Systems and methods

Abstract

To provide a new technique which can be used for realizing early restoration of a life line such as electricity and water supply to a disaster area.SOLUTION: By a plurality of unmanned aerial vehicles, objects 4 to be laid which are either electric wires, hoses, or cord-like objects are suspended at intervals. The plurality of unmanned aerial vehicles autonomously fly in tandem flight along a laying route. When the unmanned aerial vehicle 5a of 1-st flight in flight order arrives at a final destination point 22, the plurality of unmanned aerial vehicles release the suspended installation objects 4 to be laid all at once and arrange the objects 4 to be laid on the ground surface.SELECTED DRAWING: Figure 9

Description

[Technical Field]

[0001] The present invention relates to a system for transporting an object to be installed. [Background technology]

[0002] When stringing electric wires, a technique is known in which a drone is used to transport the wires to any desired location (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2018-148719 Summary of the Invention [Problem to be solved by the invention]

[0004] In areas affected by earthquakes and other disasters, the early restoration of lifelines such as electricity and water is crucial. Many roads in the affected areas are cut off, and transporting power lines and water hoses to these areas had to wait until the roads were restored.

[0005] The technology of Patent Document 1 requires the presence of steel towers for extending the overhead wires, etc. Therefore, it is not realistic to apply the technology of Patent Document 1 to transporting power lines, etc. to disaster-stricken areas for the purpose of early restoration.

[0006] The problem that the present invention aims to solve is to provide a new technology that can be used to achieve the early restoration of lifelines such as electricity and water in disaster-stricken areas. [Means for solving the problem]

[0007] The first invention for solving the above problem is a system that transports the objects to be laid, which may be electric wires, hoses, or ropes, by suspending them at intervals and controlling multiple unmanned aerial vehicles to fly in a tandem along the laying route.

[0008] According to the first invention, it is possible to transport the installation object from the air even in disaster areas where roads are cut off, thereby realizing a technology that can be used to quickly restore lifelines such as electricity and water in disaster areas.

[0009] A second invention is a system in which the plurality of unmanned aerial vehicles fly in tandem while hoisting communication cables for flight control and power supply cables connecting each unmanned aerial vehicle.

[0010] For example, when transporting a construction target over a long distance in a mountainous region for placement and installation, wireless communication with the unmanned aerial vehicle is not always possible. This tendency becomes more pronounced as the construction distance becomes longer. Furthermore, when an unmanned aerial vehicle flies on battery power, there is a limit to the transportation distance. According to the second invention, communication and power supply to the unmanned aerial vehicle are achieved via wires, making it possible to transport the construction target without being affected by communication failures or battery capacity.

[0011] The third invention is a system that, in the above system, is provided with a first separation control means (e.g., control board 60, first separation control unit 212 in Figure 12, steps S100 to S106 in Figure 16) that controls the inter-aircraft separation, which is the distance between adjacent unmanned aerial vehicles in the tandem flight, to be kept within a first range.

[0012] According to the third invention, by maintaining the separation between adjacent unmanned aerial vehicles in tandem flight within the first range, it becomes possible to prevent collisions between the unmanned aerial vehicles.

[0013] The fourth invention is a system further comprising a first range setting means (e.g., control board 60, first range setting unit 202 in Figure 12, step S10 in Figure 14) that sets the first range based on the altitude above the ground and the length of the installation target suspended by adjacent unmanned aerial vehicles.

[0014] According to the fourth invention, the first range can be set according to various specifications that can change depending on the conditions of the site where the unmanned aerial vehicle is being transported, such as the flight altitude above the ground and the length of the object to be laid suspended by adjacent unmanned aerial vehicles.

[0015] The fifth invention is a system in which, in the above system, the unmanned aerial vehicle has a positioning function (e.g., positioning module 64 in Figure 2), and further includes a positioning reference separation estimation means (e.g., control board 60, positioning reference separation estimation unit 206 in Figure 12, step S70 in Figure 15) that estimates the separation between the aircraft based on the positioning information of the unmanned aerial vehicle.

[0016] According to the fifth aspect of the present invention, it becomes possible to estimate the separation between the aircraft based on the positioning information of the unmanned aerial vehicles.

[0017] The sixth invention is a system in which, in the above system, the unmanned aerial vehicle has a measuring unit (e.g., the installation object tension measuring unit 120 in Figure 2) for measuring the tension of the suspended installation object, and further includes a tension-based separation estimation means (e.g., the control board 60 in Figure 12, the tension-based separation estimation unit 208, step S70 in Figure 15) for estimating the separation between the aircraft based on the measurement results of the measuring unit of the unmanned aerial vehicle and the length and weight of the installation object suspended by adjacent unmanned aerial vehicles.

[0018] According to the sixth aspect of the present invention, it is possible to estimate the separation between the unmanned aerial vehicles 5 based on the tension acting on the object to be laid suspended by the unmanned aerial vehicle 5.

[0019] The seventh invention is a laying system in which, in the above system, the unmanned aerial vehicle has a positioning function and a measuring unit for measuring the tension of the suspended installation object, and further comprises a positioning reference distance estimation means for estimating a positioning reference distance based on the positioning information of the unmanned aerial vehicle, a tension reference distance estimation means for estimating a tension reference distance based on the measurement results of the measuring unit of the unmanned aerial vehicle and the length and weight of the installation object suspended by adjacent unmanned aerial vehicles, and a determination means for determining the inter-aircraft distance based on the positioning reference distance and the tension reference distance (for example, control board 60 in Figure 12, inter-aircraft distance determination unit 210, steps S72-S76 in Figure 15).

[0020] According to the seventh aspect of the present invention, it is possible to determine the separation between the aircraft based on the positioning reference separation and the tension reference separation.

[0021] The eighth invention is a system in which the unmanned aerial vehicle has a measuring unit (e.g., connecting wire tension measuring unit 86 in Figure 2) for measuring the tension of the connecting wire connecting adjacent unmanned aerial vehicles, and further includes a tension-based separation estimation means (e.g., control board 60 in Figure 12, tension-based separation estimation unit 208, step S232 in Figure 18) for estimating the separation between the aircraft based on the measurement results of the measuring unit of the unmanned aerial vehicle and the length and weight of the connecting wire between the adjacent unmanned aerial vehicles.

[0022] According to the eighth aspect of the present invention, it becomes possible to estimate the separation between adjacent unmanned aerial vehicles based on the tension of the connecting wire connecting the unmanned aerial vehicles.

[0023] A ninth aspect of the present invention is the system, wherein the unmanned aerial vehicle has a positioning function and a measuring unit for measuring tension of a connecting wire connecting adjacent unmanned aerial vehicles, The system further comprises a positioning reference separation estimation means for estimating a positioning reference separation based on the positioning information of the unmanned aerial vehicle, a tension reference separation estimation means for estimating a tension reference separation based on the measurement results of the measuring unit of the unmanned aerial vehicle and the length and weight of the connecting wire between adjacent unmanned aerial vehicles, and a determination means for determining the separation between the aircraft based on the positioning reference separation and the tension reference separation.

[0024] According to the ninth aspect of the present invention, it is possible to determine the separation between the aircraft based on the positioning reference separation and the tension reference separation.

[0025] The tenth invention is a system further comprising a safety judgment means (e.g., control board 60, safety judgment unit 220 in Figure 12, step S72 → step S80 and step S82 → step S110 in Figure 15) for judging the safety of the transport flight of the laying object based on the distance difference between the positioning reference distance and the tension reference distance, and a safety flight control means (e.g., control board 60, safety flight control unit 222 in Figure 12, safety flight control 33 in Figures 15 and 16) for controlling the flight of the unmanned aircraft based on the judgment result of the safety judgment means.

[0026] According to the tenth aspect of the present invention, the safety of the transportation flight of the object to be laid can be determined based on the difference in distance between the positioning reference distance and the tension reference distance, and flight control of the unmanned aerial vehicle can be performed based on the determination result.

[0027] An eleventh invention is a system in which, in the above system, the unmanned aerial vehicles are capable of hovering, and the safety flight control means controls all of the unmanned aerial vehicles to hover when the judgment result of the safety judgment means satisfies a predetermined waiting condition (for example, step S122 in Figure 16).

[0028] According to the eleventh aspect of the present invention, when the safety judgment result satisfies a predetermined waiting condition, it becomes possible to hover all unmanned aerial vehicles and temporarily stop transport flights.

[0029] A twelfth invention is a system in which, in the above system, the safety flight control means controls all of the unmanned aircraft to land when the judgment result of the safety judgment means satisfies predetermined emergency landing conditions (for example, safety flight control 33 in Figure 17; step S188).

[0030] According to the twelfth aspect of the present invention, it becomes possible to land all unmanned aerial vehicles when the safety assessment results satisfy predetermined emergency landing conditions.

[0031] The 13th invention is a system further comprising a second separation control means (e.g., second separation control unit 224 in Figure 12, steps S90-S96 in Figure 15) for controlling the separation between every other aircraft in the tandem flight to be kept within a second range.

[0032] According to the thirteenth aspect of the present invention, it is possible to maintain the aircraft separation, which is the distance between every other aircraft during tandem flight, within the second range.

[0033] The 14th invention is a system in which, in the above system, the unmanned aerial vehicle has a gripping means (e.g., gripping unit 90 in Figure 2) that can remotely control the release of the suspended installation object, and further includes a release execution control means (e.g., release execution control unit 226 in Figure 12, step S216 in Figure 17) that executes control to cause the gripping means to release.

[0034] According to the fourteenth aspect of the present invention, it becomes possible to remotely release a facility object suspended by an unmanned aerial vehicle.

[0035] A fifteenth invention is a method including: using a plurality of unmanned aerial vehicles to suspend at intervals an object to be laid, which may be an electric wire, a hose, or a rope-like object (e.g., step S32 in Figure 14); and controlling the plurality of unmanned aerial vehicles to fly in a tandem along a laying route (e.g., step S34 in Figure 14 to step S212 in Figure 17).

[0036] According to the fifteenth aspect of the present invention, it is possible to transport the installation object from the air even in disaster areas where roads are cut off, thereby realizing a technology that can be used to quickly restore lifelines such as electricity and water in disaster areas. [Brief explanation of the drawings]

[0037] [Figure 1] FIG. 1 is a diagram illustrating an example of the configuration of a system according to an embodiment of the present invention. [Figure 2] FIG. 1 is a side view showing an example of the configuration of an unmanned aerial vehicle. [Figure 3] FIG. 1 is a front view showing an example of the configuration of an unmanned aerial vehicle. [Figure 4] FIG. 10 is a diagram for explaining selection of a laying route for a cable installation object. [Figure 5] FIG. 10 is a diagram for explaining selection of a laying route for a cable installation object. [Figure 6] FIG. 10 is a diagram for explaining a transportation operation and flight control for maintaining a separation between aircraft. [Figure 7] FIG. 10 is a diagram for explaining control for maintaining the aircraft separation within a second range. [Figure 8] FIG. 10 is a diagram for explaining separation of devices. [Figure 9] A diagram for explaining the transportation of the installation target by tandem flight of unmanned aerial vehicles. [Figure 10] 10A and 10B are diagrams for explaining the release and installation of the installation target object. [Figure 11] FIG. 2 is a diagram showing examples of programs and data stored in an unmanned aerial vehicle. [Figure 12] FIG. 2 is a diagram for explaining an example configuration of a flight control unit. [Figure 13] A diagram to explain examples of programs and data stored in the control computer and the functions realized by the control computer. [Figure 14] 4 is a flowchart illustrating the flow of processing in the system. [Figure 15] Flowchart continued from Figure 14. [Figure 16] Flowchart continued from Figure 15. [Figure 17] Flowchart continued from Figure 16. [Figure 18] Flowchart continued from Figure 17. [Figure 19] Flowchart continued from Figure 18. DETAILED DESCRIPTION OF THE INVENTION

[0038] FIG. 1 is a diagram illustrating an example of the configuration of a system 1000 according to this embodiment. System 1000 is a system for transporting long objects 4 to be laid by suspending them at intervals from unmanned aerial vehicles 5 and controlling the unmanned aerial vehicles 5 to fly in tandem along multiple laying routes.

[0039] The object to be laid 4 is a long object such as an electric wire, a hose, a cord, etc. A hose is a hose for supplying water or fuel, and a cord is a rope or cord.

[0040] The system 1000 includes a plurality of unmanned aerial vehicles 5 (5a, 5b, . . . ) and a control computer 1100.

[0041] The unmanned aerial vehicle 5 is a multi-rotor electric unmanned aerial vehicle capable of vertical takeoff and landing. A plurality of unmanned aerial vehicles 5 (5a, 5b, ...) are connected by connecting wires 6 (6a, 6b, ...) in the order of tandem flight.

[0042] A multi-cable 10 is suspended from the connecting wire 6. The multi-cable 10 is a cord-like body in which a communication cable 11 and a power supply cable 12 are bundled together. The communication cable 11 is connected to a control computer 1100. The power supply cable 12 is connected to a power supply unit 1200 on the ground.

[0043] The unmanned aerial vehicles 5 fly using power supplied from a power supply cable 12, and communicate with the control computer 1100 via a communication cable 11. The unmanned aerial vehicles 5 also communicate with each other via the communication cable 11 via a wired connection.

[0044] The control computer 1100 is realized by a personal computer, tablet computer, or the like, and functions as a radio control device for the unmanned aerial vehicle 5. The control computer 1100 also connects to and communicates with multiple unmanned aerial vehicles 5, and controls them as a group. Note that the radio control device for the unmanned aerial vehicle 5 may be a separate device from the control computer 1100.

[0045] The control computer 1100 includes a control board 1150 . The control board 1150 is equipped with various microprocessors such as a CPU (Central Processing Unit) 1151, a GPU (Graphics Processing Unit), and a DSP (Digital Signal Processor), various IC memories 1152 such as a VRAM, RAM, and ROM, a wired communication module 1153, a wireless communication module 1154, and a positioning module 1155. Note that some or all of the functions equipped on the control board 1150 may be realized by an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or an SoC (System on a Chip).

[0046] The wired communication module 1153 realizes data communication with the unmanned aerial vehicle 5 via the communication cable 11.

[0047] The positioning module 1155 performs positioning based on signals from GNSS (Global Navigation Satellite System) satellites 7 and outputs positioning information. The positioning information includes latitude, longitude, altitude above ground, heading, ground speed, and time.

[0048] Fig. 2 is a side view showing an example of the configuration of the unmanned aerial vehicle 5. Fig. 3 is a front view showing an example of the configuration of the unmanned aerial vehicle 5. The unmanned aerial vehicle 5 has a fuselage 52, four electric propellers 54, a forward camera 55, a control board 60, and a hanging unit 82. The number of electric propellers 54 can be set as appropriate.

[0049] The four electric propellers 54 are provided at the tips of arms 53 extending from the four corners of the fuselage 52, and are driven and controlled by a control board 60.

[0050] The arm 53 is provided with an altitude sensor 56 for measuring altitude above the ground. The ground altitude sensor 56 is realized by, for example, a vision sensor with a downward shooting direction, an ultrasonic sensor with a downward measurement direction, etc. The ground altitude measured by the sensor is used for flight control of the unmanned aerial vehicle 5.

[0051] The front camera 55 is fixed to the front of the fuselage 52 via a gimbal so that it can swing up and down and left and right, and captures images in front, left, right, and below the aircraft.

[0052] The control board 60 is housed within the body 52 . The control board 60 includes a microcomputer 61, an IC memory 62, a propeller drive circuit 63, a positioning module 64, an IMU (Inertial Measurement Unit) 65, and a communication module 66. The control board 60 also includes a first transducer 67a, a second transducer 67b, and an interface IC 68.

[0053] The microcomputer 61 is a control unit having a CPU that processes predetermined programs stored in the IC memory 62. By executing the programs, the microcomputer 61 controls the drive of the four electric propellers 54 to perform various flight controls such as takeoff, landing, hovering, and autonomous flight in formation with other aircraft to a designated location.

[0054] The propeller drive circuit 63 is a circuit section that controls the drive of the motor of the electric propeller 54, and includes, for example, a circuit for PWM (Pulse Width Modulation), an ESC (Electric Speed ​​Controller), a BSC (Battery Eliminator Circuit), and the like.

[0055] The positioning module 64 receives signals from the GNSS satellites 7, determines the current position, and outputs the positioning information.

[0056] The IMU65 detects angular velocity and acceleration around three orthogonal axes: the longitudinal axis, the vertical axis, and the horizontal axis, and calculates and outputs the attitude angle (roll, pitch) and azimuth angle (yaw) based on these.

[0057] The communication module 66 realizes data communication with the control computer 1100. Specifically, the communication module 66 realizes communication with external devices via the communication cable 11. The communication module 66 realizes communication with other devices.

[0058] The first transducer 67 a is connected to the connecting wire tension measuring unit 86 . The connecting wire tension measuring unit 86 is realized by, for example, a load cell, and also serves as a fixing unit for attaching the connecting wire 6 to the hanging unit 82. The first transducer 67a calculates the wire tension Tw acting on the connecting wire 6 based on the signal output from the connecting wire tension measuring unit 86 and outputs it.

[0059] The second transducer 67b is connected to a bending beam type gauge of the installation target tension measuring unit 120, and calculates and outputs the installation target tension Tf acting on the installation target 4.

[0060] The interface IC 68 controls the input and output of signals between the control board 60 and the outside.

[0061] The hanging part 82 is a structural part for hanging the installation target object 4. The hanging part 82 is detachably fixed to the underside of the body 52 by a connecting part 83 provided at the upper end. The hanging part 82 has a clamper 100 at its lower end for gripping the object 4 to be laid.

[0062] The hanging part 82 has a wire fixing part 84 on the front side of the upper part. The wire fixing portion 84 is a portion for detachably fixing the rear end of the connecting wire 6 that connects the host aircraft to another aircraft flying ahead of the host aircraft in tandem flight.

[0063] The hanging part 82 has a connecting wire tension measuring part 86 on the rear side of the upper part. The connecting wire tension measuring unit 86 is realized by, for example, a load cell, one end of which is fixed to the hanging unit 82 and the other end of which is attached to a wire fixing bracket 87. The front end of the connecting wire 6 that connects the host aircraft to a following aircraft flying behind the host aircraft in tandem flight is fixed to the wire fixing bracket 87.

[0064] The connecting wire tension measuring unit 86 is connected to the first transducer 67a. The connecting wire tension measuring unit 86 and the first transducer 67a measure the load acting on the connecting wire 6 stretched between the own machine and the following machine, i.e., the wire tension Tw.

[0065] The hanging part 82 has a jack 88 on the right or left side (see FIG. 3). The jacks 88 are receptacles for the plugs 13 provided at predetermined intervals on the multi-cable 10. The unmanned aerial vehicle 5 is designed to be capable of being inserted into and removed from the multi-cable 10 while the power is on.

[0066] The hanging part 82 has a gripping part 90 at its lower end that can remotely control the release of the hanging installation target 4.

[0067] The gripping portion 90 includes a swing base 91 , a swing plate 93 supported on the swing base 91 by a swing shaft 92 , and a lock module 94 that fixes / releases the swing plate 93 to / from the swing base 91 .

[0068] The lock module 94 is an electromagnetic actuator operated by the control board 60, and when not energized, the lock pin 95 is pushed out by the biasing force of a spring, and is locked by being inserted into the upper end of the swing plate 93. When energized, the lock module 94 pulls out the lock pin 95 inserted into the upper end of the swing plate 93, thereby releasing the lock.

[0069] When the swing plate 93 is locked by the lock module 94, it is fixed in a "hanging position" along the vertical direction of the machine body, and when the lock is released, it is in a "free state" in which it can swing freely.

[0070] The front left side of the swing plate 93 (the left side from the machine body perspective) is equipped with a clamper 100 that clamps the object to be laid 4. The specifications of the clamper 100 can be selected appropriately depending on the size, elasticity, outer shape, etc. of the object to be laid 4, but the specifications should be such that the swing plate 93 becomes free and swings under its own weight, thereby releasing the clamp of the clamper 100.

[0071] Specifically, for example, the clamper 100 clamps and fixes the object 4 to be laid between an upper shoe 101 and a lower shoe 102. The clamper 100 has the upper shoe 101 mounted on the swing base 91 and the lower shoe 102 supported on the left side of the swing plate 93 so that it can move up and down, and the vertical position can be adjusted with an adjustment bolt 103.

[0072] A part of the object 4 to be laid suspended between the own machine and the succeeding machine is in a tensioned state with its front end fixed to the clamper 100 of the own machine and its rear end fixed to the clamper 100 of the succeeding machine.

[0073] A fixed pulley 110, on which the object to be laid 4 is hung, is attached to the rear left side of the swing plate 93 (left side from the machine body) with a rotating shaft facing left and right (see FIG. 2). The portion of the object 4 to be laid that is suspended between the machine and the following machine is stretched in a straight line between the clamper 100 and the fixed pulley 110.

[0074] The swing plate 93 is provided with a tension measuring unit 120 for the object to be laid on the left side near the center of the front and rear. The installation target tension measuring unit 120 has a free roller attached with its longitudinal axis in the left-right direction and with a bending beam type gauge as its axis. The installation target tension measuring unit 120 may include a biasing means (for example, a spring support structure or an actuator) that pushes the free roller upward.

[0075] The bending beam type gauge of the installation target tension measuring unit 120 is connected to the second transducer 67b. The installation target tension measuring unit 120 and the second transducer 67b measure the installation target tension Tf of the installation target 4 based on the load received from the installation target 4.

[0076] In addition, a downwardly extending anti-fall claw 98 is appropriately provided on the left side of the oscillating base 91, which prevents the object to be laid 4, which is suspended between the clamper 100, the object to be laid tension measuring unit 120, and the fixed pulley 110, from falling off to the left of the machine when the oscillating plate 93 is in the hanging position.

[0077] To have the object to be laid 4 grasped by the grasping part 90, the operator turns on a specified manual operation switch provided on the lock module 94, temporarily turning on the power, and pulls the lock pin 95 out of the oscillating plate 93, setting the oscillating plate 93 in a free state.

[0078] Next, the operator manually swings the swing plate 93 slightly from the suspended position to create a gap between the swing plate 93 and the fall-off prevention claws 98. From there, the installation target 4 is inserted and handed over to the clamper 100, installation target tension measuring unit 120, and fixed pulley 110.

[0079] Then, the operator returns the swing plate 93 to the hanging position, turns off the manual operation switch of the lock module 94 to return it to the power OFF state, and locks the swing plate 93 in the hanging position.

[0080] 4 and 5 are diagrams for explaining the selection of a laying route for the object to be laid 4. Fig. 4 corresponds to a cross-sectional view of the terrain, and Fig. 5 corresponds to an overhead view of the terrain. The site where the installation object 4 is to be installed has roads cut off due to disasters such as earthquakes, typhoons, floods, and landslides, making it difficult to restore lifelines such as electricity and water while moving work vehicles along the roads. As an emergency measure until the roads are restored, the installation object 4 is transported and installed by the system 1000 to the intended installation route.

[0081] The laying route of the laying object 4 is surveyed and determined in advance by flying one of the unmanned aerial vehicles 5 as a single survey aircraft 5x. That is, the operator remotely controls the surveyor 5x using the control computer 1100 as a radio control device, and flies it from the laying start point 20 (where the control computer 1100 is installed) to the laying final destination point 22. Images from the surveyor 5x's front camera 55 (see Figure 2) can be monitored by the control computer 1100. The operator flies the surveyor 5x from the laying start point 20 to the laying final destination point 22, and finds a laying route that allows the laying target object 4 to be lowered from the sky and laid. The examples in Figures 4 and 5 show an example of finding a laying route by following an open area in the forest. The laying route may be meandering.

[0082] Once the laying route is found, the operator returns the survey aircraft 5x to the laying start point 20. Then, the operator operates the control computer 1100 to start storing the specified flight route, and then once again flies the survey aircraft 5x along a flight route 24 that flies above the laying route to the sky above the final destination point 22. At this time, the operator remotely controls the survey aircraft 5x to take off slightly from a state where it is parked on the ground GL, and move forward along the flight route 24 while establishing an altitude increase section 26 in which the flight altitude is gradually increased to the standard flight altitude Hs.

[0083] When a flight route storage start operation is input, the control computer 1100 generates and records data of the flight route 24 based on the positioning information from the survey aircraft 5x.

[0084] The latitude and longitude along flight route 24 are determined using positioning information from survey aircraft 5x. The flight altitude along flight route 24 is basically set so that the altitude above the ground of the most hanging part of installation target 4, which is suspended and transported by unmanned aerial vehicle 5, is high enough to avoid contact with utility poles, overhead wires, buildings, trees, etc. This will be called the "standard flight altitude Hs."

[0085] Once the flight route 24 is prepared, the operator begins the transportation work to lay the installation target object 4.

[0086] FIG. 6 is a diagram for explaining a transport operation and flight control for maintaining an inter-aircraft separation D, which is the relative distance between adjacent unmanned aerial vehicles 5. In FIG.

[0087] The operator sets the flight order for each of the multiple unmanned aerial vehicles 5 (5a, 5b, ...). In the example of Figure 6, the order of lowercase letters attached to the symbol "5" indicates the flight order. The flight order may be set in advance, for example, using a dip switch on the control board 60. In the following explanation, the unmanned aerial vehicles 5 will be referred to as No. 1, No. 2, ... according to the set flight order.

[0088] The operator connects the tip of the first connecting wire 6 to the wire fixing bracket 87 of the first machine, inserts the first plug 13 from the tip of the multi-cable 10 into the jack 88 of the first machine, and suspends the multi-cable 10 from the connecting wire 6 with a clip. Then, the operator causes the gripping part 90 of the first machine to grip the installation target 4.

[0089] Next, the operator connects the rear end of the first connecting wire 6 to the wire fixing part 84 of the second machine, connects the front end of the second connecting wire 6 to the wire fixing bracket 87 of the second machine, and further inserts the second plug 13 from the front end of the multi-cable 10 into the jack 88 of the second machine.The operator then hangs the multi-cable 10 from the connecting wire 6 with a clip, and has the gripping part 90 of the second machine grip the installation target 4.

[0090] This means that the first aircraft is now ready for takeoff, so the operator uses control computer 1100 to operate the first aircraft for takeoff.

[0091] In response to the takeoff operation, the control computer 1100 determines the launch position of the first aircraft, which is the aircraft to take off (a position forward by the length of the connecting wire 6 on the specified flight route 24), and sends a takeoff instruction to the first aircraft along with the launch information.

[0092] Upon receiving the launch information and takeoff instructions, the first aircraft takes off and flies autonomously toward the launch location, then transitions to hovering at the launch location and waits for further instructions.

[0093] The operator connects the rear end of the second connecting wire 6 to the wire fixing part 84 of the third machine, connects the tip of the third connecting wire 6 to the wire fixing metal fitting 87 of the third machine, and further inserts the third plug 13 from the tip of the multi-cable 10 into the jack 88 of the third machine.The operator then hangs the multi-cable 10 from the connecting wire 6 with a clip, and has the gripping part 90 of the second machine grip the installation target 4.

[0094] Now that the second aircraft is ready for takeoff, the operator uses control computer 1100 to operate the second aircraft for takeoff.

[0095] Control computer 1100 determines the launch positions of aircraft No. 1, which is the aircraft in flight, and aircraft No. 2, which is the aircraft to take off. Control computer 1100 sends a new launch position and launch command to aircraft No. 1, and also sends a launch position and launch command to aircraft No. 2.

[0096] The first and second aircraft will take off almost simultaneously and fly autonomously to their respective launch positions. In other words, the first and second aircraft will fly in tandem along flight route 24 (laying route).

[0097] From then on, the process of connecting the connecting wire 6 and multi-cable 10 to new unmanned aerial vehicles 5, suspending the object to be laid 4, and taking off is repeated until the first aircraft arrives above its final destination after intermittently moving to its launch position.

[0098] The flight of the unmanned aerial vehicle 5 in flight is controlled so that the inter-aircraft separation D, which is the distance between adjacent unmanned aerial vehicles 5 in flight order, is kept within a first range (Dmin. to Dmax.). This is called "first separation control."

[0099] The first range is set based on the standard flight altitude Hs (altitude above ground), the length L of the object 4 to be laid suspended by adjacent unmanned aerial vehicles 5, and the type of object 4 to be laid. Specifically, the first range is calculated automatically by inputting information such as the standard flight altitude Hs, the length L of the object 4 to be laid suspended by adjacent unmanned aerial vehicles 5, and the type of object 4 to the control computer 1100, and referring to a predetermined function or table data.

[0100] The minimum altitude Hmin. can be set as appropriate. For example, the minimum altitude Hmin. may be set to 3 m, 5 m, 10 m, etc. It may be set as appropriate depending on the height of obstacles around the flight route during installation.

[0101] The minimum value Dmin. of the first range is determined so that the deflected portion of the object 4 suspended between adjacent unmanned aerial vehicles 5 does not reach a predetermined minimum altitude Hmin. Specifically, the minimum value Dmin. is determined according to the maximum suspension load of the unmanned aerial vehicle 5, the length L of the object 4 suspended between adjacent unmanned aerial vehicles 5, and elasticity determined by the type of object 4. The minimum value Dmin. of the first range is calculated using a pre-prepared function (for example, a function that can determine the minimum value Dmin. using the type information of the object 4 and the length L as variables). Of course, the minimum value Dmin. may also be read from referable table data.

[0102] The maximum value Dmax of the first range is determined as the upper limit of the allowable effect on the unmanned aerial vehicle 5 of excessive tension in the connecting wire 6. The maximum value Dmax is determined depending on the type of connecting wire 6 and its flexibility.

[0103] The inter-aircraft separation distance D seen in the first separation control is determined based on the positioning reference separation distance Dp estimated based on the positioning results of the unmanned aerial vehicle 5 and the tension reference separation distance Dt estimated based on the laying object tension Tf measured by the laying object tension measuring unit 120 (see Figure 2).

[0104] The tension reference separation Dt is calculated from equation (1), which is a Taylor expansion of the formula for the catenary curve, assuming that the object 4 to be laid, suspended between adjacent unmanned aerial vehicles 5, forms a catenary curve between two points. L≒Dt+(W 3 Dt 3 / 24Tf 2 ) ...Formula (1)

[0105] L is the length of a portion of the object 4 to be laid that is suspended between adjacent unmanned aerial vehicles 5. W is the weight of the object 4 to be laid per unit length. Since L and W are known, the measured tension Tf of the cable to be laid can be substituted into equation (1) and solved as a cubic equation for the tension reference distance Dt to calculate the tension reference distance Dt. Note that the approximation accuracy of equation (1) increases by increasing the order of the Taylor expansion, so the order can be increased as necessary, but note that solving a higher-order equation increases the calculation load.

[0106] The unmanned aerial vehicle 5 continues to transmit its own positioning information and tension information of the installation target tension Tf in association with its own aircraft ID to the control computer 1100 via the communication cable 11. The control computer 1100 distributes the received information to all unmanned aerial vehicles 5 via the communication cables 11.

[0107] As a first separation control, each unmanned aircraft 5 continuously calculates the inter-aircraft separation D between itself and the succeeding aircraft flying next, and autonomously controls the acceleration and deceleration of its own aircraft so that the inter-aircraft separation D is maintained within the first range.

[0108] Specifically, the unmanned aerial vehicle 5 calculates the positioning reference separation Dp between the unmanned aerial vehicle itself and the succeeding vehicle based on the positioning information of the unmanned aerial vehicle itself and the succeeding vehicle.

[0109] If the distance difference (|Dp-Dt|) between the positioning reference separation Dp and the tension reference separation Dt is equal to or less than a predetermined threshold, the unmanned aerial vehicle 5 determines that the positioning of its own aircraft and the following aircraft is normal and that the safety is high.The unmanned aerial vehicle 5 then performs first separation control, setting the inter-aircraft separation D to the average value of the positioning reference separation Dp and the tension reference separation Dt.

[0110] On the other hand, if the distance difference between the positioning reference separation Dp and the tension reference separation Dt exceeds a predetermined threshold, the unmanned aerial vehicle 5 determines that the positioning results of its own aircraft and / or the following aircraft are abnormal, the reliability of the positioning reference separation Dp is low, and the safety of the first separation control using the positioning reference separation Dp is low.The unmanned aerial vehicle 5 then performs the first separation control with the inter-aircraft separation D as the tension reference separation Dt.

[0111] FIG. 7 is a diagram for explaining control for keeping the aircraft separation distance DW, which is the distance between every other aircraft in tandem flight, within the second range.

[0112] The flight of the unmanned aerial vehicle 5 in flight is controlled so that the separation distance DW is kept within a second range (DWmin. to DWmax.). This is called "second separation control." In the example of Figure 7, three consecutive unmanned aerial vehicles 5 (5c, 5d, 5e) are shown flying in a tandem, and the separation distance DW is the distance from the first unmanned aerial vehicle 5c to the third unmanned aerial vehicle 5e.

[0113] As shown in Figure 8, the aircraft separation DW is calculated as the scalar value (absolute value) of the sum of the position vector P1 from the positioning position of the second unmanned aerial vehicle 5d to the first unmanned aerial vehicle 5c among the three consecutive unmanned aerial vehicles, and the position vector P2 from the third unmanned aerial vehicle 5e to the second unmanned aerial vehicle 5d. Specifically, each unmanned aerial vehicle 5 regards itself as the first and continuously calculates the aircraft separation DW based on its own positioning information and the positioning information of the rear aircraft two aircraft behind it, obtained via the control computer 1100.

[0114] The second range is set based on the altitude above the ground and the length 2L of the object 4 to be laid suspended by three consecutive unmanned aerial vehicles 5 in tandem flight. Specifically, the minimum value DWmin. of the second range is set so that even if the second unmanned aircraft 5d loses buoyancy among three consecutive aircraft flying in a tandem flight, the aircraft will not fall to the minimum altitude Hmin.

[0115] The minimum value DWmin. of the second range is determined according to the maximum hanging load of the unmanned aerial vehicle 5, the length 2L of the object 4 to be laid that can be suspended by three consecutive unmanned aerial vehicles, the elasticity determined by the type of object 4 to be laid, and the weight of the unmanned aerial vehicle 5. A function that can determine the minimum value DWmin. using the type information of the object 4 to be laid and the length L as variables is prepared in advance, or table data that can reference the minimum value DWmin. is prepared.

[0116] The maximum value DWmax. of the second range is set in advance as the upper limit of the allowable impact on the unmanned aerial vehicle 5 of excessive tension in the connecting wire 6. The maximum value DWmax. is set in advance depending on the type of connecting wire 6 and the flexibility of the connecting wire 6.

[0117] As the second separation control, each unmanned aerial vehicle 5 continuously calculates the separation distance DW between itself and the aircraft flying in tandem two behind it, and autonomously controls the acceleration and deceleration of its own aircraft so that the separation distance DW is kept within the second range. However, the second separation control is executed with priority over the first separation control.

[0118] FIG. 9 is a diagram for explaining the laying target 4 being covered by a plurality of unmanned aerial vehicles 5 flying in tandem. As described above, the multiple unmanned aerial vehicles 5 take off after connecting the connecting wires 6 and multi-cables 10 and suspending the object to be laid 4 in flight order, and during flight they fly autonomously, repeatedly advancing simultaneously to designated advance positions at intermittent intervals. In other words, the object to be laid 4 is transported from the laying start point 20 to the sky above the final destination point 22 by the multiple unmanned aerial vehicles 5 moving forward along the flight route 24.

[0119] FIG. 10 is a diagram for explaining the release and installation of the installation target 4. FIG. When the first unmanned aerial vehicle (unmanned aerial vehicle 5a) reaches the sky above the final destination point 22, i.e., the end point of the flight route 24, the control computer 1100 transmits a release instruction to all unmanned aerial vehicles 5 simultaneously.

[0120] When the multiple unmanned aerial vehicles 5 simultaneously receive the release signal, they activate their locking modules 94 and pull out the locking pins 95 from the swinging plates 93 (see Figure 3). The swinging plate 93 has a center of gravity that is shifted from directly below the swinging shaft 92. Therefore, the swinging plate 93 swings on the swinging shaft 92 due to its own weight. This swing releases the clamp by the clamper 100, opening up a gap between the object-to-be-laid tension measuring unit 120 and the fall-prevention claws 98, and a gap between the fixed pulley 110 and the fall-prevention claws 98. The held object-to-be-laid 4 falls from the gripping unit 90 due to its own weight and is placed (laid) on the ground surface.

[0121] Once the release is complete, the control computer 1100 sends a return command to all unmanned aerial vehicles 5. Upon receiving the return command, the unmanned aerial vehicles 5 fly autonomously in a tandem formation, reversing along the flight route 24, to the laying start point 20. During this flight, the unmanned aerial vehicles 5 fly while performing first and second separation controls, with the relative distance between them and other vehicles flying ahead of them being the inter-aircraft separation D.

[0122] However, in the first separation control during return, the unmanned aerial vehicle 5 calculates the tension reference separation Dt based on the aforementioned formula (1) using the wire tension Tw measured by the connecting wire tension measuring unit 86 (see Figure 2).

[0123] FIG. 11 is a diagram showing examples of programs and data stored in unmanned aerial vehicle 5. As shown in FIG. The unmanned aerial vehicle 5 stores in the IC memory 62 a flight control program 501, an aircraft ID 510, a flight order 512, flight route data 514, laying specification data 516, first range setting data 520, second range setting data 522, and measurement data 530.

[0124] In addition, the unmanned aerial vehicle 5 stores in the IC memory 62 current position coordinate history data 532 that stores current position coordinates in chronological order, positioning reference distance data 534 that indicates the positioning reference distance Dp, and tension reference distance data 536 that indicates the tension reference distance Dt.

[0125] Furthermore, the unmanned aerial vehicle 5 stores, in the IC memory 62, inter-aircraft separation data 538 indicating the inter-aircraft separation D, advance position coordinates 540, and duration 542 indicating the duration during which the distance difference between the positioning reference separation Dp and the tension reference separation Dt exceeds a threshold value. Of course, data other than these may also be stored as appropriate.

[0126] The unmanned aerial vehicle 5 realizes the function of a flight control unit 200 as shown in FIG. 12 by executing and processing the flight control program 501 in the microcomputer 61.

[0127] Based on the positioning information, the flight control unit 200 realizes autonomous control of flying in tandem while maintaining a standard flight altitude Hs and keeping a distance from other aircraft along the flight route 24. Furthermore, when a given condition is satisfied, the flight control unit 200 realizes control of hovering at the standard flight altitude Hs or a specified altitude. The flight control unit 200 also includes a first range setting unit 202, a second range setting unit 204, a positioning-based separation estimation unit 206, a tension-based separation estimation unit 208, and an aircraft separation determination unit 210. The flight control unit 200 also includes a first separation control unit 212, a safety determination unit 220, a safe flight control unit 222, a second separation control unit 224, and a release execution control unit 226.

[0128] The first range setting unit 202 sets the first range based on the altitude above the ground (standard flight altitude Hs) and the length of the object 4 to be laid suspended by the adjacent unmanned aerial vehicles 5.

[0129] The second range setting unit 204 sets the second range based on the altitude above ground (standard flight altitude Hs), the length 2L of the object 4 to be laid down by three consecutive unmanned aerial vehicles 5, and the weight of the unmanned aerial vehicles 5.

[0130] The positioning reference distance estimation unit 206 estimates the positioning reference distance Dp based on the positioning information of the unmanned aerial vehicle 5.

[0131] The tension reference distance estimation unit 208 estimates the tension reference distance Dt based on the measurement results of the installation target tension measurement unit 120 (see Figure 2) of the unmanned aerial vehicle 5 and the length L and weight W of the installation target 4 suspended by adjacent unmanned aerial vehicles 5.

[0132] The aircraft separation determination unit 210 determines the aircraft separation D based on the positioning reference separation Dp and the tension reference separation Dt. Specifically, if the distance difference is equal to or less than a predetermined threshold, the aircraft separation determination unit 210 determines the aircraft separation D to be the average value of the positioning reference separation Dp and the tension reference separation Dt, and if the distance difference is greater than the predetermined threshold, the aircraft separation determination unit 210 determines the aircraft separation D to be the tension reference separation Dt.

[0133] The first separation control unit 212 controls the inter-aircraft separation D, which is the distance between adjacent unmanned aerial vehicles 5 in tandem flight, to be kept within a first range.

[0134] The safety determination unit 220 determines the safety of the flight to transport the object 4 based on the difference in distance between the positioning reference separation Dp and the tension reference separation Dt. Specifically, if the difference in distance is greater than a predetermined threshold, the safety determination unit 220 determines that there is a problem with positioning and that the safety is low. Then, the safety determination unit 220 controls the duration 542 of the state in which the difference in distance is greater than the predetermined threshold, and determines whether it is appropriate to continue the flight based on the length of the timed time.

[0135] The safe flight control unit 222 controls the flight of the unmanned aerial vehicles 5 based on the judgment result of the safety judgment unit 220. Specifically, the safe flight control unit 222 controls all unmanned aerial vehicles 5 to hover in order to temporarily suspend flight when the judgment result of the safety judgment unit 220 satisfies a predetermined waiting condition based on the duration of the state in which the distance difference is greater than a predetermined threshold. Furthermore, the safe flight control unit 222 controls all unmanned aerial vehicles 5 to land when the judgment result of the safety judgment unit 220 satisfies a predetermined emergency landing condition that indicates a state in which safety is inferior to the case in which the waiting condition is satisfied.

[0136] The second separation control unit 224 controls the aircraft separation DW, which is the distance between every other aircraft in tandem flight, to be kept within a second range.

[0137] The release execution control section 226 executes control to release the object to be laid 4 held by the holding section 90.

[0138] Returning to Figure 11, flight route data 514 is data created for each checkpoint that defines flight route 24, and is acquired and stored from control computer 1100. One piece of flight route data 514 includes route sequence, position coordinates (latitude and longitude), and standard flight altitude. Of course, data other than these may also be stored as appropriate.

[0139] The installation specification data 516 includes various setting values ​​related to installation, and is acquired from and stored in the control computer 1100. The installation specification data 516 includes, for example, the type of installation object 4, the unit length weight W of the installation object 4, the suspension length L of the installation object 4, and the minimum height Hmin. Of course, data other than these may also be included as appropriate.

[0140] The measurement data 530 includes various measurement data. For example, the measurement data 530 includes positioning information, wire tension Tw, and installation target tension Tf. Of course, data other than these may also be included as appropriate.

[0141] FIG. 13 is a diagram for explaining examples of programs and data stored in the control computer 1100 and functions realized by the control computer 1100. As shown in FIG.

[0142] The control computer 1100 stores in the IC memory 1152 the control program 503, aircraft registration data 600, flight route data 610 which is the original data of the flight route 24, installation specification data 612, and flight management data 700. Of course, data other than these may also be stored as appropriate.

[0143] The control computer 1100 realizes the function of the control and management unit 240 by executing and processing the control and management program 503 in the CPU 1151 .

[0144] The control unit 240 performs various controls related to flight control of a group or formation of multiple unmanned aerial vehicles 5. The control unit 240 has an information distribution control unit 250, a sequential takeoff and landing control unit 252, an advance position determination unit 254, a release instruction control unit 256, and a return instruction control unit 258.

[0145] The information distribution control unit 250 acquires positioning information and tension information from each unmanned aerial vehicle 5, and distributes the received positioning information so that the unmanned aerial vehicles 5 can obtain each other's positioning information.

[0146] The sequential takeoff and landing control unit 252 controls the unmanned aerial vehicles 5 to take off and land in flight order.

[0147] The approach position determination unit 254 determines the next approach position along the flight route 24 for each unmanned aerial vehicle 5 and transmits control to each of them.

[0148] When the first unmanned aerial vehicle arrives above the final destination point 22, the release instruction control unit 256 controls the transmission of a release instruction to all unmanned aerial vehicles 5 to simultaneously release the objects 4 to be laid that they are holding.

[0149] The return instruction control unit 258 controls the transmission of a return instruction to return the unmanned aerial vehicle 5 that has completed release to the laying start point 20.

[0150] The aircraft registration data 600 is prepared for each unmanned aerial vehicle 5. Each piece of the aircraft registration data 600 stores an aircraft ID and a flight order.

[0151] Flight management data 700 is prepared for each unmanned aerial vehicle 5. Each piece of flight management data 700 includes an aircraft ID 702, aircraft positioning information 704 received from the aircraft, and tension information 706. Each piece of flight management data 700 also includes exit position coordinates 710, a takeoff target flag 712, and an aircraft in flight flag 714. Of course, other data may also be included as appropriate.

[0152] In the initial state before the start of laying, the advance position coordinates 710 are undetermined. The takeoff target flag 712 is initially set to "0" and is set to "1" when the aircraft is subject to takeoff control. The in-flight aircraft flag 714 is initially set to "0 (not yet taken off)" and is set to "1 (in flight)" after takeoff.

[0153] 14 to 19 are flowcharts for explaining the flow of processing in the system 1000. FIG. It is assumed that a flight order has already been set for each unmanned aerial vehicle 5. It is also assumed that data on flight route 24 has already been stored in control computer 1100.

[0154] As shown in FIG. 14, unmanned aerial vehicle 5 and control computer 1100 are wirelessly connected to execute preparation processing (steps S10 and S12).

[0155] Specifically, as a preparatory process, the control computer 1100 displays a predetermined installation specification input screen and accepts input of installation specifications (for example, the type of installation object 4, the suspension length L of the installation object 4, the weight per unit length W of the installation object 4, the minimum altitude Hmin., etc.). The control computer 1100 then stores the input installation specifications as installation specification data 612 and distributes the flight route data 610 and installation specification data 612 to all unmanned aerial vehicles 5 via communication.

[0156] As part of its preparatory processing, the unmanned aerial vehicle 5 stores the laying specifications and flight route data received from the control computer 1100 and determines the first range (Dmin. to Dmax.; see Figure 6) and the second range (DWmin. to DWmax.; see Figure 7). The unmanned aerial vehicle 5 then begins recording the current position coordinate history data 532, using the latitude, longitude, and altitude above ground level from the positioning information as the latest current position coordinates. Furthermore, as part of its preparatory processing, the unmanned aerial vehicle 5 begins measuring the positioning information and tension information, and begins control to transmit the measurement results to the control computer 1100 via the multi-cable 10.

[0157] After completing the preparation process, the control computer 1100 begins control to record the positioning information and tension information received from each aircraft as aircraft positioning information 704 and tension information 706 (step S24), and begins control to distribute the aircraft positioning information 704 of all aircraft to all unmanned aerial vehicles 5 (step S26).

[0158] The control computer 1100 sets the unmanned aerial vehicle 5 with the smallest flight order among the unmanned aircraft as the aircraft to be taken off (step S30), and waits for the operator to input a takeoff permission operation.

[0159] The operator connects the connecting wire 6 and the multi-cable 10 between the unmanned aerial vehicle 5 to be taken off and the unmanned aerial vehicle 5 to be flown next, and then has both aircraft grasp the installation target 4, and then inputs the takeoff permission operation into the control computer 1100.

[0160] When the control computer 1100 detects the takeoff permission operation input (YES in step S32), it transmits a hovering command to the aircraft to be taken off (step S34).

[0161] When the unmanned aerial vehicle 5 receives the hovering instruction, it starts hovering (step S36). The control computer 1100 sets the in-flight aircraft flag 714 of the aircraft to be taken off to "1" and registers it as an aircraft in flight (step S38).

[0162] The control computer 1100 determines, for each of the aircraft in flight, the exit position coordinates 710 that correspond to the next destination on the flight route 24 (step S50). The new exit position coordinates 710 are positions forward on the flight route 24 from the current position of the flying aircraft indicated by the latest aircraft positioning information 704 by the length of the suspended connecting wire 6 as seen from above. If the exit position is included in the altitude increasing section 26 (see Figure 4), the altitude above ground indicated by the exit position coordinates 710 is the altitude Hp (Hp1, Hp2, ...; see Figure 6) that gradually increases with increasing distance from the laying start point 20.

[0163] Then, the control computer 1100 transmits the exit position coordinates and an exit start command to each of the aircraft in flight (step S52).

[0164] When the unmanned aerial vehicle 5 receives the departure start command, it starts autonomous flight toward its own departure position coordinates (step S54).

[0165] Shifting to FIG. 15, the unmanned aerial vehicle 5 executes the first separation control 31 (steps S70 to S106).

[0166] Specifically, the unmanned aerial vehicle 5 starts calculating the positioning reference separation Dp, tension reference separation Dt, and separation DW (step S70). After this, the positioning reference separation Dp, tension reference separation Dt, and separation DW are constantly recalculated and updated as new positioning information is acquired while the first separation control is being executed.

[0167] If the distance difference between the positioning reference separation Dp and the tension reference separation Dt is less than or equal to a predetermined threshold (YES in step S72), the unmanned aerial vehicle 5 sets the inter-aircraft separation D to the average value of the positioning reference separation Dp and the tension reference separation Dt (step S74).Then, the unmanned aerial vehicle 5 stops timing the duration 542 and resets it to "0" (step S76).

[0168] If the distance difference exceeds the threshold value (NO in step S72), the unmanned aerial vehicle 5 determines that there is a malfunction or abnormality in the positioning, measures the duration 542 (step S80), and compares the latest duration 542 with a predetermined first reference value (step S82).

[0169] While the duration 542 has not reached the first reference value (YES in step S82), the unmanned aerial vehicle 5 determines that there is a problem with the positioning and that the positioning reference separation Dp is unreliable, but that this is likely still temporary, and sets the inter-aircraft separation D to the tension reference separation Dt (step S84).

[0170] Then, the unmanned aerial vehicle 5 updates the latest position coordinates (latitude, longitude, and altitude above ground of the positioning information) of the current position coordinate history data 532 to position coordinates calculated by assuming that it has moved from its previous position coordinates in the direction of travel of the positioning information at the ground speed for the time of the positioning cycle (step S86).

[0171] Next, the unmanned aerial vehicle 5 executes the second separation control 32 (steps S90 to S96). Specifically, the unmanned aerial vehicle 5 determines whether the separation distance DW is within the second range (step S90). If the determination is negative (NO in step S90), and the separation distance DW is equal to or less than the minimum value DWmin. of the second range (DW≦DWmin. in step S92), the unmanned aerial vehicle 5 accelerates (step S94). If the separation distance DW is equal to or greater than the maximum value DWmax. of the second range (DWmax.≦DW in step S92), the unmanned aerial vehicle 5 decelerates (step S96).

[0172] 16, the unmanned aerial vehicle 5 next determines whether the inter-aircraft separation D set in step S72 or step S84 is within the first range (step S100). If the determination is negative (NO in step S100), the unmanned aerial vehicle 5 accelerates (step S104) if the inter-aircraft separation D is equal to or less than the minimum value Dmin. of the first range (D≦Dmin. in step S102). If the set inter-aircraft separation D is equal to or greater than the maximum value Dmax. of the first range (Dmax.≦D in step S102), the unmanned aerial vehicle 5 decelerates (step S106).

[0173] Returning to Figure 15, on the other hand, if duration 542 exceeds the first reference value (NO in step S82), unmanned aerial vehicle 5 transmits a request to temporarily halt to control computer 1100 (step S110). In other words, unmanned aerial vehicle 5 detects that a positioning malfunction is likely to affect the safe transport flight of object 4, and that a situation has been reached that meets predetermined waiting conditions that require the transport flight to be temporarily halted, and notifies control computer 1100 of this.

[0174] Moving to FIG. 16, when the control computer 1100 receives the request to stop temporarily (YES in step S112), it transmits a temporary stop instruction to all aircraft in flight (step S114).

[0175] When unmanned aerial vehicle 5 receives the instruction to temporarily halt (YES in step S120), it stops moving to exit position coordinates 540 and starts hovering and waiting on the spot (step S122).

[0176] During hovering standby, if the distance difference between the positioning reference separation Dp and the tension reference separation Dt returns to below the threshold (YES in step S124), the unmanned aerial vehicle 5 sends a request to cancel the temporary suspension to the control computer 1100 (step S126).

[0177] Duration 542 continues to accumulate even during hovering standby. If duration 542 exceeds a predetermined second reference value (YES in step S130), unmanned aerial vehicle 5 determines that an abnormality exists that satisfies a predetermined emergency landing condition that could compromise the safety of the transport flight, and transmits an abnormality detection to control computer 1100 (step S132).

[0178] When the control computer 1100 receives the cancellation request (YES in step S134), it transmits an instruction to cancel the temporary suspension to all aircraft in flight (step S136).

[0179] When the unmanned aerial vehicle 5 receives the instruction to cancel the temporary suspension (YES in step S140), it cancels hovering and resumes moving toward the exit position coordinates 540 (step S142).

[0180] 17, the control computer 1100 performs a fault diagnosis on each of the in-flight aircraft based on the measurement results received from each of the aircraft (step S160). For example, the control computer 1100 may determine that the in-flight aircraft has a fault if the data (latitude, longitude, altitude above ground, etc.) of the positioning information received successively show a fluctuation indicating an abnormality.

[0181] If the control computer 1100 detects that an aircraft (faulty aircraft) has been "faulted" in the fault diagnosis, or if it receives an abnormality detection signal from the unmanned aircraft 5 (YES in step S162), it sends an emergency landing instruction to the aircraft in flight (step S184).

[0182] When the unmanned aerial vehicle 5 receives the emergency landing instruction (YES in step S186), it performs landing control (step S188).

[0183] Unmanned aerial vehicle 5 repeats steps S70 to S186 from the time it starts moving to exit position coordinates 540 until it arrives there (NO in step S200). If unmanned aerial vehicle 5 arrives safely at exit position coordinates 540 (YES in step S190), it transitions to maintaining hovering (step S192) and waits for reception of the next exit position coordinates 540 and an exit command (NO in step S210).

[0184] Meanwhile, the control computer 1100 repeats steps S30 to S162 until the first unmanned aerial vehicle 5 arrives above the final destination point 22 (NO in step S204).

[0185] When the flying aircraft arrives at the launch position coordinates 540 and begins hovering, the operator adds the next unmanned aerial vehicle 5 in the flight sequence to the column, connects the connecting wire 6 and multi-cable 10, and has it grasp the installation target 4. The operator then inputs a takeoff permission operation into the control computer 1100. Thus, as unmanned aerial vehicles 5 are added to the column, the installation target 4 gradually extends from the installation start point 20 along the installation route.

[0186] When the first aircraft arrives above the final destination point 22 (YES in step S204), the control computer 1100 transmits a preparatory descent command to the aircraft in flight (step S206).

[0187] When the unmanned aerial vehicles 5 receive the laying preparation command (YES in step S194), they all descend to a predetermined laying altitude (step S212). The laying altitude is set to a height that will not cause damage to the objects 4 to be laid when they are dropped to the ground, and will not cause unnecessary bounces when they land. For example, it may be about 100 cm.

[0188] After a predetermined time has elapsed since the control computer 1100 sent the preparatory descent command, it sends a release command to the aircraft in flight (step S214).

[0189] When the unmanned aerial vehicle 5 receives the release command, it activates the locking module 94 (see FIG. 3) to simultaneously release the installation targets 4 (step S216).

[0190] After a predetermined time has elapsed since the control computer 1100 sent the release instruction, it sends a return instruction to the aircraft in flight (step S218).

[0191] Moving on to Figure 18, when the unmanned aerial vehicles 5 receive the return instruction, they all ascend to the standard flight altitude Hs and begin autonomous flight by reversing the flight route 24 (step S230), and start the first separation control 31 (see Figures 15 and 16) (step S232).

[0192] However, in the first separation control during return, the tension reference separation Dt is calculated based on the wire tension Tw, and the acceleration / deceleration process when the inter-aircraft separation D deviates from the first range is reversed from that of the first separation control 31 during advance. In other words, the unmanned aerial vehicle 5 during return decelerates if the inter-aircraft separation D is equal to or less than the minimum value Dmin. of the first range, and accelerates if it is equal to or greater than the maximum value Dmax. of the first range.

[0193] In addition, the acceleration / deceleration process when the separation distance DW deviates from the second range is reversed from that of the second separation control 32 (see FIG. 15) during advancement. That is, the unmanned aerial vehicle 5 during return decelerates if the separation distance DW is equal to or less than the minimum value DWmin. of the second range, and accelerates if it is equal to or greater than the maximum value DWmax. of the second range.

[0194] The unmanned aerial vehicle 5 also executes the safety flight control 33 (33a, 33b, 33c; see FIGS. 15 to 17) when returning (step S234).

[0195] When the last aircraft in flight arrives above the starting point of flight route 24 (YES in step S240), control computer 1100 transmits a recovery standby command to the aircraft in flight (step S242).

[0196] When unmanned aerial vehicle 5 receives the recovery standby command, it stops moving backward along flight route 24 and hovers in place (step S244).

[0197] The control computer 1100 sets the aircraft with the highest flight order among the aircraft currently in flight (the aircraft closest to the laying start point 20 at that time) as the aircraft to land (step S250). If it is immediately after sending the recovery standby command, the last aircraft will be set as the aircraft to land.

[0198] Next, the control computer 1100 determines the reverse position coordinates for each of the in-flight aircraft other than the target aircraft for landing (step S252). The reverse position coordinates correspond to the advance position coordinates 540 when moving backward along the flight route 24. Therefore, the reverse position coordinates for each of the in-flight aircraft other than the target aircraft for landing are positions that are moved backward along the flight route 24 by a predetermined distance based on the length of the connecting wire 6 from the position on the flight route 24 where the unmanned aerial vehicle is hovering (the latitude and longitude in the positioning information received from each unmanned aerial vehicle 5).

[0199] Next, the control computer 1100 transmits a landing instruction to the target aircraft (step S254), and transmits reverse position coordinates and a reverse start instruction to each of the in-flight aircraft other than the target aircraft (step S256).Then, the control computer 1100 removes the target aircraft from the registration of the in-flight aircraft (step S258).

[0200] Moving on to Figure 19, when the unmanned aerial vehicle 5 receives the reverse position coordinates for itself and an instruction to start reverse (YES in step S280), it begins autonomous flight to the reverse position coordinates, and when it arrives at the reverse position coordinates, it transitions to hovering and waits (step S282).

[0201] Furthermore, when the unmanned aerial vehicle 5 receives a landing instruction for itself (YES in step S284), it executes landing control to gradually reduce the rotation of the propeller, and stops the propeller after landing (step S286).

[0202] The operator removes the connecting wire 6 connected to the connecting wire tension measuring unit 86 of the landed unmanned aerial vehicle 5, releases the clip fastening between the connecting wire 6 and the multi-cable 10, and pulls out the plug 13. This allows the unmanned aerial vehicle 5 to be recovered. Then, when the operator completes the collection, he or she inputs a predetermined collection completion operation into the control computer 1100.

[0203] When the recovery completion operation is input (YES in step S290), the control computer 1100 determines whether the landing target aircraft was the first aircraft, that is, whether the recovery of the first aircraft has been completed (step S292).

[0204] If the first aircraft has not yet been recovered (NO in step S292), the control computer 1100 repeats steps S250 to S290. If the collection of the first machine is complete (YES in step S292), the control computer 1100 ends the series of processes.

[0205] As described above, the system 1000 of this embodiment makes it possible to realize a new technology that can be used to quickly restore lifelines such as electricity and water in disaster-stricken areas.

[0206] The unmanned aerial vehicle 5 is supplied with power and ensures communication via the multi-cable 10. This allows the unmanned aerial vehicle 5 to continue flying without relying on the capacity of the battery it is equipped with, making it possible to install the installation target object 4 over long distances.

[0207] Furthermore, the unmanned aerial vehicles 5 flying in tandem are controlled to maintain the distance D between the vehicles within a first range, which not only prevents contact between adjacent vehicles in the flight order, but also prevents tangling of the multi-cable 10 and the object 4 to be laid, or undesirable sagging.

[0208] Furthermore, the unmanned aerial vehicles 5 flying in tandem are controlled to maintain the aircraft separation distance DW within the second range. Therefore, even if the second unmanned aerial vehicle 5 of the three unmanned aerial vehicles 5 flying in a flight sequence becomes unable to fly, the first and third unmanned aerial vehicles can recover and continue the transport flight.

[0209] Wired communication via the multi-cable 10 ensures the mutual exchange of positioning information between unmanned aerial vehicles 5, even in disaster areas such as mountainous regions where the wireless communication environment is poor, thereby contributing to maintaining stable inter-aircraft separation D and aircraft separation DW.

[0210] Furthermore, the unmanned aerial vehicle 5 can remotely release the suspended object to be laid 4. Therefore, a single set of unmanned aerial vehicles can be repeatedly used to lay multiple objects to be laid 4.

[0211] Furthermore, in the first separation control related to the inter-aircraft separation D, based on the distance difference between the positioning reference separation Dp and the tension reference separation Dt, switching is performed so that the tension reference separation Dt is adopted as the inter-aircraft separation D. This makes it possible to stably maintain the inter-aircraft separation D even in a situation where the positioning information is uncertain (for example, a situation where it is difficult to receive radio waves from the GNSS satellites 7, a radio wave reception situation where errors are likely to occur in the positioning information, etc.).

[0212] Furthermore, the unmanned aerial vehicles 5 are connected in flight order by connecting wires 6, and the tension of each connecting wire 6 can be measured by a connecting wire tension measuring unit 86. Therefore, even after the installation target 4 has been released, it is possible to calculate the tension reference separation Dt, enabling flight control that maintains the inter-aircraft separation D on both the outbound journey with the installation target 4 suspended and the return journey after the installation target 4 has been released.

[0213] [Modification] Although the embodiments to which the present invention is applied have been described, the forms to which the present invention can be applied are not limited to the above-described embodiments, and constituent elements can be added, omitted, or modified as appropriate.

[0214] (Variation 1) In the above embodiment, an example is shown in which, before laying the installation target object 4, a survey aircraft 5x is flown to set in advance the installation route and flight route 24 for the installation target object 4, and the unmanned aerial vehicle 5 can fly autonomously along the flight route 24, but this is not limited to this.

[0215] For example, the survey of the laying route and the flight to transport the laying object 4 may be carried out simultaneously in parallel. In other words, the first unmanned aerial vehicle 5 may also serve as the survey vehicle 5x. An operator may then pilot the first vehicle to survey the laying route for the laying object 4, while the unmanned aerial vehicle 5 carries out a flight to transport the laying object 4 in parallel.

[0216] In this case, the control computer 1100 distributes the positioning information acquired by the first aircraft during flight one by one to the second and subsequent flying aircraft as data on the flight route 24 in that configuration. The second and subsequent unmanned aerial vehicles 5 will fly autonomously, tracing the flight path of the first unmanned aerial vehicle while comparing their own positioning information with the positioning information of the flight path of the first unmanned aerial vehicle. With this configuration, even in a situation where it is difficult for multiple unmanned aerial vehicles 5 to fly autonomously at the same time, the operator can perform transportation work by operating only the first unmanned aerial vehicle.

[0217] (Variation 2) In the above embodiment, it is also possible to omit the connecting wire 6 and the communication cable 11. For example, the communication module 66 of the unmanned aerial vehicle 5 may be configured to realize wireless communication between adjacent aircraft and to support multi-hop communication. Then, the control computer 1100 replaces the communication realized via the communication cable 1 in the above embodiment with multi-hop communication. [Explanation of symbols]

[0218] 4...Installation target object 5...Unmanned aerial vehicle 6...Connecting wire 11...Communication cable 12...Power supply cable 20...Laying starting point 22...Final destination 24...Flight route 31...First separation control 32...Second separation control 33...Safety Flight Control 60...Control board 64...Positioning module 66...Communication module 86...Connected wire tension measuring unit 90...Gripping part 100...Clamper 120...Laying object tension measuring unit 200...Flight control unit 202...First range setting unit 204...Second range setting unit 206... Positioning reference distance estimation unit 208…Tension-based separation estimator 210...Aircraft separation determination unit 212...First separation control section 220…Safety judgment section 222...Safety Flight Control Unit 224...Second separation control section 226...Release execution control unit 501...Flight control program 503...Discipline and Control Program 514...Flight route data 520...First range setting data 522...Second range setting data 530...Measurement data 532...Current location coordinate history data 534... Positioning reference distance data 536...Tension reference separation data 538…Aircraft separation data 540…Advance position coordinates 542...Duration 610...Flight route data 612...Installation specifications data 704...Aircraft positioning information 706…Tension information 710…Advance position coordinates 1000...System 1100...Control computer D…Aircraft separation DW…Distance Dp...positioning reference distance Dt…Tension reference separation L...hanging length Tf: Tension of the object to be laid Tw: Wire tension

Claims

1. A system for placing objects to be laid on the ground, which are either electric wires, hoses or cords, by suspending them at intervals and controlling a plurality of unmanned aerial vehicles to fly in tandem along a flight route along the laying route, Each of the unmanned aerial vehicles has a gripping means capable of remotely controlling the release of the suspended object to be laid, a release execution control means for executing control to cause the holding means of each of the unmanned aerial vehicles to release the unmanned aerial vehicles when the leading unmanned aerial vehicle arrives at the end point of the flight route; A system comprising:

2. A system for transporting an object to be laid, which is any of an electric wire, a hose, and a rope-like object, by suspending the object at intervals and controlling a plurality of unmanned aerial vehicles to fly in a line along a laying route, comprising: a fall prevention separation control means for controlling the separation distance between each of the unmanned aerial vehicles in the tandem flight so that, when an unmanned aerial vehicle sandwiched between the unmanned aerial vehicles loses buoyancy, the unmanned aerial vehicles before and after the unmanned aerial vehicle will bear a proportionate share of the hanging load via the installation target, thereby keeping the separation distance within a distance range that can prevent the unmanned aerial vehicle from falling to a predetermined minimum altitude; A system comprising:

3. The plurality of unmanned aerial vehicles fly in tandem while hoisting a communication cable for flight control and a power supply cable connecting each unmanned aerial vehicle.

3. The system according to claim 1 or 2.

4. a first separation control means for controlling an inter-aircraft separation, which is a distance between adjacent unmanned aerial vehicles during the tandem flight, so as to be kept within a first range; 3. The system according to claim 1 or 2, comprising:

5. a first range setting means for setting the first range based on the altitude above ground and the length of the object to be laid suspended by the adjacent unmanned aerial vehicles; The system of claim 4 further comprising:

6. The unmanned aerial vehicle has a positioning function, a positioning reference separation estimation means for estimating the separation between the aircraft based on the positioning information of the unmanned aerial vehicle; The system of claim 4 further comprising:

7. the unmanned aerial vehicle has a measuring unit for measuring the tension of the suspended object to be laid, a tension-based separation estimation means for estimating the separation between the unmanned aerial vehicles based on the measurement results of the measurement units of the unmanned aerial vehicles and the lengths and weights of the objects to be laid suspended by the adjacent unmanned aerial vehicles; The system of claim 4 further comprising:

8. The unmanned aerial vehicle comprises: Positioning function, a measuring unit for measuring the tension of the suspended object to be installed; and a positioning reference separation estimation means for estimating a positioning reference separation based on the positioning information of the unmanned aerial vehicle; a tension reference distance estimation means for estimating a tension reference distance based on the measurement results of the measurement unit of the unmanned aerial vehicle and the lengths and weights of the objects to be laid suspended by the adjacent unmanned aerial vehicles; a determination means for determining the inter-aircraft separation based on the positioning reference separation and the tension reference separation; The system of claim 4 further comprising:

9. the unmanned aerial vehicle has a measuring unit for measuring tension of a connecting wire connecting adjacent unmanned aerial vehicles, a tension-based separation estimation means for estimating the separation between the aircraft based on the measurement results of the measurement unit of the unmanned aerial vehicle and the length and weight of the connecting wire between adjacent unmanned aerial vehicles; The system of claim 4 further comprising:

10. The unmanned aerial vehicle comprises: Positioning function, a measuring unit for measuring the tension of a connecting wire connecting adjacent unmanned aerial vehicles; and a positioning reference separation estimation means for estimating a positioning reference separation based on the positioning information of the unmanned aerial vehicle; a tension reference separation estimation means for estimating a tension reference separation based on the measurement results of the measurement unit of the unmanned aerial vehicle and the length and weight of the connecting wire between adjacent unmanned aerial vehicles; a determination means for determining the inter-aircraft separation based on the positioning reference separation and the tension reference separation; The system of claim 4 further comprising:

11. A system for transporting an object to be laid, which is any of an electric wire, a hose, and a rope-like object, by suspending the object at intervals and controlling a plurality of unmanned aerial vehicles to fly in a line along a laying route, comprising: The unmanned aerial vehicle comprises: Positioning function, a measuring unit for measuring the tension of the suspended object to be installed; and a first separation control means for controlling an inter-aircraft separation, which is a distance between adjacent unmanned aerial vehicles during the tandem flight, to be kept within a first range; a positioning reference separation estimation means for estimating a positioning reference separation based on the positioning information of the unmanned aerial vehicle; a tension reference distance estimation means for estimating a tension reference distance based on the measurement results of the measurement unit of the unmanned aerial vehicle and the lengths and weights of the objects to be laid suspended by the adjacent unmanned aerial vehicles; a determination means for determining the inter-aircraft separation based on the positioning reference separation and the tension reference separation; a safety determination means for determining the safety of the transportation flight of the object to be laid based on the difference in distance between the positioning reference separation and the tension reference separation; a safety flight control means for controlling the flight of the unmanned aircraft based on the determination result of the safety determination means; A system comprising:

12. A system for transporting an object to be laid, which is any of an electric wire, a hose, and a rope-like object, by suspending the object at intervals and controlling a plurality of unmanned aerial vehicles to fly in a line along a laying route, comprising: The unmanned aerial vehicle comprises: Positioning function, a measuring unit for measuring the tension of a connecting wire connecting adjacent unmanned aerial vehicles; and a first separation control means for controlling an inter-aircraft separation, which is a distance between adjacent unmanned aerial vehicles during the tandem flight, to be kept within a first range; a positioning reference separation estimation means for estimating a positioning reference separation based on the positioning information of the unmanned aerial vehicle; a tension reference separation estimation means for estimating a tension reference separation based on the measurement results of the measurement unit of the unmanned aerial vehicle and the length and weight of the connecting wire between adjacent unmanned aerial vehicles; a determination means for determining the inter-aircraft separation based on the positioning reference separation and the tension reference separation; a safety determination means for determining the safety of the transportation flight of the object to be laid based on the difference in distance between the positioning reference separation and the tension reference separation; a safety flight control means for controlling the flight of the unmanned aircraft based on the determination result of the safety determination means; A system comprising:

13. the unmanned aerial vehicle is capable of hovering; The safety flight control means controls all of the unmanned aerial vehicles to hover when the judgment result of the safety judgment means satisfies a predetermined waiting condition.

13. A system according to claim 11 or 12.

14. The safety flight control means controls all of the unmanned aerial vehicles to land when the judgment result of the safety judgment means satisfies a predetermined emergency landing condition.

13. A system according to claim 11 or 12.

15. A plurality of unmanned aerial vehicles suspend an object to be laid, which is any of an electric wire, a hose, and a cord, at intervals; Controlling the plurality of unmanned aerial vehicles to fly in tandem along a flight route that follows a laying route; A method for placing the object to be laid on the ground surface, comprising: each of the unmanned aerial vehicles has a gripping means capable of remotely controlling the release of the suspended object to be laid, When the leading unmanned aerial vehicle arrives at the end point of the flight route, executing control to release the gripping means of each unmanned aerial vehicle; The method further comprises:

16. A plurality of unmanned aerial vehicles suspend an object to be laid, which is any of an electric wire, a hose, and a cord, at intervals; controlling the plurality of unmanned aerial vehicles to fly in tandem along a laying route; Controlling the separation distance between each of the unmanned aerial vehicles in the tandem flight so that when an unmanned aerial vehicle sandwiched between two unmanned aerial vehicles loses buoyancy, the unmanned aerial vehicles before and after the unmanned aerial vehicle will share the suspension load via the installation target to prevent the unmanned aerial vehicle from falling to a predetermined minimum altitude; A method comprising:

17. A plurality of unmanned aerial vehicles suspend an object to be laid, which is any of an electric wire, a hose, and a cord, at intervals; controlling the plurality of unmanned aerial vehicles to fly in tandem along a laying route; A method comprising: the unmanned aerial vehicle has a positioning function and a measuring unit for measuring the tension of the suspended object to be laid, Controlling an inter-aircraft separation, which is a distance between adjacent unmanned aerial vehicles during the tandem flight, to be kept within a first range; Estimating a positioning reference separation based on positioning information of the unmanned aerial vehicle; Estimating a tension reference separation based on the measurement results of the measurement unit of the unmanned aerial vehicle and the lengths and weights of the objects to be laid suspended by the adjacent unmanned aerial vehicles; determining the vehicle separation based on the positioning-based separation and the tension-based separation; determining the safety of the transportation flight of the object to be laid based on a distance difference between the positioning reference separation and the tension reference separation; performing flight control of the unmanned aerial vehicle based on the safety determination result; A method comprising:

18. A plurality of unmanned aerial vehicles suspend an object to be laid, which is any of an electric wire, a hose, and a cord, at intervals; controlling the plurality of unmanned aerial vehicles to fly in tandem along a laying route; A method comprising: The unmanned aerial vehicle has a positioning function and a measuring unit for measuring tension of a connecting wire connecting adjacent unmanned aerial vehicles, Controlling an inter-aircraft separation, which is a distance between adjacent unmanned aerial vehicles during the tandem flight, to be kept within a first range; Estimating a positioning reference separation based on positioning information of the unmanned aerial vehicle; Estimating a tension reference separation based on the measurement results of the measurement unit of the unmanned aerial vehicle and the length and weight of the connecting wire between adjacent unmanned aerial vehicles; determining the vehicle separation based on the positioning-based separation and the tension-based separation; determining the safety of the transportation flight of the object to be laid based on a distance difference between the positioning reference separation and the tension reference separation; performing flight control of the unmanned aerial vehicle based on the safety determination result; A method comprising:

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