, and adjusting the height of the flying object so as to be equal to the recorded altitude of the flying object; and bringing the conductive member arranged in the horizontal direction during flight of the flying object into contact with the conductor while maintaining the adjusted orientation and height of the flying object.

[0011] The contact method according to the fourth aspect of the present invention is a contact method of bringing the conductor of the structure into contact with the conductive member of the flying object, and in a state where the conductive member is removed from the flying object, recording the position coordinates of the flying object measured by the position measuring means when the imaging means images the conductor; in a state where the conductive member is attached to the flying object, adjusting the position of the flying object so as to be equal to the recorded position coordinates of the flying object; and bringing the conductive member arranged in the vertical direction during flight of the flying object into contact with the conductor while maintaining the adjusted position of the flying object.

[0012]

[0013]

[0014]

[0015]

[0016]

[0017]

Advantages of the Invention

[0018] According to the present invention, there is an effect that the burden of inspection work by an operator can be reduced.

Brief Description of the Drawings

[0019]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

Modes for Carrying Out the Invention

[0020] [Outline of Attachment 1] FIG. 1 is a diagram for explaining the outline of Attachment 1. Attachment 1 is a part attached to an aircraft A, which is an unmanned aerial vehicle, and is a part used for inspecting a structure S.

[0021] The structure S is, for example, a wind power generation facility. As a lightning protection system for preventing damage caused by lightning strikes, the structure S is provided with a blade B including a receptor R and a down conductor D. The receptor R is a conductor for receiving lightning. The down conductor D is a conductive cable for discharging the current caused by the lightning received by the receptor R to the outside of the structure S (for example, the ground or water).

[0022] The attachment 1 is provided with a contact member for contacting the receptor R. As an inspection operation of the structure S, first, the operator floats the flying object A in the air while electrically connecting a tester T for detecting whether or not there is energization and the down conductor D with a conductive cable C1, and contacts the receptor R with the contact member through which electricity flows from the conductive cable C2 connected to the tester T. Then, the operator refers to the detection result of detecting whether or not the tester T is energized in response to the electrical connection of the tester T, the receptor R, and the down conductor D, and checks whether or not the lightning protection system is normal (for example, whether or not the down conductor D is disconnected).

[0023] Here, in the receptor R, it is provided at various positions of the blade B according to the type of the structure S (wind power generation facility). In the blade B1 shown in FIG. 1(a), the receptor R1 is provided on the longitudinal surface of the blade B1. In this case, since the flying object A moves horizontally to bring the contact member into contact with the receptor R1, it is necessary to provide the contact member on the vertical side of the flying object A (for example, the front, side, or back of the flying object A).

[0024] In addition, a receptor R2 is provided at the longitudinal tip of the blade B2 shown in FIG. 1(b). In the blade B2, the location where the contact member is provided varies according to the stopped state. For example, when the receptor R2 is stopped in the vertical direction (for example, the orientation of the receptor R2 is the top surface of the structure S), since the flying object A moves vertically to bring the contact member into contact with the receptor R2, it is necessary to provide the contact member on the horizontal side (for example, the bottom surface of the flying object A) of the flying object A. Further, for example, when the receptor R2 is stopped in the horizontal direction (for example, the orientation of the receptor R2 is the left side surface of the structure S), since the flying object A moves horizontally to bring the contact member into contact with the receptor R2, it is necessary to provide the contact member on the vertical side of the flying object A.

[0025] Thus, the operator has to change the location where the contact member is provided on the flying object A according to the position where the receptor R is provided on the blade B and the orientation of the receptor R when the blade B is stopped, or change the orientation of the receptor R according to the location of the contact member provided on the flying object A, which has been a heavy burden on the operator. Therefore, an attachment 1 is provided that can bring the receptor R into contact with the contact member without changing the location where the contact member is provided on the flying object A according to the position where the receptor R is provided on the blade B and the orientation of the receptor R when the blade B is stopped, or changing the orientation of the receptor R according to the location of the contact member provided on the flying object A.

[0026] Although details will be described later, in the attachment 1, the contact members are arranged in the horizontal and vertical directions during the flight of the flying object A. By doing so, the attachment 1 can bring the receptor R into contact with the contact member without changing the location where the contact member is provided on the flying object A according to the position where the receptor R is provided on the blade B and the orientation of the receptor R when the blade B is stopped, or changing the orientation of the receptor R according to the location of the contact member provided on the flying object A, thus reducing the burden on the operator for inspection work. Hereinafter, the configuration of the attachment 1 will be described.

[0027] [Configuration of Attachment 1] FIG. 2 is a diagram showing the configuration of Attachment 1. Attachment 1 has a conductive member 11 and a support frame 12.

[0028] The conductive member 11 is a contact member for contacting the conductor of the structure S. The conductive member 11 is, for example, a flexible metal net.

[0029] The support frame 12 is a member for supporting the conductive member 11 so that it is arranged in the horizontal direction and the vertical direction during the flight of the flying object A. The material of the support frame 12 is, for example, carbon fiber. The support frame 12 supports the conductive member 11 so that it is arranged above or below the flying object A in the horizontal direction during the flight of the flying object A.

[0030] The support frame 12 may support the conductive member 11 so that it is arranged in the horizontal direction above the flying object A and the horizontal direction below the flying object A during the flight of the flying object A. Specifically, the support frame 12 supports the conductive member 11 so that it is arranged over the horizontal plane above the flying object A, the vertical plane of the flying object A, and the horizontal plane below the flying object during the flight of the flying object A.

[0031] The support frame 12 supports the conductive member 11 so that it is arranged in at least a part of the vertical direction during the flight of the flying object A. The support frame 12 may support the conductive member 11 so that it is arranged on all the vertical planes (for example, the front, left side, right side, and back of the flying object A) during the flight of the flying object A.

[0032] Note that if the conductive member 11 is supported so as to be disposed on all vertical surfaces of the flying object A during flight, that is, if the conductive member 11 is disposed so as to cover the side surface of the flying object A, the flying object A with the attachment 1 attached thereto becomes heavy, and the flight of the flying object A may become unstable. Therefore, it is desirable to dispose the conductive member 11 on a part (for example, any one of the front, left side, right side, and back of the flying object A) of the vertical surface of the flying object A during flight on which the conductive member 11 is disposed.

[0033] FIG. 2(a) is a diagram schematically showing the support frame 12. The support frame 12 includes a plurality of frame members. The frame members 121, 122a, 122b, 123 support the conductive member 11 so as to be disposed on the vertical surface (front of the flying object A) of the flying object A during flight. Further, the frame members 121, 124, 125 support the conductive member 11 so as to be disposed on the horizontal surface of the upper part of the flying object A during flight. Further, the frame members 123, 126, 127a, 127b, 127c, 127d support the conductive member 11 so as to be disposed on the horizontal surface of the lower part of the flying object A during flight.

[0034] The frame member 124 is a member for fixing the support frame 12 and the upper part of the flying object A. For example, the frame member 124 and the upper part of the flying object A have screw holes (not shown), and the support frame 12 and the upper part of the flying object A are fixed by tightening a screw through the screw hole of the frame member 124 into the screw hole of the upper part of the flying object A. Note that in the method of fixing the support frame 12 and the upper part of the flying object A, any method may be used as long as the support frame 12 and the upper part of the flying object A can be fixed.

[0035] The frame members 128a, 128b, 128c, and 128d are members for fixing the support frame 12 and the lower part (skid) of the flying object A. Each frame member 128 has a hollow interior, and by inserting each frame member into both ends of the two skids of the flying object A, the support frame 12 and the lower part of the flying object A are fixed. Note that in the method of fixing the support frame 12 and the lower part of the flying object A, any method may be used as long as the support frame 12 and the lower part of the flying object A can be fixed.

[0036] Figure 2(b) is a diagram schematically showing the attachment 1 in which the conductive member 11 is arranged on the support frame 12. In the example shown in Figure 2(b), the conductive member 11 is arranged in a U-shape. The vertical plane of the flying object A shown in Figure 2(b) is the front of the flying object A, but it is not limited to this, and it may be the side surface (left side surface or right side surface) of the flying object A or the back surface of the flying object A. In this way, by arranging the conductive member 11 on a part of the vertical plane of the flying object A during flight, the attachment 1 can be lightened, and the occurrence of a situation where the flight of the flying object A becomes unstable can be reduced.

[0037] Figure 3 is a diagram schematically showing the flying object A. In Figure 3, the (x) column shows the flying object A in a state where the attachment 1 is not attached, and the (y) column shows the flying object A in a state where the attachment 1 is attached.

[0038] In Figure 3, the (a) row is a front view of the flying object A. As shown in the (a) row of the (y) column in Figure 3, the conductive member 11 is supported so as to be arranged on the vertical plane of the flying object A during flight. By arranging the conductive member 11 in the attachment 1 in this way, the flying object A can bring the contact member into contact with the receptor R by moving straight forward.

[0039] (b) The row is a right side view of the flying object A. As shown in the (b) row of the (y) column in Figure 3, the conductive member 11 is arranged in a U-shape.

[0040] (c) row is a top view of the flying object A. As shown in the (c) row of the (y) column in FIG. 3, the conductive member 11 is supported so as to be disposed on the horizontal surface at the upper part of the flying object A during the flight of the flying object A. By disposing the conductive member 11 in the attachment 1 in this way, the flying object A can bring the contact member into contact with the receptor R by ascending.

[0041] (d) row is a bottom view of the flying object A. As shown in the (d) row of the (y) column in FIG. 3, the conductive member 11 is supported so as to be disposed on the horizontal surface at the lower part of the flying object A during the flight of the flying object A. By disposing the conductive member 11 in the attachment 1 in this way, the flying object A can bring the contact member into contact with the receptor R by descending.

[0042] In FIGS. 2 and 3, an example in which the support frame 12 is configured such that the horizontal surface of the flying object A during flight and the vertical surface of the flying object A during flight are perpendicular to each other with respect to the conductive member 11 has been described, but the present invention is not limited thereto. For example, the support frame 12 may be configured such that the horizontal surface of the flying object A during flight and the vertical surface of the flying object A during flight form an angle other than a right angle (for example, an acute angle or an obtuse angle) with respect to the conductive member 11.

[0043] FIG. 4 is a diagram showing a configuration of a modified example of the attachment 1. FIG. 4 is a right side view of the attachment 1. In the example shown in FIG. 4(a), the support frame 12 (frame members 122b, 127d) supports the conductive member 11 so as to form an acute angle from the horizontal surface at the lower part of the flying object A during the flight of the flying object A to the vertical surface of the flying object A during the flight of the flying object A. Further, the support frame 12 (frame members 124, 125) supports the horizontal surface at the upper part of the flying object A during the flight of the flying object A so as to rise toward the vertical surface of the flying object A during the flight of the flying object A with respect to the conductive member 11. By doing so, the support frame 12 can give an angle to the conductive member 11 disposed on the vertical surface of the flying object A during the flight of the flying object A.

[0044] Further, the support frame 12 may be configured such that the corner of the conductive member 11 between the horizontal plane during flight of the flying object A and the vertical plane during flight of the flying object A becomes an inclined surface. In the example shown in FIG. 4(b), the frame members 121a and 123a are prisms with rectangular cross-sections, and it can be confirmed that the corner of the conductive member 11 between the horizontal plane during flight of the flying object A and the vertical plane during flight of the flying object A is an inclined surface. Note that the present invention is not limited to the configuration shown in FIG. 4(b), and any configuration may be used as long as the corner of the conductive member 11 between the horizontal plane during flight of the flying object A and the vertical plane during flight of the flying object A is an inclined surface.

[0045] Further, the support frame 12 may be configured such that the corner of the conductive member 11 between the horizontal plane during flight of the flying object A and the vertical plane during flight of the flying object A becomes a curved surface. In the example shown in FIG. 4(c), the frame members 121b and 123b are such that it can be confirmed that the corner of the conductive member 11 between the horizontal plane during flight of the flying object A and the vertical plane during flight of the flying object A is a curved surface. Note that the present invention is not limited to the configuration shown in FIG. 4(c), and any configuration may be used as long as the corner of the conductive member 11 between the horizontal plane during flight of the flying object A and the vertical plane during flight of the flying object A is a curved surface.

[0046] In this way, by configuring the support frame 12 to form a surface at the corner of the conductive member 11 between the horizontal plane during flight of the flying object A and the vertical plane during flight of the flying object A, it is possible to make it easier to bring the receptor R into contact with the surface.

[0047] The attachment 1 may further include various members. The attachment 1 may further include, for example, an auxiliary member for bending the conductive member 11 to the outside of the flying object A. The material of the auxiliary member is, for example, carbon fiber. The auxiliary member is provided between the support frame 12 and the conductive member 11.

[0048] FIG. 5 is a diagram showing the configuration of the attachment 1 further including the auxiliary member 13. FIG. 5(a) is a diagram schematically showing the support frame 12 and the auxiliary member 13. In the example shown in FIG. 5(a), both ends of the auxiliary members 13a and 13b are attached to the frame members 121 and 124, respectively. Also, both ends of the auxiliary members 13c and 13d are attached to the frame members 121 and 123, respectively. Further, both ends of the auxiliary members 13e and 13f are attached to the frame members 123 and 126, respectively. As shown in FIG. 5(a), the auxiliary member 13 is attached to the support frame 12 so as to protrude outside the support frame 12.

[0049] FIG. 5(b) is a diagram schematically showing the attachment 1 in a state where the conductive member 11 is attached to the support frame 12 and the auxiliary member 13 shown in FIG. 5(a). As shown in FIG. 5(b), it can be confirmed that the conductive member 11 is bent outside the support frame 12. By doing so, the attachment 1 can make it easier for the contact member to contact the receptacle R. Also, by using the flexible conductive member 11, the attachment 1 can ensure a wider contact area of the conductive member 11 and an easier contact state when the conductive member 11 is pressed against the receptacle R during contact.

[0050] The attachment 1 may further include metal wool, which is a second conductive member different from the metal mesh, which is the first conductive member, which is the conductive member 11. The material of the second conductive member is, for example, carbon fiber. The second conductive member is disposed on the outer surface of the projectile A of the first conductive member. The second conductive member is disposed, for example, on each surface where the first conductive member is disposed.

[0051] FIG. 6 is a diagram showing the configuration of the attachment 1 further including the second conductive member 14. As shown in FIG. 6, the second conductive member 14a is disposed on the outer surface of the first conductive member disposed on the horizontal surface at the upper part of the flying object A during the flight of the flying object A. Further, the second conductive member 14b is disposed on the outer surface of the first conductive member disposed on the vertical surface of the flying object A during the flight of the flying object A. Further, the second conductive member 14c is disposed on the outer surface of the first conductive member disposed on the horizontal surface at the lower part of the flying object A during the flight of the flying object A. By doing so, the attachment 1 can make it easier for the contact member to contact the receptor R.

[0052] The attachment 1 may further include a balance adjustment member for bringing the center of gravity position of the attachment 1 closer to the center of gravity position of the flying object A. The material of the average adjustment member is, for example, carbon fiber. The balance adjustment member may be provided below the propeller provided in the flying object A and support the conductive cable C1 for conducting electricity to the conductive member 11.

[0053] FIG. 7 is a diagram showing the configuration of the attachment 1 further including the balance adjustment member 15. In the example shown in FIG. 7, the balance adjustment member 15 is attached to the frame member 126. Further, the balance adjustment member 15 has a hollow inside and can pass through the conductive cable C connected to the tester T. By doing so, it is possible to bring the center of gravity position of the flying object A in a state where the attachment 1 is not attached closer to the center of gravity position of the flying object A in a state where the attachment 1 is attached. Further, by the balance adjustment member 15 provided below the propeller provided in the flying object A supporting the conductive cable C, it is possible to prevent the conductive cable C from being caught by the propeller of the flying object A.

[0054] FIG. 8 is a diagram schematically showing the flying object A in a state where the attachment 1 further including the auxiliary member 13, the second conductive member 14, and the balance adjustment member 15 is attached. FIG. 8(a) is a right side view of the flying object A. FIG. 8(b) is a top view of the flying object A.

[0055] As shown in FIG. 8, since the auxiliary member 13 is further provided on the attachment 1, it can be confirmed that the first conductive member is bent outside the flying object A. Further, since the second conductive member 14 is further provided on the attachment 1, it can be confirmed that the contact member further protrudes outside the flying object A. Further, since the balance adjustment member 15 is further provided on the attachment 1, it can be confirmed that the deviation of the center-of-gravity position of the flying object A is reduced and the conductive cable C1 is prevented from being caught by the propeller of the flying object A.

[0056] [First Contact Method] Subsequently, three contact methods for bringing the conductive member 11 into contact with the receptor R will be described. In the contact method, the flying object A including the attachment 1, the imaging means, and the measuring means is used to bring the conductive member 11 into contact with the receptor R.

[0057] FIG. 9 is a diagram schematically showing the flying object A. In FIG. 9, the (x) column shows the flying object A in a state where the attachment 1 is not attached, and the (y) column shows the flying object A in a state where the attachment 1 is attached. In FIG. 9, the (a) row is a right side view of the flying object A, and the (b) row is a top view of the flying object A.

[0058] The flying object A includes a camera P. The camera P is an imaging means that takes the horizontal direction during the flight of the flying object A as the imaging range. The camera P is arranged at a position and in a direction of the flying object A where the conductive member 11 is not included in at least a part of the imaging range. As shown in FIGS. 9(a) and (b), the flying object A is provided with the camera P at a position (side surface) and in a direction (a direction opposite to the flying object A) of the flying object A where the conductive member 11 is not included in the imaging range.

[0059] The camera P has a measurement function which is an altitude measurement means for measuring the altitude of the flying object A during the flight of the flying object A. A controller (for example, a proportional or a smartphone, etc.) for operating the flying object A is provided with a display unit such as a display, and the altitude of the flying object A measured by the measurement function is displayed on the display unit together with the captured image captured by the camera P.

[0060] FIG. 10 is a flowchart showing the flow of implementing the first contact method. The first contact method is a method of bringing the conductive member 11 arranged in the horizontal direction during the flight of the flying object A (for example, the conductive member 11 arranged in the front of the flying object A) into contact with the receptor R. This flowchart starts when an operator operating the flying object A records the altitude of the flying object A measured by the measurement function of the camera P when the flying object A is flying and the camera P captures the receptor R (S11).

[0061] The operator adjusts the orientation of the flying object A so that the conductive member 11 arranged in the horizontal direction during the flight of the flying object A faces the receptor R, and adjusts the height of the flying object A so that it is equal to the recorded altitude of the flying object A (S12). Then, while maintaining the adjusted orientation and height of the flying object A, the operator brings the conductive member 11 arranged in the horizontal direction during the flight of the flying object A into contact with the receptor R (S13). After that, the operator A checks whether the lightning protection system is normal by referring to the detection result of whether the tester T is energized or not.

[0062] When an operator inspects a plurality of receptors R, after performing the operation of step S11 for each receptor R, the operator may perform the operations of steps S12 and S13 for each receptor R, or may perform the operations from step S11 to S13 for each receptor R. In a case where a member with a large area covering one surface of the flying object P is used as the conductive member 11, etc., in a case where it is difficult to image the contact surface between the conductive member 11 and the receptor R by the camera P provided in the flying object A, even an operator with a high level of skill may not easily align the positions of the conductive member 11 and the receptor R. However, by the first contact method, by checking the previously recorded altitude value and maintaining the height, the operator can easily align the position even for a receptor R located at a position where adjustment is difficult by visual inspection from the ground.

[0063] In addition, when the operator can change the imaging direction of the camera P with a controller, the operator may bring the conductive member 11 arranged in the horizontal direction during the flight of the flying object A into contact with the receptor R while changing the imaging direction of the camera P. For example, the operator records the altitude of the flying object A measured by the measurement function of the camera P when the camera P images the receptor R with the camera P directed in an imaging direction that does not include the conductive member 11 in the imaging range. Then, the operator brings the conductive member 11 arranged in the horizontal direction during the flight of the flying object A into contact with the receptor R with the camera P changed to an imaging direction that includes the conductive member 11 arranged in the horizontal direction during the flight of the flying object A. By doing so, the operator can confirm the deformed state of the conductive member 11 at the time of contact in the captured image in which the camera P images the conductive member 11 arranged in the horizontal direction during the flight of the flying object A from the back side of the contact surface, so that the contact situation can be grasped more accurately.

[0064] [Second Contact Method] Subsequently, the second contact method will be described. The second contact method is a method of bringing the conductive member 11 arranged in the horizontal direction during the flight of the flying object A into contact with the receptor R.

[0065] Figure 11 is a diagram schematically showing the flying object A. Figure 11 shows the flying object A in a state where the attachment 1 is not attached. In Figure 11, (a) is a front view of the flying object A, (b) is a right side view of the flying object A, (c) is a top view of the flying object A, and (d) is a bottom view of the flying object A.

[0066] The flying object A used in the second contact method includes a plurality of cameras P whose imaging ranges are respectively the horizontal direction during flight and the vertical direction during flight. As shown in Figures 11(a), (b), (c), and (d), the flying object A is provided with a first camera P whose imaging range is the horizontal direction (for example, the front) during flight, a second camera P whose imaging range is the vertical direction above the flying object A during flight, and a third camera P whose imaging range is the vertical direction below the flying object A during flight.

[0067] The plurality of cameras P are provided at the position and orientation of the flying object A in which the conductive member 11 is included in the imaging range. However, the conductive member 11 is detachable and is removed when being imaged.

[0068] At least one of the plurality of cameras P has a measurement function as a measurement means for measuring the altitude and position coordinates of the flying object A during the flight of the flying object A. On the controller for operating the flying object A, the position coordinates of the flying object A measured by the measurement function are displayed on the display unit together with the captured images captured by the plurality of cameras P.

[0069] Figure 12 is a flowchart showing the flow of implementing the second contact method. This flowchart starts when an operator operating the flying object A flies the flying object A with the conductive member 11 removed and records the altitude of the flying object A measured by the measurement function when the first camera P images the receptacle R (S21).

[0070] When the operator records the altitude of the aircraft A, the operator attaches the conductive member 11 to the attachment 1 of the aircraft A. With the conductive member 11 attached to the aircraft A, the operator adjusts the orientation of the aircraft A so that the horizontally disposed conductive member 11 during the flight of the aircraft A faces the receptor R, and adjusts the height of the aircraft A so that it is equal to the recorded altitude of the aircraft A (S22).

[0071] Then, while maintaining the adjusted orientation and height of the aircraft A, the operator brings the horizontally disposed conductive member 11 during the flight of the aircraft A into contact with the receptor R (S23). Thereafter, the operator A checks whether the lightning protection system is normal by referring to the detection result of detecting whether the tester T is energized.

[0072] [Third Contact Method] Subsequently, the third contact method will be described. The third contact method is a method of bringing the conductive member 11 disposed in the vertical direction during the flight of the aircraft A into contact with the receptor R.

[0073] FIG. 13 is a flowchart showing the flow of implementing the third contact method. This flowchart starts when the operator flies the aircraft A with the conductive member 11 removed and records the position coordinates of the aircraft A measured by the measuring function when the second camera or the third camera images the receptor R (S31).

[0074] When the operator records the position coordinates of the aircraft A, the operator attaches the conductive member 11 to the attachment 1 of the aircraft A. With the conductive member 11 attached to the aircraft A, the operator adjusts the position of the aircraft A so that it is equal to the recorded position coordinates of the aircraft A (S32).

[0075] Then, while maintaining the position of the flying object A after adjustment, the operator brings the conductive member 11 arranged in the vertical direction during the flight of the flying object A into contact with the receptacle R (S33). Then, operator A checks whether the lightning protection system is normal by referring to the detection result of whether the tester T is energized.

[0076] [Effects of the present embodiment] As described above, the attachment 1 includes a conductive member 11 for contacting the conductor of the structure S, and a support frame 12 for supporting the conductive member 11 so as to be arranged in the horizontal and vertical directions during the flight of the flying object A. Since the attachment 1 has such a configuration, depending on the position where the receptacle R is provided on the blade B and the orientation of the receptacle R when the blade B is stopped, the location where the contact member is provided on the flying object A can be changed, or depending on the location of the contact member provided on the flying object A, the receptacle R and the contact member can be brought into contact without changing the orientation of the receptacle R, so that the burden of the inspection work by the operator can be reduced.

[0077] In addition, according to the present invention, it becomes possible to contribute to Goal 9, "Build the infrastructure for industry and innovation," of the Sustainable Development Goals (SDGs) led by the United Nations.

[0078] As described above, the present invention has been described using embodiments. However, the technical scope of the present invention is not limited to the scope described in the above embodiments, and various modifications and changes are possible within the scope of the gist. For example, all or part of the device can be functionally or physically distributed and integrated in any unit. Also, new embodiments resulting from any combination of a plurality of embodiments are included in the embodiments of the present invention. The effects of the new embodiments resulting from the combination have the effects of the original embodiments combined.

Explanation of reference numerals

[0079] 1 Attachment 11 Conductive member 12 Support frame 121 Frame member 122 Frame member 123 Frame member 124 Frame member 125 Frame member 126 Frame member 127 Frame member 128 Frame member 13 Auxiliary member 14 Second conductive member 15 Balance adjustment member A Aircraft C Conductive cable B Blade D Downconductor R Receptor S Structure T Tester

Claims

1. An air vehicle, A conductive member for contacting a conductor of the structure; a support frame for supporting the conductive member so that the conductive member is arranged in a horizontal direction and a vertical direction during flight of the aircraft; An imaging means having an imaging range in the horizontal direction during flight; having The imaging means is disposed in a position and orientation of the flying object such that the conductive member is not included in at least a portion of the imaging range. Flying vehicle.

2. The aircraft further includes an altitude measuring means for measuring the altitude of the aircraft during flight. The flying vehicle according to claim 1.

3. The flying object is A plurality of imaging means each having an imaging range in a horizontal direction during flight and a vertical direction during flight; A position measuring means for measuring the position coordinates of the flying object during flight; and The plurality of imaging means are arranged at a position and in a direction of the flying object such that the conductive member is included in the imaging range, The conductive member is detachable. The flying vehicle according to claim 1.

4. A method for contacting a conductor of a structure with the conductive member of the flying object according to claim 2, comprising the steps of: a step of recording the altitude of the flying object measured by the altitude measuring means when the imaging means images the conductor; adjusting the orientation of the aircraft so that the conductive member, which is arranged in a horizontal direction during the flight of the aircraft, faces the conductor directly, and adjusting the height of the aircraft so that it is equal to the recorded altitude of the aircraft; a step of contacting the conductor with the conductive member arranged in a horizontal direction during flight of the aircraft while maintaining the adjusted orientation and height of the aircraft after adjustment; The contact method comprising the steps of:

5. A method for contacting a conductor of a structure with the conductive member of the flying object according to claim 3, comprising the steps of: a step of recording the altitude of the aircraft measured by the position measuring means when the imaging means images the conductor in a state in which the conductive member is detached from the aircraft; With the conductive member attached to the aircraft, adjusting the orientation of the aircraft so that the conductive member, which is arranged in a horizontal direction when the aircraft is flying, faces the conductor directly, and adjusting the height of the aircraft so that it is equal to the recorded altitude of the aircraft; a step of contacting the conductor with the conductive member arranged in a horizontal direction during flight of the flying object while maintaining the orientation and height of the flying object after adjustment; The contact method comprising the steps of:

6. A method for contacting a conductor of a structure with the conductive member of the flying object according to claim 3, comprising the steps of: a step of recording the position coordinates of the aircraft measured by the position measuring means when the imaging means images the conductor in a state in which the conductive member is detached from the aircraft; adjusting the position of the aircraft with the conductive member attached to the aircraft so that the position is equal to the recorded position coordinates of the aircraft; While maintaining the position of the flying object after adjustment, contacting the conductive member arranged in a vertical direction during flight of the flying object with the conductor; The contact method comprising the steps of:

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