Program, information processing method, information processing device, and information processing system

Abstract

To provide a program or the like for calculating rope flexure.SOLUTION: A program makes a computer execute processing for acquiring position information of a carrier machine for carrying a rope to be used to install an overhead wire and the rope length of the rope that is sent out, and calculating flexure of the rope during carrying on the basis of the acquired position information and rope length.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The present invention relates to a program for calculating rope slack. [Background technology]

[0002] A wire-drawing machine is sometimes used in the construction of electric wires. This is because, depending on the conditions on the ground, it may not be possible to lay ropes on the ground. In wire-drawing construction using a wire-drawing machine, a pilot rope is first connected to the machine and run along the existing electric wire, stretching the pilot rope between the pylons or utility poles. Next, a new electric wire is connected to this pilot rope (also simply called a "rope") and wound up with a winch or similar device on the ground, thereby extending the electric wire between the pylons or utility poles.

[0003] An existing electric wire with a wire-drawing machine attached forms a catenary, resulting in large inclination angles at both ends. In mountainous areas in particular, the terrain is complex and the slopes are steep. Therefore, the wire-drawing machine is required to be able to climb even in places where the electric wire has a large inclination angle. In response to such situations, Patent Document 1 proposes a lightweight wire-drawing machine with large traction force that can climb even in places where the electric wire has a large inclination angle. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2002-17015 Summary of the Invention [Problem to be solved by the invention]

[0005] When a wire tensioner stretches a rope, the machine is subjected to a traction load from the rope in the direction opposite to the machine's direction of travel. This traction load varies depending on the amount of slack in the rope. When the amount of slack is small, the traction load is relatively large, and when the amount of slack is large, the traction load is relatively small. However, if there are other existing electric wires, such as communication lines, installed below the existing electric wire on which the wire tensioner is traveling, if the slack rope comes into contact with the other existing electric wires, it could damage the other existing electric wires or cause a short circuit.

[0006] To prevent such accidents, currently, rope slack is adjusted manually. From the perspective of improving construction safety and workability, there is a demand for automation of slack adjustment. As a prerequisite, it is necessary to calculate the amount of rope slack while the wire-pulling machine is running. The present invention was made in light of these circumstances. Its purpose is to provide a program for calculating rope slack. [Means for solving the problem]

[0007] The program of the present invention acquires position information of a conveying machine that conveys a rope used to string an overhead wire and the rope length of the rope that has been sent out, and causes a computer to execute a process of calculating the deflection of the rope during transportation based on the acquired position information and rope length. [Effects of the Invention]

[0008] In one aspect of the present application, it is possible to calculate the deflection of the rope. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is an explanatory diagram showing a configuration example of a wire extension work system. [Figure 2] FIG. 2 is an explanatory diagram illustrating an example of a hardware configuration of an information processing device. [Figure 3] FIG. 2 is an explanatory diagram illustrating an example of the hardware configuration of a return device. [Figure 4] FIG. 2 is an explanatory diagram showing the configuration of a wire drawing machine. [Figure 5] FIG. 2 is an explanatory diagram illustrating a configuration of a functional unit of the information processing apparatus. [Figure 6] 10 is a flowchart illustrating an example of a procedure for slack adjustment processing. [Figure 7] FIG. 1 is an explanatory diagram showing a simplified view of the line extension work. [Figure 8] FIG. 1 is an explanatory diagram showing a simplified view of the line extension work. [Figure 9] This is an explanatory diagram showing a simplified example of cable extension work using a drone. [Figure 10] FIG. 1 is an explanatory diagram showing a simplified view of the line extension work. [Figure 11] FIG. 10 is an explanatory diagram showing an example of an adjustment coefficient DB. [Figure 12] FIG. 10 is an explanatory diagram illustrating an example of an estimation model. [Figure 13] FIG. 10 is an explanatory diagram showing another example of an estimation model. DETAILED DESCRIPTION OF THE INVENTION

[0010] (Embodiment 1) An embodiment will be described below with reference to the drawings. FIG. 1 is an explanatory diagram showing an example of the configuration of a wire-extending system. FIG. 1 shows a simplified view of a wire-extending operation. The wire-extending system includes an information processing device 1, a return device 2, a wire-extending machine 3, a drum 4, and a rope 5. The information processing device 1 (control device) is composed of a notebook PC (Personal Computer), a tablet computer, a panel computer, or the like. The return device 2 is a device that feeds out or retracts the rope 5 to adjust the length of the rope 5 to the wire-extending machine 3. The drum 4 is a winding drum. The drum 4 is a well-known device consisting of a cylindrical body and two circular flanges. The diameter of the flanges is larger than the diameter of the body. The flanges are fixed to both ends of the body in the axial direction so that their centers pass through the body axis. The rope 5 is wound around the drum 4. The rope 5 is tensioned prior to the electric wire when stringing or extending an overhead line. An overhead line is an electric wire stretched in the air by a concrete pole, a steel tower, etc. Electric wires include electric power wires, electric communication wires, and optical fiber cables. Ropes 5 range from thin ones such as nylon ropes to thick ones such as wire ropes (steel cables). It is desirable that the drum 4 automatically performs the operation of unwinding or winding the rope 5 in accordance with the operation of the return device 2.

[0011] In Figure 1, the wire pulling machine 3 is attached to an existing electric wire 6 (already installed power line) that has already been strung between two utility poles 8. In addition, a communication line 7 is strung between the two utility poles 8 at a position lower than the existing electric wire 6. VL in Figure 1 is an imaginary line that does not exist in the real world. The imaginary line VL is a line that indicates the target slack of the rope 5. It indicates the target position of the lowest point of the slack portion of the rope 5. The height direction width of the imaginary line VL indicates that there is a predetermined tolerance range for the target position. Generally, the installation heights of the two utility poles 8 are not necessarily the same, but in this embodiment, for simplicity of explanation, they are assumed to be the same height. The wire pulling machine 3 is an example of a conveying machine.

[0012] The following description is based on the assumption that the information processing device 1 and the return device 2 are separate pieces of hardware, but this is not limiting. The information processing device 1 may be configured as a board computer or the like and incorporated into the return device 2, so that they appear as a single device. The information processing device 1 and the return device 2 may also be configured as a substantially integrated device. In this case, the configuration common to the two devices is considered to be a single piece of hardware.

[0013] 2 is an explanatory diagram showing an example of the hardware configuration of an information processing device 1. The information processing device 1 includes a control unit 11, a main memory unit 12, an auxiliary memory unit 13, and a communication unit 14. Each component is connected by a bus B.

[0014] The control unit 11 has one or more arithmetic processing devices such as a CPU (Central Processing Unit), an MPU (Micro-Processing Unit), a GPU (Graphics Processing Unit), etc. The control unit 11 reads and executes a control program 1P (program, program product) stored in the auxiliary storage unit 13, thereby performing various information processing, control processing, etc. related to the information processing device 1 and realizing various functional units. The control program 1P may be read by the control unit 11 from the semiconductor memory 1a and stored in the auxiliary storage unit 13. Alternatively, the control program 1P may be stored only in the semiconductor memory 1a rather than in the auxiliary storage unit 13. The control unit 11 reads and executes the control program 1P from the semiconductor memory 1a.

[0015] The main memory unit 12 is a static random access memory (SRAM), a dynamic random access memory (DRAM), a flash memory, etc. The main memory unit 12 mainly temporarily stores data required for the control unit 11 to execute arithmetic processing.

[0016] The auxiliary storage unit 13 is a hard disk or an SSD (Solid State Drive), etc., and stores the control program 1P and various DBs (Databases) required for the control unit 11 to execute processing. The auxiliary storage unit 13 stores a target value DB 131. The target value DB 131 stores a target value for the slack of the rope 5.

[0017] The communication unit 14 communicates wirelessly or wired with the return device 2 and the wire extension machine 3. The information processing device 1 and the return device 2 may communicate via a bus. The functions of the information processing device 1 may be provided as a cloud service.

[0018] 3 is an explanatory diagram showing an example of the hardware configuration of the return device 2. The return device 2 includes a control unit 21, a main memory unit 22, an auxiliary memory unit 23, a communication unit 24, and a mechanism unit 25. Each component is connected by a bus B.

[0019] The control unit 21 has one or more arithmetic processing units such as a CPU, an MPU, a GPU, etc. The control unit 21 provides various functions by reading and executing a control program 2P (program, program product) stored in the auxiliary storage unit 23.

[0020] The main memory unit 22 is an SRAM, a DRAM, a flash memory, etc. The main memory unit 22 mainly temporarily stores data necessary for the control unit 21 to execute arithmetic processing.

[0021] The auxiliary storage unit 23 is a hard disk or an SSD, etc., and stores various data necessary for the control unit 21 to execute processing.

[0022] The communication unit 24 communicates with the information processing device 1 wirelessly or via a wired connection.

[0023] The mechanism unit 25 includes a rope return mechanism, a motor, a motor control circuit, etc. The rope return mechanism pulls out the rope 5 from the drum 4 and sends it out toward the wire drawing machine 3. Alternatively, the return mechanism pulls back the rope 5 that has been sent out toward the wire drawing machine 3. Figure 3B shows an example of the configuration of the rope return mechanism 251. The rope return mechanism 251 includes two rollers 2511 for sending the rope, and a rotary encoder 2512 is attached to the rollers.

[0024] 4 is an explanatory diagram showing the configuration of a wire drawing machine 3. The wire drawing machine 3 includes two drive wheels 31, two passive wheels 32, a rotary encoder 33, a spring 34, and a gyro sensor 35. The wire drawing machine 3 also has a communication unit (not shown).

[0025] The two drive wheels 31 are rotated by a motor (not shown). The wire pulling machine 3 is suspended from the existing electric wire 6. At this time, the two drive wheels 31 are positioned so as to clamp the existing electric wire 6. The two drive wheels 31 are rotated in opposite directions by the motor, and the wire pulling machine 3 moves due to the reaction force obtained from the existing electric wire 6.

[0026] The two passive wheels 32 are configured to be freely rotatable. The two passive wheels 32 are installed in front of and behind the running direction of the wire pulling machine 3. The rotation axes of the two passive wheels 32 are aligned in a direction intersecting the running direction. Grooves are formed on the outer peripheries of the two passive wheels 32. The shape of the grooves is formed to fit the diameter of the existing electric wire 6. When the wire pulling machine 3 is installed on the existing electric wire 6, the existing electric wire 6 is stored in the grooves. When the wire pulling machine 3 moves, the two passive wheels 32 roll on the existing electric wire 6, guiding the wire pulling machine 3 to move along the existing electric wire 6.

[0027] The rotary encoder 33 is a sensor that outputs the direction and angle of rotation. The rotary encoder 33 is installed so that it rolls on the existing electric wire 6 when the wire pulling machine 3 moves. The spring 34 applies a force to the rotary encoder 33 so that the rotary encoder 33 is pressed against the existing electric wire 6 with an appropriate force. The appropriate force is a force that causes the rotary encoder 33 to roll, rather than slide, on the existing electric wire 6 when the wire pulling machine 3 moves. The gyro sensor 35 is a sensor that detects angular velocity. The relative position of the wire pulling machine 3 can be determined from the measurement results of the rotary encoder 33 and the gyro sensor 35.

[0028] Next, we will explain the functional units included in the information processing device 1. Fig. 5 is an explanatory diagram showing the configuration of the functional units of the information processing device. When the control unit 11 of the information processing device 1 executes the control program 1P, the following functional units are realized: a position coordinate acquisition unit 11a, a rope length acquisition unit 11b, a rope slack calculation unit 11c, a difference calculation unit 11d, and a command generation unit 11e.

[0029] The position coordinate acquisition unit 11a receives the measurement results of the rotary encoder 33 and the gyro sensor 35 from the wire pulling machine 3. The position coordinate acquisition unit 11a calculates the position (x, y) of the wire pulling machine 3 based on the measurement results. The origin is the position where the wire pulling machine 3 starts running, the horizontal direction is the X axis, and the vertical upward direction is the Y axis. The configuration shown in Figure 1 is statically assumed to be within a vertical XY plane. The position coordinate acquisition unit 11a calculates the position (x, y) from the movement distance of the wire pulling machine 3 obtained from the measurement results of the rotary encoder 33 and the inclination of the wire pulling machine 3 obtained from the measurement results of the gyro sensor 35. Alternatively, the position (x, y) may be calculated by the wire pulling machine 3, and the position coordinate acquisition unit 11a may receive the calculation results.

[0030] The rope length acquisition unit 11b acquires the length (L r ) is calculated. r ) calculation may be performed by the return device 2, and the rope length acquisition unit 11b may receive the calculation result.

[0031] The rope slack calculation unit 11c calculates the slack of the wire pulling machine 3 based on the position (x, y) obtained by the position coordinate acquisition unit 11a and the rope length (L r ) based on the slack in rope 5 (y v ) is calculated.

[0032] Slack in rope 5 (y v ) is calculated as follows. If we assume that the rope 5 sags ideally without considering its rigidity, we can think of the rope as hanging down in a catenary shape in the XY plane. In this case, the rope 5 satisfies the following equations (1), (2), and (3).

[0033]

number

[0034] The unknown quantity to be found here is the coordinate of the lowest point of rope 5 (x v ,y v ) and catenary number C. These equations cannot be used to directly derive the slack in rope 5. Therefore, the magnitude of the slack in rope 5 is derived by modifying the equations.

[0035] First, from equation (1) and equation (2), x v By eliminating, we can derive the following equation (4).

[0036]

number

[0037] From equation (4), equation (5) is defined below. Differentiating equation (5) with respect to C, equation (6) is obtained.

[0038]

number

[0039] Using the recurrence formula of Newton's method shown in equation (7), the catenary number C can be calculated when (x, y) and Lr are given.

[0040]

number

[0041] By transforming equation (1) using the product-sum formula, we obtain equation (8) below.

[0042]

number

[0043] From the calculated C and (x, y), v The obtained C and x can be calculated. v From equation (3), y v , i.e., the amount of slack in the rope 5 can be calculated.

[0044] The amount of slack in rope 5 (y v ) can be calculated using only equations (1) to (3), but because the amount of calculation is large, it is expected that the calculation time will be long unless the computer has a high calculation processing power. Therefore, it is difficult to control the return device 2 in accordance with the movement of the wire pulling machine 3 and maintain the slack of the rope 5 at the target value. On the other hand, by using equations (1) to (8), the amount of slack (y v ) can be calculated within an allowable time, and the return device 2 can be controlled in accordance with the movement of the wire drawing machine 3, thereby making it possible to maintain the slack of the rope 5 at a target value.

[0045] The difference calculation unit 11d calculates the target value of the slack (y vt The difference calculation unit 11d obtains the slack (y v ) and the target value (y vi =y vt -y v ) is calculated.

[0046] The command generator 11e generates a control command to the return device 2 according to the difference calculated by the difference calculator 11d. vi If the difference (y vi ) is equal to or less than 0, the command generating unit 11e generates a command to stop the sending out of the rope 5. The command generating unit 11e transmits the generated command to the sending-back device 2.

[0047] Next, the information processing performed by the information processing device 1 will be described. FIG. 6 is a flowchart showing an example of the procedure for slack adjustment processing. The control unit 11 of the information processing device 1 obtains a target slack value from the target value DB 131 (step S1). The control unit 11 obtains the position from the wire-pulling machine 3 and the rope length from the return device 2 (step S2). The control unit 11 calculates the slack of the rope 5 regardless of the running of the wire-pulling machine (step S3). The control unit 11 calculates the difference between the calculated slack and the target value (step S4). The control unit 11 generates a command corresponding to the difference value and sends it to the return device 2 (step S5). The control unit 11 returns the processing to step S2 to continue the processing. Steps S2 to S5 form an infinite loop, but the loop may be terminated when the wire-pulling machine 3 reaches a predetermined position. Alternatively, an interrupt may be generated and the processing may be terminated by operating a switch (not shown).

[0048] This embodiment has the following advantages. Cooperation between the information processing device 1 and the return device 2 enables automatic control so that the slack in the rope 5 falls within a target value range. This frees up the worker who was adjusting the slack in the rope 5, allowing him or her to perform other tasks. As a result, it is expected that the workability of the entire construction work will improve, and in particular that the work time will be reduced.

[0049] (Obtaining the position of wire-drawing machine 3) Although the position of the wire pulling machine 3 is obtained from the measurement results of the rotary encoder 33 and the gyro sensor 35, this is not limited to this. GNSS (Global Navigation Satellite System) may also be used. A GNSS receiver (satellite positioning system receiver) is installed in the wire pulling machine 3. The receiver receives radio waves transmitted from a satellite. The wire pulling machine 3 obtains its own position from the receiver. DGPS (Differential Global Positioning System) may also be used to improve position accuracy. DGPS is a technology that corrects the current position using data from a reference base station in addition to conventional satellite data. While the error of ordinary GPS is several hundred meters, DGPS can reduce the error to around 5 meters.

[0050] RTK (Real Time Kinematic) positioning may also be used. RTK positioning is a technology that receives signals from four or more satellites using two receivers, one at a fixed station and one at a mobile station. By exchanging information between the two receivers and correcting for discrepancies, it is possible to obtain more accurate position information than standalone positioning. RTK positioning can obtain a position with an accuracy of a few centimeters.

[0051] (Variation 1) In the first embodiment described above, the installation heights of the two utility poles 8 are the same. However, the following describes the case where the installation heights are different. FIG. 7 is an explanatory diagram showing a simplified view of the wire-extending work. When the installation heights of the two utility poles 8 are different, the virtual line VL indicating the boundary that the rope 5 must not cross becomes a slanted straight line. Therefore, even if the lowest point of the rope 5 does not touch the virtual line VL, it is not necessarily the case that the entire rope 5 does not touch the virtual line VL. Therefore, the following processing is performed. A function equation (1) representing the virtual line VL is established. Equation (1) is established in advance. When the wire-extending machine 3 starts running, the control unit 11 of the information processing device 1 calculates, from the position of the wire-extending machine 3, a function equation (2) of a curve indicating the slack of the rope 5. The control unit 11 calculates the number of real solutions to the simultaneous equations consisting of Equation (1) and Equation (2). If there are two real solutions, the rope 5 is too slack, so the control unit 11 commands the return device 2 to retract the rope 5. If there is one real solution, or if the solution is two imaginary numbers, the control unit 11 commands the return device 2 to send out the rope.

[0052] If formulating equation (2) and finding the number of real solutions to the simultaneous equations requires a large amount of calculation and is not practical, a simulation or the like is performed in advance to determine the position of the wire pulling machine 3 and the optimal length of the rope 5 at that position. The determined results are stored in the auxiliary memory unit 13 of the information processing device 1. The control unit 11 acquires the position of the wire pulling machine 3 and the rope length. The control unit 11 reads the optimal rope length from the auxiliary memory unit 13 based on the acquired position of the wire pulling machine 3. If the acquired rope length is longer than the optimal rope length, the control unit 11 commands the return device 2 to retract the rope 5. If the acquired rope length is equal to or shorter than the optimal rope length, the control unit 11 commands the drum 4 to send out the rope to the return device 2.

[0053] (Variation 2) FIG. 8 is an explanatory diagram showing a simplified view of a cable extension work. In the example shown in FIG. 8, a rope 5 is to be stretched between a first power line 61 and a second power line 62. In this case, a function formula is calculated in advance to indicate the curve of the trajectory along which the lowest point of the rope 5 should follow. When the cable extension machine 3 starts running, the control unit 11 of the information processing device 1 calculates the lowest point of the slack in the rope 5 from the position of the cable extension machine 3. The control unit 11 inputs the x-coordinate of the lowest point into the function formula to calculate the y-coordinate. If the y-coordinate of the lowest point is greater than the calculated y-coordinate, the control unit 11 commands the return device 2 to let out the rope 5. If the y-coordinate of the lowest point is equal to or less than the calculated y-coordinate, the control unit 11 commands the return device 2 to retract the rope 5.

[0054] (Variation 3) FIG. 9 is an explanatory diagram showing a simplified view of cable-laying work using a drone. In the example shown in FIG. 9, the rope is laid using a drone D instead of a cable-laying machine 3. In this case, the position of the drone D is determined using GNSS. As in the first embodiment, the lowest point of the rope 5 is determined from the position of the drone D, and the return device 2 is controlled, and therefore a description thereof will be omitted. The drone D is an example of a conveying machine.

[0055] (Embodiment 2) This embodiment relates to a form in which the slack in the rope 5 is adjusted in consideration of an increase in rope load due to wind conditions. Fig. 10 is an explanatory diagram showing a simplified view of the wire-drawing work. The same components as those shown in Fig. 1 are given the same reference numerals, and their explanations will be omitted. In this embodiment, an anemometer 9 and an aerial work platform 10 equipped with the anemometer are added. The anemometer 9 is fixed to the cage of the aerial work platform 10. The cage is raised to the same height as the wire-drawing machine 3, and the wind pressure is measured by the anemometer 9. This makes it possible to estimate the wind pressure acting on the rope 5.

[0056] When wind hits the rope 5, air vortices called Karman vortices are generated on the downwind side of the rope 5. In this state, wind pressure is high on the wind-hit side of the rope 5 and low on the downwind side where the vortex is generated, resulting in wind pressure load. FIG. 11 is an explanatory diagram showing an example of an adjustment coefficient DB. The adjustment coefficient DB 132 stores coefficients for adjusting the target value of the rope 5's slack according to the wind speed. The adjustment coefficient DB 132 includes a wind speed sequence and a coefficient sequence. The wind speed sequence stores a range of wind speeds, measured in meters per second. The coefficient sequence stores adjustment coefficients for the target value, measured in dimensionsless units. In FIG. 11, for example, it is defined that if a wind speed of less than 5 meters per second is observed, the target value of the slack is multiplied by 0.8. In step S4 of the slack adjustment process shown in FIG. 6, the difference between the calculated slack and the value obtained by multiplying the target value by the adjustment coefficient is calculated.

[0057] In this embodiment, the slack in the rope 5 can be adjusted to an optimum amount under windy conditions.

[0058] (Embodiment 3) This embodiment relates to an embodiment in which the slack of the rope 5 is estimated using a learning model. Fig. 12 is an explanatory diagram showing an example of the estimation model. The estimation model 151 performs deep learning on the relationship between the position information and rope length of the wire pulling machine 3 and the slack of the rope 5, thereby generating an estimation model 151 that takes the position information and rope length as input and outputs the slack of the rope 5. The estimation model 151 is, for example, a CNN (Convolution Neural Network), and has an input layer that accepts input of the position information and rope length, an output layer that outputs the slack of the rope 5, and an intermediate layer that defines the relationship between the input and the output.

[0059] The input layer has multiple neurons that receive input of position information and rope length. The input layer passes the received position information and rope length to the middle layer. The middle layer has multiple neurons, and passes a value corresponding to the slack in rope 5 to the output layer according to the position information and the relationship between rope length and slack. The output layer outputs an estimated value of the slack in rope 5 based on the value obtained from the middle layer.

[0060] The estimation model 151 is not limited to a CNN, and may be a trained model constructed using other learning algorithms, such as a neural network other than a CNN, a Bayesian network, or a decision tree.

[0061] The information processing device 1 performs learning using training data in which position information, rope length, and slack in the rope 5 are associated. The information processing device 1 inputs the position information and rope length constituting the training data to the input layer and acquires the slack in the rope 5 from the output layer. The information processing device 1 compares the slack acquired from the output layer with the correct value of the slack constituting the training data, and optimizes parameters used in the calculation processing in the intermediate layer so that the output value from the output layer approaches the correct value. Examples of such parameters include weights (coupling coefficients) between neurons and coefficients of activation functions used in each neuron. There are no particular limitations on the method for optimizing the parameters, but the information processing device 1, for example, optimizes various parameters using an error backpropagation method.

[0062] The information processing device 1 repeatedly performs the above process using all records that make up the training data, and generates the estimation model 151.

[0063] During operation, in step S3 of the sag adjustment process shown in FIG. 6, the sag is estimated by the estimation model 151 instead of the process of calculating the sag.

[0064] In this embodiment, by using the estimation model 151, the calculation process for calculating the slack is not required.

[0065] (Another example of an estimation model) 13 is an explanatory diagram showing another example of an estimation model. Estimation model 152 is a neural network that receives as input the position information of wire pulling machine 3, rope length, wind direction and speed, and difference in elevation of utility poles, and outputs the slack of rope 5. The training data used to generate estimation model 152 is data that associates position information, rope length, wind direction and speed, and difference in elevation of utility poles with the correct value of slack of rope 5. During operation, position information, rope length, wind direction and speed, and difference in elevation of utility poles are input to estimation model 152, and the slack of rope 5 is obtained as the output of estimation model 152.

[0066] In the above-described embodiment or modified example, the drum 4 may be given the function of the return device 2, and a pulley may be installed at the position of the return device 2. Since the drum 4 and return device 2 are installed on the ground, it is expected that the number of steps will be reduced compared to installing the return device 2 on a utility pole.

[0067] The technical features (constituent elements) described in each embodiment can be combined with each other, and by combining them, new technical features can be formed. The embodiments disclosed herein are to be considered as illustrative in all respects and not restrictive. The scope of the present invention is defined by the claims, not by the above meaning, and is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0068] 1. Information processing equipment 11 Control section 11a Position coordinate acquisition unit 11b Rope length acquisition section 11c Calculation part 11d Difference calculation part 11e Instruction generator 12 Main memory 13 Auxiliary storage 131 Target Value DB 132 Adjustment Coefficient DB 14 Communications Department 151 Estimation Model 152 Estimation Model B Bus 1P control program 1a Semiconductor memory 2 Sending back device 21 Control section 22 Main memory 23 Auxiliary storage 24 Communications Department 25 Mechanism 251 Rope return mechanism 2511 Laura 2512 rotary encoder 2P control program 3 Wire drawing machine 31 Drive wheels 32 Passive wheel 33 rotary encoder 34 Spring 35 Gyro sensor D Drone 4 Drums 5. Rope 6 Existing electric wires 7. Communication lines 8. Electric pole 9. Wind pressure gauge 10. Aerial work platform

Claims

1. Acquire position information of a conveyor that conveys a rope used to string an overhead wire and the length of the rope that has been sent out; Calculate the deflection of the rope during transportation based on the acquired position information and rope length. A program that causes a computer to perform a process.

2. Based on the difference between the calculated deflection and the target deflection, a control command is output to a return device that returns and retracts the rope. The program according to claim 1.

3. Accepts the setting of the target deflection amount. The program according to claim 2.

4. If the difference is positive, the control command to let out the rope is output; If the difference is negative, the control command to stop sending out and retracting the rope is output. The program according to claim 2 or 3.

5. Calculating the number of catenaries based on the acquired position information and the rope length, Calculating the deflection based on the calculated number of catenaries and the position information. The program according to any one of claims 1 to 4.

6. The rope length is obtained based on the measurement results of the rotary encoder. The program according to any one of claims 1 to 5.

7. The conveyor is a wire-drawing machine that moves along an installed power line, and the position information of the wire-drawing machine is obtained based on measurement results by a satellite positioning system receiver attached to the wire-drawing machine or a rotary encoder and a gyro sensor attached to the wire-drawing machine. The program according to any one of claims 1 to 6.

8. The computer Acquire position information of a conveyor that conveys a rope used to string an overhead wire and the length of the rope that has been sent out; Calculate the deflection of the rope during transportation based on the acquired position information and rope length. An information processing method that performs processing.

9. an acquisition unit that acquires position information of a conveyor that conveys a rope used to string an overhead wire and a rope length of the sent-out rope; a calculation unit that calculates the deflection of the rope during transportation based on the acquired position information and rope length; An information processing device comprising:

10. a conveyor for conveying a rope used to string the overhead wire; A return device that returns and retracts the rope; Acquire position information of the conveyor and the length of the rope that has been sent out, Calculating the deflection of the rope during transportation based on the acquired position information and rope length; a control device that outputs a control command to the returning device based on a difference between the calculated deflection and a target deflection amount; An information processing system comprising:

Images