Cable winding device, cable winding system, cable winding method, and cable winding program

Abstract

To provide a cable winding device which diagnoses the contact of cable with an obstacle and, thereby, avoids such a contact.SOLUTION: A cable winding device 70 includes a control part 10 which controls the delivering and the winding of a cable 4 connected to an unmanned flying object 3, and the control part includes: an actual cable shape estimation part 14 which estimates an actual cable shape based on relative position information of the unmanned flying object and cable information of the cable, an appropriate cable shape derivation part 15 which diagnoses the contact of the cable with an obstacle and derives an appropriate cable shape capable of avoiding the contact of the cable with the obstacle, and a cable control instruction generation part 16 which diagnoses the contact of the cable with the obstacle based on the actual cable shape and the appropriate cable shape, and generates a cable control instruction for controlling the length of the cable so that the cable becomes an appropriate cable shape.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present disclosure relates to a cable winding device, a cable winding system, a cable winding method, and a cable winding program for winding up a cable connected to an unmanned aerial vehicle. [Background technology]

[0002] Conventionally, cable winding systems that use unmanned aerial vehicles (UAVs) such as drones to perform inspections and other tasks have been known. Such UAVs fly using a motor powered by a battery, but flight time is limited due to battery capacity issues. Therefore, when performing a large amount of work using the UAV, battery replacement or charging is required, making it difficult to complete inspections and other tasks in a short time.

[0003] For this reason, a cable winding system has been proposed that supplies power to the unmanned aerial vehicle via a cable from a vehicle. In such a cable winding system, power is supplied to the unmanned aerial vehicle via a cable, eliminating the problem of battery capacity and enabling inspections and other tasks to be performed in a short time.

[0004] The cable winding system described in Patent Document 1 controls the length of the cable based on the tension of the cable, thereby controlling the unmanned aerial vehicle moving through the air with high precision. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent Publication No. 2021-144644 Summary of the Invention [Problem to be solved by the invention]

[0006] However, in the technology of Patent Document 1, the position of the unmanned aerial vehicle is controlled without taking into consideration the shape of the cable, and therefore there are cases where the cable comes into contact with an obstacle.

[0007] The present disclosure has been made in view of the above, and aims to provide a cable winding device that diagnoses contact between a cable and an obstacle and avoids the contact. [Means for solving the problem]

[0008] To solve the above-mentioned problems and achieve the object, the cable winding device of the present disclosure includes a cable drive unit connected to an unmanned aerial vehicle via a cable and configured to let out and reel in the cable, and a control unit for controlling the cable drive unit. The cable winding device of the present disclosure also includes a relative position calculation unit for calculating relative position information indicating the relative position of the cable winding device relative to the unmanned aerial vehicle, and a cable information acquisition unit for acquiring cable information. The control unit includes a current cable shape estimation unit for estimating a current cable shape based on the relative position information and the cable information, and an appropriate cable shape derivation unit for diagnosing contact between the cable and an obstacle and deriving an appropriate cable shape that can avoid contact between the cable and the obstacle based on the relative position information and the cable shape. The control unit also includes a cable control command generation unit for generating a cable control command for controlling the length of the cable based on the current cable shape and the appropriate cable shape so that the cable has the appropriate cable shape. The cable drive unit lets out and reel in the cable in accordance with the cable control command. [Effects of the Invention]

[0009] The cable winding device according to the present disclosure has the advantage of being able to diagnose contact between a cable and an obstacle and avoid contact. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a diagram for explaining an outline of a process executed in the winding system according to the first embodiment. [Figure 2] FIG. 1 is a diagram showing an example of a configuration of a winding system according to a first embodiment. [Figure 3] FIG. 1 is a diagram illustrating an example of a configuration of a cable winding device included in a winding system according to a first embodiment. [Figure 4] FIG. 1 is a diagram for explaining a process in which the cable winding device according to the first embodiment estimates a current cable shape. [Figure 5] FIG. 1 is a diagram for explaining a process for deriving an appropriate cable shape by the cable winding device according to the first embodiment; [Figure 6] FIG. 1 is a diagram for explaining the relationship between the cable length and cable tension of the cable connecting the cable winding device and the unmanned aerial vehicle according to the first embodiment. [Figure 7] FIG. 10 is a diagram for explaining a first example of a process in which the cable winding device according to the first embodiment avoids contact between the cable and an obstacle; [Figure 8] FIG. 10 is a diagram for explaining a second example of a process in which the cable winding device according to the first embodiment avoids contact between the cable and an obstacle; [Figure 9] FIG. 1 is a cross-sectional view showing a configuration of a cable driving unit included in a cable winding device according to a first embodiment; [Figure 10] FIG. 1 is a top view showing a configuration of a cable driving unit included in a cable winding device according to a first embodiment; [Figure 11] 1 is a flowchart showing a processing procedure of a process executed by a cable winding device according to a first embodiment; [Figure 12] FIG. 10 is a diagram showing an example of the configuration of a cable winding device included in a winding system according to a second embodiment. [Figure 13] FIG. 10 is a diagram for explaining a process of suppressing cable vibrations performed by a cable winding device according to a second embodiment. [Figure 14] FIG. 10 is a diagram for explaining a process performed by the cable winding device according to the second embodiment to prevent the cable from contacting an obstacle. [Figure 15] FIG. 10 is a diagram for explaining a process for preventing an emergency fall when an unexpected contact occurs with a cable in a cable winding device according to a second embodiment. [Figure 16] FIG. 10 is a diagram showing an example of a configuration of a winding system according to a third embodiment. [Figure 17]FIG. 10 is a diagram for explaining a processing example of a process in which the cable winding device according to the third embodiment avoids contact between the cable and an obstacle. [Figure 18] FIG. 10 is a diagram showing a configuration example of a processing circuit provided in a control unit of a cable winding device according to the first to third embodiments when the processing circuit is realized by a processor and a memory. [Figure 19] FIG. 10 is a diagram showing an example of a processing circuit provided in a control unit of a cable winding device according to the first to third embodiments when the processing circuit is realized by dedicated hardware. DETAILED DESCRIPTION OF THE INVENTION

[0011] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A cable winding device, a cable winding system, a cable winding method, and a cable winding program according to embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.

[0012] Embodiment 1 1 is a diagram for explaining an overview of the processing executed by the winding system according to the first embodiment. The winding system 1, which is a cable winding system, has a first moving body and a second moving body. The first moving body provided in the winding system 1 is a moving body that travels on a roadway on the ground or a roadway on the side wall of a structure, and is, for example, an automobile, a train, a mobile robot, or a gondola.

[0013] The second moving body provided in the winding system 1 is, for example, a drone that moves in the air using a motor as a drive source. In the first embodiment, a case will be described in which the first moving body is a truck 2 and the second moving body is an unmanned aerial vehicle 3 such as a drone.

[0014] The winding system 1 also includes a cable winding device (cable winding device 70, described later) that feeds (discharges) and winds up the cable 4. The winding system 1 also includes a cable 4 that connects the cable winding device 70 and the unmanned aerial vehicle 3.

[0015] The cable winding device 70 includes a winding mechanism 7 that retracts and retracts the cable 4, a control unit 10 that controls the winding mechanism 7, and a camera 5. The winding system 1 is, for example, an inspection system that inspects structures, but may also be a system that performs tasks other than inspecting structures. In the winding system 1, the unmanned aerial vehicle 3 moves through the air while connected to the cable 4. In this case, as shown in state X1 in FIG. 1 , the cable 4 may come into contact with an obstacle 50 such as a building. In this case, the control unit 10 of the cable winding device 70 estimates the shape of the cable 4 using the camera 5, various sensors (not shown), and the like. The control unit 10 then adjusts the length of the cable 4 (hereinafter sometimes referred to as cable length) by letting out or retracting the cable 4 based on the shape of the cable 4. That is, as shown in state X2 in FIG. 1 , the cable winding device 70 adjusts the cable length based on the shape of the cable 4 to avoid contact between the cable 4 and the obstacle 50. The cable length is the length of the cable 4 from the winding mechanism 7 included in the cable winding device 70 to the unmanned aerial vehicle 3. The obstacle 50 is any object other than the unmanned aerial vehicle 3 and the cable winding device 70. Note that the winding mechanism 7 is illustrated schematically in FIG.

[0016] FIG. 2 is a diagram showing an example of the configuration of a winding system according to the first embodiment. A cable winding device 70 is mounted on a truck 2. The cable winding device 70 has a winding mechanism 7, a control unit 10 that controls the winding mechanism 7, and a camera 5. The winding mechanism 7 performs the winding and unwinding of the cable 4 in accordance with instructions from the control unit 10. The control unit 10 estimates the shape of the cable 4 (hereinafter sometimes referred to as the cable shape) based on information on the relative position between the unmanned aerial vehicle 3 and the cable winding device 70 (hereinafter sometimes referred to as relative position information), and controls the length of the cable 4 to be appropriate for the conditions of the unmanned aerial vehicle 3 and the cable 4. In this way, the cable winding device 70 prevents the unmanned aerial vehicle 3 and the cable 4 from coming into contact with an obstacle 50 and reduces the load on the unmanned aerial vehicle 3 caused by the cable 4.

[0017] Here, a description will be given of the processing executed by the cable winding device 70. The cable winding device 70 acquires relative position information between itself and the unmanned aerial vehicle 3 using, for example, a Global Navigation Satellite System (GNSS), an Ultra Wide Band (UWB), a beacon, a camera 5, or the like. Note that, although the camera 5 is illustrated in FIG. 2 as a device for acquiring the relative position information, the device for acquiring the relative position information may be a device other than the camera 5.

[0018] When the cable winding device 70 uses GNSS, receivers that receive radio waves from GNSS satellites are installed in the cable winding device 70 and the unmanned aerial vehicle 3. In this case, the control unit 10 of the cable winding device 70 calculates relative position information based on the signals received by each receiver. The control unit 10 may receive the signals received by the unmanned aerial vehicle 3 directly from the unmanned aerial vehicle 3, or may receive them via a higher-level system (such as the higher-level system 20 described below).

[0019] Furthermore, when the cable winding device 70 uses UWB or a beacon, the cable winding device 70 is equipped with three or more receivers that receive signals transmitted by the unmanned aerial vehicle 3. In this case, the control unit 10 calculates relative position information based on the signals received by each receiver.

[0020] Furthermore, when the cable winding device 70 uses cameras 5, three or more cameras 5 that capture images of the unmanned aerial vehicle 3 are arranged on the cable winding device 70. Note that one or two cameras 5 may be arranged on the cable winding device 70. In this case, the control unit 10 calculates relative position information based on the imaging direction when each camera 5 captures an image. Note that the cameras 5 may capture images of marks or the like arranged on the unmanned aerial vehicle 3.

[0021] In addition, the cable winding device 70 estimates the cable shape, which is the shape of the cable 4, using, for example, a tension detection sensor that detects the tension of the cable 4 (hereinafter sometimes referred to as cable tension), a cable length detection sensor that detects the cable length, a camera 5, etc.

[0022] The image of the cable 4 captured by the camera 5, the cable tension, the cable length, etc. are data for estimating the cable shape (cable information described later). The cable winding device 70 estimates the cable shape based on the relative position information and the cable information.

[0023] The cable winding device 70 calculates the current (latest) cable shape and an appropriate cable shape for the current situation. Hereinafter, the current cable shape calculated by the cable winding device 70 may be referred to as the current cable shape. Also, the appropriate cable shape calculated by the cable winding device 70 may be referred to as the appropriate cable shape.

[0024] The control unit 10 of the cable winding device 70 calculates the current cable shape and the appropriate cable shape based on the relative position information and the cable information. The current cable shape includes the current cable length of the unmanned aerial vehicle 3 and the current discharge direction of the cable 4 by the cable winding device 70. The discharge direction of the cable 4 is expressed as an angle relative to the vertical direction and a rotation angle in the horizontal plane. The appropriate cable shape also includes a target value for the cable length appropriate for the unmanned aerial vehicle 3 and a target value for the discharge direction of the cable 4 appropriate for the unmanned aerial vehicle 3.

[0025] Then, the control unit 10 generates a cable control command, which is a command for controlling the cable length and discharging direction, based on the current cable shape and the appropriate cable shape. The cable control command is a command for making the current cable shape closer to the appropriate cable shape. In this way, the control unit 10 performs feedback control of the cable winding device 70 based on the current cable shape and the appropriate cable shape.

[0026] FIG. 3 is a diagram showing an example of the configuration of a cable winding device provided in the winding system according to the first embodiment. Note that the winding mechanism 7 is not shown here. The cable winding device 70 has a control unit 10, a relative position calculation unit 11, a cable information acquisition unit 12, and a cable drive unit 13. The control unit 10 also has a current cable shape estimation unit 14, an appropriate cable shape derivation unit 15, and a cable control command generation unit 16. Note that the control unit 10 may be arranged outside the cable winding device 70.

[0027] The relative position calculation unit 11 calculates relative position information between the unmanned aerial vehicle 3 and the cable winding device 70. The relative position calculation unit 11 is equipped with a detection device (sensor, receiver, camera 5, etc.) for detecting the relative position between the unmanned aerial vehicle 3 and the cable winding device 70, and calculates the relative position information based on the information detected by this detection device. The relative position calculation unit 11 sends the relative position information to the current cable shape estimation unit 14 and the appropriate cable shape derivation unit 15.

[0028] The cable information acquisition unit 12 includes an information acquisition device that acquires cable information used to estimate the cable shape. The cable information acquisition unit 12 includes, for example, a tension detection sensor, a cable length detection sensor, and a camera 5. The cable information includes the cable tension detected by the tension detection sensor, the cable length detected by the cable length detection sensor, and an image of the cable 4 captured by the camera 5.

[0029] If the cable information acquisition unit 12 has a tension detection sensor, the cable information acquisition unit 12 detects the tension of the cable 4. If the cable information acquisition unit 12 has a cable length detection sensor, the cable information acquisition unit 12 detects the length of the cable 4. If the cable information acquisition unit 12 has a camera 5, the cable information acquisition unit 12 captures an image of the cable 4. The cable information acquisition unit 12 sends the cable information to the current cable shape estimation unit 14 and the appropriate cable shape derivation unit 15.

[0030] The current cable shape estimation unit 14 estimates the current cable shape. The current cable shape estimation unit 14 sends the estimated current cable shape to the cable control command generation unit 16. The appropriate cable shape derivation unit 15 derives an appropriate cable shape. The appropriate cable shape derivation unit 15 sends the derived appropriate cable shape to the cable control command generation unit 16.

[0031] The cable control command generation unit 16 generates a cable control command for setting the cable length to an appropriate cable length and the discharge direction of the cable 4 to an appropriate discharge direction based on the current cable shape and the appropriate cable shape. The appropriate cable length and appropriate discharge direction are those that prevent contact between the cable 4 and the obstacle 50 and reduce the load on the unmanned aerial vehicle 3. The cable drive unit 13 performs letting out or rewinding of the cable 4 in accordance with the cable control command.

[0032] Here, a description will be given of a method for estimating the current cable shape by the current cable shape estimating unit 14. Fig. 4 is a diagram for explaining the process of estimating the current cable shape by the cable winding device according to the first embodiment.

[0033] The current cable geometry estimation unit 14 estimates the current cable geometry by, for example, one of the following methods, "Current Geometry Estimation Example 1" to "Current Geometry Estimation Example 5." Fig. 4 shows a case where the current cable geometry is estimated by "Current Geometry Estimation Example 1."

[0034] (Current shape estimation example 1) In "Current Shape Estimation Example 1," the current cable shape estimation unit 14 estimates the current cable shape based on an image of a cable 4, which is an example of cable information. FIG. 4 shows a case where the camera 5 captures an image of the cable 4, and the current cable shape estimation unit 14 estimates the current cable shape based on the image of the cable 4. In this case, the camera 5 captures an image of the entire cable 4. The current cable shape estimation unit 14 estimates the current cable shape based on information obtained by image recognition by the camera 5.

[0035] The current cable shape estimation unit 14 may extract the cable shape directly from the captured image, or may estimate the cable shape using machine learning, AI (Artificial Intelligence), etc. Alternatively, the current cable shape estimation unit 14 may extract the cable shape from the captured image and correct the extracted cable shape using machine learning, AI, etc.

[0036] Furthermore, when the cable winding device 70 estimates the current cable shape using the camera 5, multiple target markers may be attached to the cable 4. In this case, the current cable shape estimation unit 14 estimates the current cable shape based on the positions of the markers captured by the camera 5. Furthermore, instead of markers, tape of a different color from the cable 4 may be attached to the cable 4, or the cable 4 may be coated with paint that reflects or absorbs light of a specific wavelength. In this case, the current cable shape estimation unit 14 estimates the current cable shape based on the tape or paint captured by the camera 5.

[0037] (Current shape estimation example 2) In "Current Shape Estimation Example 2," the current cable shape estimation unit 14 estimates the current cable shape based on the relative position information of the unmanned aerial vehicle 3 and the cable length, which is an example of cable information. For example, assuming there are no external disturbances other than gravity on the cable 4, the current cable shape estimation unit 14 can uniquely derive the cable shape based on the positions of both ends of the cable 4 and the cable length. This is because, if the only force acting on the cable 4 is gravity, the cable 4 will rest on a plane that includes the unmanned aerial vehicle 3 and the cable winding device 70. Note that, when external disturbances other than gravity on the cable 4 are taken into consideration, the current cable shape estimation unit 14 estimates the current cable shape using the above-mentioned "Current Shape Estimation Example 1" or the below-described "Current Shape Estimation Example 5."

[0038] (Current shape estimation example 3) In "Current Shape Estimation Example 3," the current cable shape estimation unit 14 estimates the current cable shape based on examples of cable information, such as the cable length and a tension vector (hereinafter sometimes referred to as a root tension vector) at the root (the end on the winding mechanism 7 side) of the cable 4. In this case, the current cable shape estimation unit 14 assumes that there is no external disturbance other than gravity of the cable 4, and estimates the current cable shape based on the root tension vector and the cable length.

[0039] (Current shape estimation example 4) In "Current Shape Estimation Example 4," the current cable shape estimation unit 14 estimates the current cable shape based on examples of cable information, such as the cable length, a specific component of the root tension vector, and the discharging direction of the cable 4. In this case, the current cable shape estimation unit 14 assumes that there is no external disturbance other than the gravity of the cable 4, and estimates the current cable shape based on the tension (either the horizontal component or the vertical component) at the root of the cable 4, the cable length, and the discharging direction at the root of the cable 4.

[0040] (Current shape estimation example 5) In "Current Shape Estimation Example 5," the current cable shape estimation unit 14 estimates the current cable shape based on examples of cable information, such as the root tension vector of cable 4, the cable length, and relative position information. In this case, the current cable shape estimation unit 14 extracts components other than gravity of the root tension vector based on the difference between the measured root tension vector and the root tension vector under static conditions (catenary curve) assumed from the cable length and relative position information. This allows the current cable shape estimation unit 14 to estimate the current cable shape taking into account the components other than gravity of the root tension vector, making it possible to estimate the current cable shape to a certain extent in three dimensions.

[0041] The appropriate cable shape deriving unit 15 derives an appropriate cable shape for suppressing the load acting on the unmanned aerial vehicle 3. Here, a method for deriving an appropriate cable shape by the appropriate cable shape deriving unit 15 will be described.

[0042] Fig. 5 is a diagram for explaining the process of deriving an appropriate cable shape by the cable winding device according to the first embodiment. The appropriate cable shape deriving unit 15 derives the appropriate cable shape by, for example, one of the following methods, "appropriate shape deriving example 1" and "appropriate shape deriving example 2." Fig. 5 shows a case where the appropriate cable shape is derived by "appropriate shape deriving example 1."

[0043] (Example 1 of appropriate shape derivation) In "Example 1 of Derivation of Appropriate Shape," when the unmanned aerial vehicle 3 and the cable winding device 70 are in a specific position, the load acting on the unmanned aerial vehicle 3 changes depending on the cable length, so the cable winding device 70 controls the cable length to suppress (e.g., minimize) the load.

[0044] In the cable winding device 70, the appropriate cable shape derivation unit 15 of the control unit 10 derives the appropriate cable shape when the horizontal discharge direction of the cable 4 is directed toward the unmanned aerial vehicle 3. As shown in Figure 5, if the cable 4 becomes too long, the weight of the cable 4 places a large load on the unmanned aerial vehicle 3. On the other hand, if the cable 4 becomes too short, the unmanned aerial vehicle 3 is pulled by the cable 4, placing a large load on the unmanned aerial vehicle 3. In Figure 5, the direction in which the cable 4 becomes longer is indicated by D1, and the direction in which the cable 4 becomes shorter is indicated by D2.

[0045] If the shape of the cable 4 can be described on a two-dimensional plane, the cable winding device 70 can realize a cable shape that reduces the load on the unmanned aerial vehicle 3 by orienting the horizontal discharge direction of the cable 4 toward the unmanned aerial vehicle 3. In other words, the appropriate cable shape derivation unit 15 derives an appropriate cable shape in which the horizontal discharge direction of the cable 4 is oriented toward the location of the unmanned aerial vehicle 3 so that the cable 4 does not bend at the discharge position of the winding mechanism 7.

[0046] Furthermore, the appropriate cable shape deriving unit 15 derives an appropriate cable shape for aligning the upward direction of the cable 4 with a target cable shape so that the cable 4 does not bend at the discharge position of the winding mechanism 7. In other words, the appropriate cable shape deriving unit 15 derives an appropriate cable shape for aligning the discharge direction in the upward direction of the cable 4 at the discharge position with the extension direction of the cable 4 at the discharge position.

[0047] Fig. 6 is a diagram for explaining the relationship between the cable length and cable tension of the cable connecting the cable winding device and the unmanned aerial vehicle according to embodiment 1. The horizontal axis of the graph shown in Fig. 6 is the cable length, and the vertical axis is the tension (cable tension) of the cable 4 applied to the unmanned aerial vehicle 3.

[0048] As shown in Figure 6, as the cable length increases from 0, the cable tension applied to the unmanned aerial vehicle 3 decreases. Furthermore, as the cable length increases, the cable tension applied to the unmanned aerial vehicle 3 increases as the cable length increases from a specific value. That is, the cable tension of cable 4 decreases as the cable length increases from 0, but as cable 4 extends beyond a certain cable length, the cable tension increases. The cable length at the boundary (point of change) where the cable tension changes from decreasing to increasing is the appropriate value for the cable length. In other words, the cable length at which the cable tension is at its minimum point is the appropriate value for the cable length.

[0049] As such, if the cable length is too small, the unmanned aerial vehicle 3 will be pulled by the cable winding device 70, resulting in increased cable tension. On the other hand, if the cable length is too large, the unmanned aerial vehicle 3 will experience increased cable tension due to the weight of the cable 4. In other words, as the cable length decreases from its appropriate value, the horizontal cable tension increases, causing the cable tension applied to the unmanned aerial vehicle 3 to increase. On the other hand, as the cable length increases from its appropriate value, the cable length of the cable 4 supported by the unmanned aerial vehicle 3 (support cable length) increases, causing the weight of the cable 4 to increase and increasing the cable tension applied to the unmanned aerial vehicle 3. In "Appropriate Shape Derivation Example 1," the appropriate cable shape derivation unit 15 derives the appropriate value for the cable length described in Figure 6.

[0050] (Example 2 of appropriate shape derivation) In "Appropriate Shape Derivation Example 2," depending on the position of the unmanned aerial vehicle 3, the cable 4 may come into contact with an obstacle 50 along the way. Therefore, the appropriate cable shape derivation unit 15 derives an appropriate cable shape having a cable length and a direction in which the cable 4 is discharged so that the cable 4 does not come into contact with the obstacle 50. The appropriate cable shape derivation unit 15 determines (diagnoses) contact between the cable 4 and the obstacle 50, for example, based on the shape (image) of the cable 4 captured by the camera 5, and derives an appropriate cable shape so that the cable 4 does not come into contact with the obstacle 50.

[0051] The appropriate cable shape derivation unit 15 determines that the cable 4 has come into contact with the obstacle 50 when, for example, the cable 4 is curved at multiple locations or when the cable 4 is bent. The appropriate cable shape derivation unit 15 may also determine that the cable 4 has come into contact with the obstacle 50 when the derived current cable shape differs from the shape of the cable 4 captured by the camera 5. The appropriate cable shape derivation unit 15 may derive an appropriate cable shape by correcting the cable length derived in "Appropriate Shape Derivation Example 1," or may derive an appropriate cable shape by correcting the discharge direction of the cable 4 derived in "Appropriate Shape Derivation Example 1." The appropriate cable shape derivation unit 15 may determine that the cable 4 has come into contact with the obstacle 50 by performing processing similar to that performed by the higher-level system 20 described in the second embodiment.

[0052] As described above, in the first embodiment, the appropriate cable shape deriving unit 15 derives an appropriate cable shape that prevents the cable 4 from coming into contact with the obstacle 50 and minimizes the load acting on the unmanned aerial vehicle 3.

[0053] 7 is a diagram illustrating a first example of a process for preventing contact between the cable and an obstacle by the cable winding device according to the first embodiment. When detecting that the cable 4 has come into contact with an obstacle 50 (st1), the appropriate cable shape deriving unit 15 derives an appropriate cable shape that will prevent the cable 4 from coming into contact with the obstacle 50 by shortening the cable 4.

[0054] In the first example of the process for avoiding contact, the cable take-up device 70 avoids the cable 4 from contacting the obstacle 50 by shortening the cable 4 based on the appropriate cable shape (st2).

[0055] The appropriate cable shape derivation unit 15 may determine contact between the cable 4 and the obstacle 50 based on information other than the image captured by the camera 5. For example, the appropriate cable shape derivation unit 15 determines contact between the cable 4 and the obstacle 50 using the surface shape of the obstacle 50 or the like measured by a surrounding environment measurement sensor that measures the surface shape of the surrounding environment of the cable 4. Specifically, the appropriate cable shape derivation unit 15 determines contact between the cable 4 and the obstacle 50 based on the relative position information calculated by the relative position calculation unit 11, the cable information acquired by the cable information acquisition unit 12, and the surface shape of the surrounding environment measured by the surrounding environment measurement sensor. The cable information here is the cable length or the cable tension.

[0056] The appropriate cable shape derivation unit 15 derives the current cable shape using, for example, a method similar to that of “Current Shape Estimation Example 2,” and determines contact between the cable 4 and the obstacle 50 based on the current cable shape and the surface shape of the surrounding environment. In this case, the current cable shape used for comparison by the appropriate cable shape derivation unit 15 may be estimated by the current cable shape estimation unit 14. When it is determined that the cable 4 and the obstacle 50 are in contact, the appropriate cable shape derivation unit 15 derives an appropriate cable shape that avoids contact between the cable 4 and the obstacle 50.

[0057] The appropriate cable shape derivation unit 15 may work in cooperation with the unmanned aerial vehicle 3 to determine contact and avoid contact. In this case, the appropriate cable shape derivation unit 15 may receive data directly from the unmanned aerial vehicle 3, or may receive data via a higher-level system 20 or the like. The unmanned aerial vehicle 3 uses various sensors to detect at least one of relative position information, cable information, and the surface shape of the surrounding environment, and provides this information to the control unit 10. In this way, in embodiment 1, there are many options for avoiding contact with obstacle 50.

[0058] 8 is a diagram illustrating a second example of a process for preventing contact between the cable and an obstacle by the cable winding device according to the first embodiment. When the appropriate cable shape deriving unit 15 detects that the cable 4 has come into contact with the obstacle 50 (st3), the appropriate cable shape deriving unit 15 derives an appropriate cable shape that prevents the cable 4 from coming into contact with the obstacle 50 by changing the direction of the cable 4.

[0059] In the second example of the contact avoidance process, the cable winding device 70 changes the direction of the cable 4 based on the appropriate cable shape (st4), thereby avoiding the cable 4 from contacting the obstacle 50. The cable winding device 70 changes the discharge direction of the cable 4 using the cable drive unit 13.

[0060] When the cable 4 is not in contact with the obstacle 50, the target value of the cable length appropriate for the unmanned aerial vehicle 3 is the appropriate value described in FIG. 6. When the cable 4 is in contact with the obstacle 50, the cable control command generation unit 16 calculates a target value that allows contact to be avoided. Of the cable lengths that allow contact to be avoided, the cable control command generation unit 16 calculates the cable length that results in the lowest cable tension as the target value of the cable length. The cable control command generation unit 16 generates a cable control command that corresponds to the calculated target value. The cable control command here is a command for controlling the cable drive unit 13.

[0061] The cable control commands generated by the cable control command generation unit 16 include, for example, a command to move the cable 4 in a direction away from the obstacle 50, or, if there is an open spatial area, a command to move the cable 4 into this area. The cable control commands generated by the cable control command generation unit 16 include a command to let out the cable 4, a command to wind up the cable 4, a command to change the discharge direction of the cable 4, etc.

[0062] The cable control command generator 16 may generate a cable control command to return the cable 4 to the position it was in when it was not in contact with the obstacle 50. The cable driver 13 performs letting out or reeling in the cable 4 in accordance with the cable control command.

[0063] FIG. 9 is a cross-sectional view showing the configuration of the cable driving unit of the cable winding device according to the first embodiment, and FIG. 10 is a top view showing the configuration of the cable driving unit of the cable winding device according to the first embodiment.

[0064] The cable driving unit 13 includes a base 31, a cable winding unit 32, a port unit 35, a roller 34, and a cable discharge unit 33. The cable driving unit 13 also includes a winding mechanism 7 (not shown in FIGS. 9 and 10).

[0065] 9 and 10, two axes in a plane parallel to the top surface of the base 31 that are perpendicular to each other are referred to as the X-axis and Y-axis. The axis perpendicular to the X-axis and Y-axis is referred to as the Z-axis. For example, the XY plane is a horizontal plane, and the Z-axis direction is a direction parallel to the vertical direction. FIG. 9 shows a cross-sectional view of the cable drive unit 13 cut along a plane parallel to the XZ plane. FIG. 10 shows a state in which the cable winding unit 32 and the port unit 35 are rotating from the base 31 within a plane parallel to the XY plane.

[0066] The base 31 is fixed to the top of the track 2. The top and bottom surfaces of the base 31 are parallel to the XY plane, and the bottom surface of the base 31 is fixed to the top of the track 2.

[0067] The cable winding unit 32 is disposed on the upper surface side of the base 31. The cable winding unit 32 and the base 31 are connected via a rotation shaft 37 that is parallel to the Z-axis direction. The cable winding unit 32 uses a motor (not shown) to let out and take up the cable 4. The cable winding unit 32 is equipped with a winding drum 38, and lets out the cable 4 wound around this winding drum 38, and also takes up the cable 4 onto the winding drum 38. The cable winding unit 32 is rotatable from 0 degrees to 360 degrees in a horizontal plane (in the XY plane) with the rotation shaft 37 as the central axis of rotation.

[0068] A cylindrical cable discharge section 33 is disposed above the cable winding section 32, serving as an outlet for feeding the cable 4 to the outside. One end (bottom side) of the cable discharge section 33 is connected to the upper surface of the cable winding section 32 via a rotation shaft 36 that is parallel to the XY plane. When the cable winding section 32 rotates, the cable discharge section 33 rotates together with the cable winding section 32 within the XY plane. Furthermore, the cable discharge section 33 is rotatable in the upward direction with the rotation shaft 36 as the central axis of rotation. The cable discharge section 33 is rotatable, for example, from 0 degrees to 180 degrees.

[0069] The cable 4 fed out from the cable winding unit 32 passes through the cable discharge unit 33 and is sent to rollers 34 arranged above the cable discharge unit 33, and is fed out via rollers 34. The cable 4 wound by the cable winding unit 32 is sent into the cable discharge unit 33 via rollers 34, passes through the cable discharge unit 33, and is wound onto the cable winding unit 32.

[0070] The port section 35 is a port where the unmanned aerial vehicle 3 takes off and lands. The port section 35 is constructed using a plate-shaped member parallel to the XY plane. The port section 35 is fixed to the cable winding section 32 and rotates together with the cable winding section 32 within the XY plane. The unmanned aerial vehicle 3 takes off from the upper surface of the port section 35 and lands on the upper surface of the port section 35.

[0071] A slit 39 is provided in the port portion 35, and the top and bottom surfaces of the port portion 35 are U-shaped. When the cable drive unit 13 is viewed from above, the longitudinal direction (axial direction) of the cable winding unit 32 and the extending direction of the slit 39 are the same. When the cable winding unit 32 is viewed from above, the roller 34 rotates within the area of ​​the slit 39. In other words, the cable discharge portion 33 is positioned so that the roller 34 is visible from above the port portion 35 regardless of whether the cable discharge portion 33 is rotated to any position between 0 degrees and 180 degrees. In other words, the slit 39 is positioned so that it does not come into contact with the cable discharge portion 33 even when the axial direction of the cable discharge portion 33 is oriented in the Z-axis direction.

[0072] The control unit 10 controls the letting out and rewinding of the cable 4, and also controls the rotation of the cable winding unit 32 and the cable discharge unit 33. The cable control command generation unit 16 of the control unit 10 generates a cable control command to rotate the cable winding unit 32 and the cable discharge unit 33 so that the cable discharge unit 33 and the unmanned aerial vehicle 3 are contained within a plane perpendicular to the horizontal direction. The cable drive unit 13 rotates the cable discharge unit 33 and the unmanned aerial vehicle 3 in the horizontal direction in accordance with this cable control command. This allows the cable winding device 70 to contain the cable discharge unit 33 and the unmanned aerial vehicle 3 within a plane perpendicular to the horizontal direction, thereby reducing the load acting on the unmanned aerial vehicle 3.

[0073] Furthermore, the cable control command generating unit 16 of the control unit 10 generates a cable control command for rotating the discharge direction of the cable 4 in an upward direction based on the appropriate cable shape so that the cable 4 does not bend at the cable discharge unit 33. The cable driving unit 13 rotates the cable discharge unit 33 in an upward direction in accordance with this cable control command. As a result, the cable 4 does not bend at the cable discharge unit 33, and the cable winding device 70 can accurately control the cable length and discharge direction of the cable 4.

[0074] Furthermore, since the cable 4 is not bent at the cable discharge section 33, the cable winding device 70 can obtain the accurate cable length and accurate cable tension. This allows the cable winding device 70 to accurately estimate the current cable shape and accurately derive the appropriate cable shape, making it possible to accurately control the cable length and discharge direction of the cable 4.

[0075] The cable driving unit 13 may be configured to rotate the cable winding unit 32 in the horizontal direction or rotate the cable discharge unit 33 in the upward direction. In other words, the cable driving unit 13 may be configured to rotate the discharge direction of the cable 4 in at least one of the horizontal direction and the upward direction.

[0076] The cable 4 is let out from the central region of the port unit 35. The unmanned aerial vehicle 3 extends the cable 4, for example, from directly below the center of the unmanned aerial vehicle 3. The cable driving unit 13 lets out the cable 4 so that the cable length becomes the appropriate value shown in Figure 6, i.e., so that the cable tension becomes the minimum value.

[0077] The cable driving unit 13 may dynamically swing out the cable 4 by rotating the cable winding unit 32 at high speed. That is, the cable driving unit 13 may swing out the cable 4 by using centrifugal force by rotating the cable winding unit 32 at high speed. This makes it possible to greatly bend the cable 4 shown in FIG. 8.

[0078] Note that, in order to prevent slack in the cable 4 at the cable drive unit 13, a motor for letting out and winding up the cable 4 may also be disposed on the upper end side of the cable discharge unit 33. In this case, the motor of the cable discharge unit 33 is controlled in coordination with the rotation of the winding drum 38. That is, the cable winding device 70 controls the motor of the cable discharge unit 33 in accordance with the rotational position of the winding drum 38. This improves the accuracy with which the cable length detection sensor detects the cable length.

[0079] Next, we will explain the processing procedure executed by the cable winding device 70. Figure 11 is a flowchart showing the processing procedure executed by the cable winding device according to embodiment 1. After the cable winding device 70 and the unmanned aerial vehicle 3 are connected by the cable 4, the unmanned aerial vehicle 3 takes off from the port section 35, and the cable winding device 70 lets out the cable 4.

[0080] The cable winding device 70 acquires the relative position information of the unmanned aerial vehicle 3 and the cable information (step S1). Specifically, the relative position calculation unit 11 calculates the relative position information between the unmanned aerial vehicle 3 and the cable winding device 70, and the cable information acquisition unit 12 acquires the cable information such as the cable tension, the cable length, and an image of the cable 4.

[0081] The current cable configuration estimator 14 estimates the current cable configuration based on the relative position information and the cable information (step S2). The current cable configuration estimator 14 sends the estimated current cable configuration to the cable control command generator 16.

[0082] Based on the relative position information and cable information, the appropriate cable shape derivation unit 15 derives an appropriate cable shape for suppressing the load acting on the unmanned aerial vehicle 3 (Block B1). Block B1 includes the processing of steps S3 to S6.

[0083] Here, the processing of block B1 (steps S3 to S6) executed when deriving an appropriate cable shape will be described. The appropriate cable shape deriving unit 15 provisionally sets an appropriate cable length (target cable length) (step S3).

[0084] The appropriate cable shape deriving unit 15 estimates the cable tension based on the relative position information and the temporarily set cable length (step S4). The appropriate cable shape deriving unit 15 determines whether the estimated cable tension is minimum (step S5). That is, the appropriate cable shape deriving unit 15 determines whether the estimated cable tension is the appropriate value described in FIG. 6.

[0085] If the estimated cable tension is not minimum (No in step S5), the appropriate cable shape derivation unit 15 returns to the process in step S3. Then, the appropriate cable shape derivation unit 15 provisionally sets a new cable length that has not been provisionally set among the settable cable lengths to an appropriate cable length (step S3). The appropriate cable shape derivation unit 15 estimates the cable tension based on the relative position information and the provisionally set cable length (step S4), and determines whether the estimated cable tension is minimum (step S5).

[0086] The appropriate cable shape derivation unit 15 repeats the processes of steps S3 to S5 until the estimated cable tension becomes minimum. If the estimated cable tension becomes minimum (step S5, Yes), the appropriate cable shape derivation unit 15 determines an appropriate cable shape (step S6). That is, the appropriate cable shape derivation unit 15 determines the cable shape with the minimum estimated cable tension as the appropriate cable shape.

[0087] If the cable 4 collides with an obstacle 50 with the appropriate cable shape when the cable tension is minimized, the appropriate cable shape derivation unit 15 derives an appropriate cable shape that minimizes the cable tension within a range where the cable 4 does not collide with the obstacle 50.

[0088] It is to be noted that either the process of step S2 or the process of block B1 may be executed first. The appropriate cable shape derivation unit 15 sends the determined appropriate cable shape to the cable control command generation unit 16.

[0089] The cable control command generation unit 16 generates a cable control command for setting the cable length and discharge direction to be appropriate for the unmanned aerial vehicle 3 based on the current cable shape and the appropriate cable shape (step S7). The cable control command generation unit 16 uses the generated cable control command to control the cable drive unit 13, thereby controlling the cable 4 (step S8).

[0090] In this way, the cable winding device 70 estimates the cable shape and determines contact between the cable 4 and the obstacle 50 based on the cable shape, making it possible to accurately determine contact. Furthermore, the cable winding device 70 actively controls the cable shape starting from the root of the cable 4 based on the estimated cable shape, making it easier to avoid contact between the cable 4 and the obstacle 50. Furthermore, the cable winding device 70 derives the appropriate cable shape when the cable tension is minimized, thereby reducing the load on the unmanned aerial vehicle 3.

[0091] Furthermore, the cable reeling device 70 controls not only the cable length but also the discharge direction of the cable 4, thereby making it possible to increase the range of avoidance of contact between the cable 4 and obstacles 50. For example, even when it is necessary to fix the position of the unmanned aerial vehicle 3 during inspection, the cable reeling device 70 can control the discharge direction of the cable 4, making it possible to avoid contact between the cable 4 and obstacles 50.

[0092] As described above, in the first embodiment, the cable winding device 70 estimates the current cable shape and derives the appropriate cable shape based on the relative position information and the cable information. Then, the cable winding device 70 diagnoses contact between the cable 4 and the obstacle 50 based on the current cable shape and the appropriate cable shape. Furthermore, if the cable 4 is in contact with the obstacle 50, the cable winding device 70 generates a cable control command for controlling the length of the cable 4 so that the cable 4 has the appropriate cable shape, and lets out and winds up the cable 4 in accordance with the cable control command. This enables the cable winding device 70 to avoid contact between the cable 4 and the obstacle 50.

[0093] Embodiment 2 Next, a second embodiment will be described with reference to Figures 12 to 15. In the second embodiment, a cable winding device 70 is connected to a host system 20, and generates a cable control command in accordance with a command from the host system 20.

[0094] Fig. 12 is a diagram showing an example of the configuration of a cable winding device provided in a winding system according to embodiment 2. Of the components in Fig. 12, components that achieve the same functions as those in cable winding device 70 according to embodiment 1 shown in Fig. 3 are assigned the same reference numerals, and duplicated explanations will be omitted.

[0095] The cable winding device 70X of the second embodiment is connected to a higher-level system 20. The cable winding device 70X and the higher-level system 20 may be connected by wireless communication or by wired communication. The higher-level system 20 is a computer that controls the cable winding device 70X.

[0096] The upper system 20 acquires various data about the cable 4 from the cable winding device 70X and, based on the acquired data, generates control instructions for the cable winding device 70X to control the cable 4. The data about the cable 4 acquired by the upper system 20 from the cable winding device 70X includes, for example, at least one of relative position information, cable information, current cable shape, and appropriate cable shape.

[0097] The host system 20 generates, for example, control instructions for suppressing vibration of the cable 4 (hereinafter sometimes referred to as cable vibration), control instructions for preventing the cable 4 or the unmanned aerial vehicle 3 from contacting an obstacle 50, and control instructions for preventing an emergency crash in the event of unexpected contact with the cable 4. The host system 20 sends the generated control instructions to the cable winding device 70X.

[0098] The host system 20 may be connected to the unmanned aerial vehicle 3 via wireless communication. In this case, the host system 20 may acquire various data from the unmanned aerial vehicle 3 and generate control instructions using the acquired data. The unmanned aerial vehicle 3 uses various sensors to detect at least one of relative position information, cable information, and surface shape data of the surrounding environment, and provides the data to the host system 20. The host system 20 may receive data directly from the unmanned aerial vehicle 3, or may receive the data via a cable winding device 70 or the like.

[0099] That is, the host system 20 may generate a control instruction to suppress cable vibration using data received from the unmanned aerial vehicle 3. The host system 20 may also generate a control instruction to avoid contact between the cable 4 or the unmanned aerial vehicle 3 and an obstacle 50 using data received from the unmanned aerial vehicle 3. The host system 20 may also generate a control instruction to avoid an emergency crash of the unmanned aerial vehicle 3 using data received from the unmanned aerial vehicle 3. The host system 20 may also control the unmanned aerial vehicle 3.

[0100] Compared to the cable winding device 70, the cable winding device 70X includes a control unit 10X instead of the control unit 10. The control unit 10X includes a cable optimization unit 21, an auxiliary command generation unit 22, and a cable control command generation unit 16. The cable optimization unit 21 has the function of the current cable shape estimation unit 14 and the function of the appropriate cable shape derivation unit 15. Therefore, the cable optimization unit 21 estimates the current cable shape and the appropriate cable shape based on the relative position information and the cable information. The cable optimization unit 21 sends the estimated current cable shape and the appropriate cable shape to the cable control command generation unit 16.

[0101] The auxiliary command generating unit 22 generates an auxiliary command for controlling the cable length and discharge direction of the cable 4 in accordance with a control command sent from the higher-level system 20. The auxiliary command generating unit 22 sends the generated auxiliary command to the cable control command generating unit 16.

[0102] The cable control command generating unit 16 generates a cable control command in the same manner as in the first embodiment, based on the current cable shape and the appropriate cable shape received from the cable optimization unit 21. Furthermore, when the cable control command generating unit 16 of the second embodiment receives an auxiliary command from the auxiliary command generating unit 22, it generates a cable control command in accordance with the auxiliary command.

[0103] The host system 20 may be operated by a user. In this case, the host system 20 is a controller that controls the cable winding device 70 in accordance with instructions from the user. The host system 20 as a controller generates control instructions corresponding to user operations and sends them to the cable winding device 70, for example.

[0104] Here, a description will be given of the processing that the cable winding device 70 executes in accordance with a control command sent from the higher-level system 20. Fig. 13 is a diagram for explaining the processing that the cable winding device according to the second embodiment performs to suppress cable vibration.

[0105] In the winding system 1, the unmanned aerial vehicle 3 moves through the air while connected to the cable 4. In this case, the cable 4 may vibrate, as shown in state X3 in Figure 13. For example, the cable 4 vibrates when wind occurs, when the cable winding device 70X moves, or when the unmanned aerial vehicle 3 moves.

[0106] In the winding system 1, the cable 4 is rigidly fixed to the cable winding device 70X, so cable vibrations may be reflected by the cable winding device 70X and transmitted to the unmanned aerial vehicle 3. In this case, the cable vibrations may cause the unmanned aerial vehicle 3 to shake.

[0107] The host system 20 predicts cable vibration based on the relative position information and the current cable shape, and sends a control instruction to the cable winding device 70X that can mitigate the cable vibration. For example, the host system 20 generates a control instruction to control the movement of the cable 4 in the discharging direction, and sends it to the cable winding device 70X.

[0108] As a result, the auxiliary command generating unit 22 generates an auxiliary command for controlling the movement of the cable 4 in the discharge direction based on the control command sent from the higher-level system 20. The auxiliary command generating unit 22 sends the generated auxiliary command to the cable control command generating unit 16.

[0109] The cable control command generation unit 16 drives the cable drive unit 13 in accordance with the auxiliary command, thereby controlling the discharge direction of the cable 4. As a result, the winding system 1 can suppress the cable vibration from being reflected by the cable winding device 70X, as shown in state X4 in Fig. 13, and can quickly converge the vibration of the cable 4.

[0110] 14 is a diagram illustrating the process performed by the cable winding device according to the second embodiment to prevent the cable from coming into contact with an obstacle. In the winding system 1, the unmanned aerial vehicle 3 moves through the air while connected to the cable 4. In this case, as shown in state X5 in FIG. 14, there are cases where the movement of the unmanned aerial vehicle 3 alone is not enough to prevent the cable from coming into contact with the obstacle 50.

[0111] The upper system 20 determines whether contact between the cable 4 or the unmanned aerial vehicle 3 and the obstacle 50 can be avoided solely by the movement of the unmanned aerial vehicle 3, based on, for example, the maximum speed of the unmanned aerial vehicle 3, the maximum acceleration of the unmanned aerial vehicle 3, the current speed of the unmanned aerial vehicle 3, the flight direction of the unmanned aerial vehicle 3, the distance between the unmanned aerial vehicle 3 and the obstacle 50, relative position information, cable information, etc.

[0112] If the host system 20 determines that the unmanned aerial vehicle 3 cannot avoid contact with the obstacle 50 through the movement of the unmanned aerial vehicle 3 alone, it sends a control instruction to the cable winding device 70X to avoid contact. This control instruction is an instruction to control at least one of the cable length and the discharge direction of the cable 4. The control instruction sent by the host system 20 to the cable winding device 70X is, for example, a control instruction to forcibly move the unmanned aerial vehicle 3 toward the cable winding device 70X by winding the cable 4 at high speed, or a control instruction to forcibly move the unmanned aerial vehicle 3 by rotating the discharge direction of the cable 4 at high speed.

[0113] As a result, the auxiliary command generation unit 22 generates an auxiliary command for controlling at least one of the cable length and the discharge direction of the cable 4 based on the control command sent from the higher-level system 20. The auxiliary command generation unit 22 sends the generated auxiliary command to the cable control command generation unit 16.

[0114] The cable control command generation unit 16 drives the cable drive unit 13 in accordance with the auxiliary command, thereby controlling at least one of the cable length and the discharge direction of the cable 4. As a result, the winding system 1 is able to prevent the cable 4 and the unmanned aerial vehicle 3 from coming into contact with the obstacle 50, as shown in state X6 in Figure 14.

[0115] FIG. 15 is a diagram illustrating the process performed by the cable winding device according to the second embodiment to avoid an emergency crash when unexpected contact occurs with the cable. In the winding system 1, the unmanned aerial vehicle 3 moves through the air while connected to the cable 4. In this case, unexpected contact may occur between the cable 4 and an obstacle 50, as shown in state X7 in FIG. 15. For example, if the cable winding device 70X fails to observe the obstacle 50 (st5), unexpected contact may occur between the cable 4 and the obstacle 50 (st6). When unexpected contact occurs between the cable 4 and the obstacle 50, an unexpected force or moment is generated in the unmanned aerial vehicle 3.

[0116] The host system 20 determines whether the cable 4 has come into contact with the obstacle 50 based on the cable information or information calculated using the cable information.

[0117] The host system 20 determines whether the cable 4 has come into contact with the obstacle 50, for example, based on an image of the cable 4 or the current cable shape. The host system 20 determines that the cable 4 has come into contact with the obstacle 50, for example, when the cable 4 is curved at multiple points or when the cable 4 is bent.

[0118] In addition, the upper system 20 may determine whether the cable 4 has come into contact with an obstacle 50 based on an image or the current cable shape of the cable 4 and the surface shape of the obstacle 50 or the like measured by a sensor for measuring the surrounding environment.

[0119] Furthermore, the host system 20 may estimate the current cable shape based on the relative position information and the cable information (cable length or cable tension), and determine whether the cable 4 has come into contact with the obstacle 50 based on the estimated current cable shape and an image of the cable 4. In this case, the host system 20 determines that the cable 4 has come into contact with the obstacle 50, for example, when the estimated cable shape differs from the cable shape extracted from the image of the cable 4.

[0120] The host system 20 may also determine whether the cable 4 has come into contact with the obstacle 50 based on the cable tension detected by a tension detection sensor. The host system 20 may also estimate the cable tension based on the relative position information and the cable length, and determine whether the cable 4 has come into contact with the obstacle 50 based on this estimated cable tension. The host system 20 determines that the cable 4 has come into contact with the obstacle 50, for example, when the cable tension exceeds a threshold value or when the cable tension changes suddenly (when the rate of change in cable tension exceeds a reference value).

[0121] In addition, the upper system 20 may estimate the cable tension based on the relative position information and the cable length, and determine that the cable 4 has come into contact with the obstacle 50 if the difference between this estimated cable tension and the cable tension detected by the tension detection sensor is greater than a threshold value.

[0122] In addition, the upper system 20 may estimate the cable length based on the relative position information and cable information (cable tension or an image of the cable 4), and determine that the cable 4 has come into contact with the obstacle 50 if the difference between this estimated cable length and the cable length detected by the cable length detection sensor is greater than a threshold value.

[0123] Furthermore, the host system 20 may determine whether or not the cable 4 and the obstacle 50 have come into contact with each other by combining the above-mentioned methods for determining whether or not there has been contact.

[0124] When the host system 20 determines that the cable 4 has come into contact with the obstacle 50, it sends a control instruction to the cable winding device 70X to avoid an emergency crash of the unmanned aerial vehicle 3. For example, the host system 20 generates a control instruction to move the cable 4 at the contact position between the cable 4 and the obstacle 50 in a direction away from the contact position and sends it to the cable winding device 70X. In this case, the host system 20 generates a control instruction to rapidly let out the cable 4 or to rapidly wind up the cable 4 and sends it to the cable winding device 70X. The host system 20 may also generate a control instruction to change the discharge direction of the cable 4 and send it to the cable winding device 70X.

[0125] As a result, the auxiliary command generating unit 22 generates an auxiliary command corresponding to the control command based on the control command sent from the higher-level system 20. The auxiliary command generating unit 22 sends the generated auxiliary command to the cable control command generating unit 16.

[0126] The cable control command generation unit 16 drives the cable drive unit 13 in accordance with the auxiliary command, thereby controlling at least one of the cable length and the discharge direction of the cable 4. As a result, the winding system 1 is able to avoid (st7) the unmanned aerial vehicle 3 from suddenly crashing due to contact between the cable 4 and the obstacle 50, as shown in state X8 in Figure 15 .

[0127] The cable winding device 70X may execute the processing executed by the higher-level system 20. In this case, various data acquired by the higher-level system 20 from the cable winding device 70X is input to the auxiliary command generating unit 22. For example, at least one of relative position information, cable information, current cable shape, and appropriate cable shape is input to the auxiliary command generating unit 22.

[0128] The auxiliary command generation unit 22 calculates information similar to the control command generated by the cable winding device 70X. That is, the auxiliary command generation unit 22 calculates information corresponding to a control command for suppressing cable vibration, information corresponding to a control command for preventing the cable 4 or the unmanned aerial vehicle 3 from contacting the obstacle 50, information corresponding to a control command for avoiding an emergency crash when unexpected contact occurs with the cable 4, and the like. Then, the auxiliary command generation unit 22 generates an auxiliary command for controlling the cable length and discharge direction of the cable 4 in accordance with the calculated information. That is, the auxiliary command generation unit 22 generates an auxiliary command based on at least one of the relative position information, the cable information, the current cable shape, and the appropriate cable shape.

[0129] Thus, according to embodiment 2, the upper system 20 generates control instructions, and the cable winding device 70 uses the control instructions to control the cable length or discharge direction of the cable 4, so that the cable winding device 70 can perform complex control with a simple configuration.

[0130] The cable winding device 70 controls the cable length or the discharging direction of the cable 4 using a control instruction for suppressing cable vibration, and therefore, it is possible to suppress cable vibration.

[0131] In addition, the cable winding device 70 controls the cable length or discharge direction of the cable 4 using control instructions to avoid the cable 4 or the unmanned aerial vehicle 3 coming into contact with the obstacle 50, making it possible to avoid the cable 4 and the unmanned aerial vehicle 3 coming into contact with the obstacle 50.

[0132] In addition, the cable winding device 70 controls the cable length or discharge direction of the cable 4 using control instructions to avoid an emergency fall if unexpected contact occurs with the cable 4, making it possible to avoid an emergency fall if unexpected contact occurs with the cable 4.

[0133] Embodiment 3 Next, a third embodiment will be described with reference to Figures 16 and 17. In the third embodiment, a control unit 10 controls a plurality of cable winding devices.

[0134] Fig. 16 is a diagram showing an example of the configuration of a winding system according to embodiment 3. Among the components in Fig. 16, components that achieve the same functions as those of the cable winding device 70 according to embodiment 1 shown in Fig. 3 are given the same reference numerals, and duplicated explanations will be omitted.

[0135] The winding system 1 of the third embodiment includes a plurality of cable winding devices, a plurality of unmanned aerial vehicles, a plurality of cables 4, and a control unit 10. Below, a case will be described in which the winding system 1 of the third embodiment includes cable winding devices 70A to 70C and unmanned aerial vehicles 3A to 3C.

[0136] In the winding system 1 of embodiment 3, the cable winding devices and the unmanned aerial vehicle are connected by a single cable 4. That is, the cable winding device 70A and the unmanned aerial vehicle 3A are connected by a single cable 4, the cable winding device 70B and the unmanned aerial vehicle 3B are connected by a single cable 4, and the cable winding device 70C and the unmanned aerial vehicle 3C are connected by a single cable 4.

[0137] Like the cable winding device 70, the cable winding devices 70A to 70C have a relative position calculation unit 11, a cable information acquisition unit 12, and a cable driving unit 13. Unlike the cable winding device 70, the cable winding devices 70A to 70C do not have a control unit 10.

[0138] The control unit 10 is connected to the cable winding devices 70A to 70C. The control unit 10 receives relative position information and cable information from each of the cable winding devices 70A to 70C, and controls each of the cable winding devices 70A to 70C.

[0139] In the winding system 1 of the third embodiment, a tension detection sensor, a cable length detection sensor, and a camera 5 may be provided for each of the cable winding devices 70A to 70C, or one tension detection sensor, one cable length detection sensor, and one camera 5 may be provided for all of the cable winding devices 70A to 70C. Note that the control unit 10 may be provided inside any of the cable winding devices 70A to 70C.

[0140] 17 is a diagram illustrating an example of processing performed by the cable winding device according to the third embodiment to avoid contact between the cable and an obstacle. The control unit 10 according to the third embodiment executes the same control as in the first embodiment, and also controls the cable length and discharge direction of each cable 4 so that the cables 4 do not become entangled. Specifically, in the control unit 10, the current cable shape estimation unit 14 estimates the current cable shape of each cable 4 and sends the estimated current cable shape to the appropriate cable shape derivation unit 15. Based on the current cable shapes of each of the cables 4, the appropriate cable shape derivation unit 15 derives an appropriate cable shape that allows the unmanned aerial vehicles 3A to 3C to move to desired positions without the cables 4 coming into contact with each other.

[0141] The appropriate cable shape derivation unit 15 sends the appropriate cable shape for unmanned aerial vehicle 3A to cable winding device 70A, the appropriate cable shape for unmanned aerial vehicle 3B to cable winding device 70B, and the appropriate cable shape for unmanned aerial vehicle 3C to cable winding device 70C.

[0142] In addition, the appropriate cable shape derivation unit 15 may derive an appropriate cable shape that allows the unmanned aerial vehicles 3A to 3C to move to the desired position without the cables 4 coming into contact with each other, based on the cable length of each cable 4, relative position information of the unmanned aerial vehicles 3A to 3C, etc.

[0143] The cable control command generation unit 16 generates a cable control command based on the current cable shape and the appropriate cable shape. That is, the cable control command generation unit 16 generates a cable control command for adjusting the cable length and discharge direction so that the cables 4 do not come into contact with each other. Then, the cable drive unit 13 adjusts the cable length and discharge direction in accordance with the cable control command. This allows the winding system 1 of the third embodiment to avoid contact between the obstacle 50 and the cable 4 while preventing contact between the cables 4. Note that the winding system 1 of the third embodiment may also include a higher-level system 20. Also, the winding system 1 of the third embodiment may also include a control unit 10X instead of the control unit 10.

[0144] Thus, according to the third embodiment, the control unit 10 derives an appropriate cable shape that allows the unmanned aerial vehicle 3 to move to the desired position without the cables 4 coming into contact with each other, based on the current cable shape of each of the cables 4, making it possible to avoid contact between the cables 4 and the obstacle 50 while also avoiding contact between the cables 4. As a result, the winding system 1 of the third embodiment can perform processes such as inspections using multiple unmanned aerial vehicles 3 while avoiding contact between the cables 4.

[0145] Here, the hardware configuration of the control units 10 and 10X will be described. Note that the control units 10 and 10X have similar hardware configurations, so the hardware configuration of the control unit 10 will be described here. The control unit 10 is realized by a processing circuit. The processing circuit may be a processor and memory that executes a program stored in a memory, or may be dedicated hardware.

[0146] FIG. 18 is a diagram illustrating an example of the configuration of a processing circuit included in the control unit of the cable winding device according to the first to third embodiments, when the processing circuit is realized by a processor and a memory. The processing circuit 90 illustrated in FIG. 18 includes a processor 91 and a memory 92. When the processing circuit 90 includes the processor 91 and the memory 92, each function of the processing circuit 90 is realized by software, firmware, or a combination of software and firmware. The software or firmware is written as a control program and stored in the memory 92. The processing circuit 90 realizes each function by having the processor 91 read and execute the control program stored in the memory 92. That is, the processing circuit 90 includes the memory 92 for storing a control program that results in the processing of the control unit 10. This control program can also be said to be a program that causes the control unit 10 to execute each function realized by the processing circuit 90. This control program may be provided by a storage medium in which the control program is stored, or by other means such as a communication medium.

[0147] The control program is modularized and includes a current cable shape estimation unit 14, an appropriate cable shape derivation unit 15, and a cable control command generation unit 16. These are loaded onto the main memory device and generated on the main memory device.

[0148] Here, the processor 91 is, for example, a CPU (Central Processing Unit), a processing device, an arithmetic device, a microprocessor, a microcomputer, or a DSP (Digital Signal Processor), etc. Furthermore, the memory 92 is, for example, a non-volatile or volatile semiconductor memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable ROM), or an EEPROM (registered trademark) (Electrically EPROM), a magnetic disk, a flexible disk, an optical disk, a compact disk, a minidisk, or a DVD (Digital Versatile Disc).

[0149] FIG. 19 is a diagram showing an example of a processing circuit provided in the control unit of the cable winding device according to the first to third embodiments, when the processing circuit is realized by dedicated hardware. The processing circuit 93 shown in FIG. 19 corresponds to, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination thereof. The processing circuit 93 may be partially realized by dedicated hardware and partially realized by software or firmware. In this way, the processing circuit 93 can realize each of the above-mentioned functions by dedicated hardware, software, firmware, or a combination thereof.

[0150] The configurations shown in the above embodiments are merely examples, and may be combined with other known technologies, or different embodiments may be combined with each other. It is also possible to omit or modify parts of the configurations as long as they do not deviate from the gist of the invention.

[0151] Various aspects of the present disclosure are summarized below as appendices.

[0152] (Appendix 1) a cable driving unit that is connected to the unmanned aerial vehicle via a cable and that feeds out and winds up the cable; a control unit that controls the cable driving unit; a relative position calculation unit that calculates relative position information indicating a relative position of the unmanned aerial vehicle; a cable information acquisition unit that acquires cable information that is information about the cable; Equipped with The control unit a current cable shape estimation unit that estimates a current cable shape based on the relative position information and the cable information; an appropriate cable shape derivation unit that diagnoses contact between the cable and an obstacle based on the relative position information and the cable shape and derives an appropriate cable shape that is an appropriate cable shape that can avoid contact between the cable and the obstacle; a cable control command generation unit that generates a cable control command for controlling the length of the cable based on the current cable shape and the appropriate cable shape so that the cable has the appropriate cable shape; and The cable driving unit delivers and retracts the cable in accordance with the cable control command. A cable winding device characterized by: (Appendix 2) a cable driving unit that is connected to the unmanned aerial vehicle via a cable and that feeds out and winds up the cable; a control unit that controls the cable driving unit; a relative position calculation unit that calculates relative position information indicating a relative position of the unmanned aerial vehicle; a cable information acquisition unit that acquires cable information that is information about the cable; Equipped with the cable driving unit rotates the discharge direction of the cable to at least one of a horizontal direction and an upward direction; The control unit a cable control command generation unit that diagnoses contact between the cable and an obstacle based on the relative position information and the cable information and generates a cable control command to rotate the discharge direction of the cable in at least one of the horizontal direction and the upward direction so as to avoid contact between the cable and the obstacle; the cable driving unit rotates the discharge direction of the cable in at least one of the horizontal direction and the upward direction in accordance with the cable control command; A cable winding device characterized by: (Appendix 3) The cable information includes at least one of a cable length, a cable tension, and an image of the cable. 3. The cable winding device according to claim 1 or 2. (Appendix 4) the control unit determines contact between the cable and the obstacle based on the cable information or information calculated using the cable information, and when it determines that the cable and the obstacle have come into contact, generates the cable control command to avoid contact between the cable and the obstacle. 4. The cable winding device according to claim 1, wherein the cable winding device is a cable winding device having a plurality of winding members. (Appendix 5) the control unit determines contact between the cable and the obstacle using the relative position information. 5. The cable winding device according to claim 4, (Appendix 6) the control unit determines contact between the cable and the obstacle using a surface shape of the surrounding environment of the cable. 6. The cable winding device according to claim 4 or 5, (Appendix 7) The cable drive unit a cylindrical cable outlet portion for sending out the cable to the outside; The cable control command generation unit generating the cable control command so that the cable outlet and the unmanned aerial vehicle are located within a plane perpendicular to the horizontal direction; 3. The cable winding device according to claim 2, (Appendix 8) the cable control command generation unit generates a cable control command for rotating a discharge direction of the cable toward the upward direction so that the cable is not bent at the cable discharge unit; the cable driving unit rotates the discharge direction of the cable toward the upward direction in accordance with the cable control command; 8. The cable winding device according to claim 7, (Appendix 9) the appropriate cable shape deriving unit derives the appropriate cable shape in which a cable tension, which is a tension in the cable, is minimized. 2. The cable winding device according to claim 1, (Appendix 10) the control unit generates the cable control command such that a cable tension that is a tension in the cable is minimized. 9. The cable winding device according to claim 2, 7, or 8, wherein: (Appendix 11) the cable drive unit is plural; the control unit transmits the cable control command to each of the cable driving units. 11. A cable winding device according to any one of claims 1 to 10. (Appendix 12) a cable winding device that winds and unwinds a cable connected to the unmanned aerial vehicle; a host system that acquires data on the cable from the cable winding device, generates control instructions for controlling the cable based on the data on the cable, and transmits the control instructions to the cable winding device; and The cable winding device is a cable driving unit that is connected to the unmanned aerial vehicle via the cable and that delivers and retracts the cable; a control unit that controls the cable driving unit; a relative position calculation unit that calculates relative position information indicating a relative position of the unmanned aerial vehicle; a cable information acquisition unit that acquires cable information that is information about the cable; Equipped with The control unit a current cable shape estimation unit that estimates a current cable shape based on the relative position information and the cable information; an appropriate cable shape derivation unit that diagnoses contact between the cable and an obstacle based on the relative position information and the cable shape and derives an appropriate cable shape that is an appropriate cable shape that can avoid contact between the cable and the obstacle; an auxiliary command generation unit that generates an auxiliary command for controlling a cable length, which is the length of the cable, in accordance with the control command; a cable control command generation unit that generates a cable control command for controlling the cable length based on the current cable shape and the appropriate cable shape so that the cable has the appropriate cable shape, and that generates the cable control command in accordance with the auxiliary command when the auxiliary command is received; and The cable driving unit delivers and retracts the cable in accordance with the cable control command. A cable winding system characterized by: (Appendix 13) The cable data includes at least one of the relative position information, the cable information, the current cable shape, and the desired cable shape. 13. The cable winding system according to claim 12. (Appendix 14) The cable winding device is mounted on a mobile body that can move on the ground. 14. A cable winding system according to claim 12 or 13. (Appendix 15) The cable winding device forcibly moves the position of the unmanned aerial vehicle by controlling at least one of the cable length and the cable discharge direction. 15. A cable winding system according to any one of claims 12 to 14. (Appendix 16) a cable driving step in which a cable winding device connected to the unmanned aerial vehicle via a cable winds up and delivers the cable; a control step in which the cable winding device controls the letting out and winding of the cable; a relative position calculation step in which the cable winding device calculates relative position information indicating a relative position of the cable winding device with respect to the unmanned aerial vehicle; a cable information acquisition step in which the cable winding device acquires cable information that is information about the cable; Including, The control step a current cable shape estimating step in which the cable winding device estimates a current cable shape that is a current cable shape based on the relative position information and the cable information; an appropriate cable shape deriving step in which the cable winding device diagnoses contact between the cable and an obstacle based on the relative position information and the cable shape and derives an appropriate cable shape that is an appropriate cable shape that can avoid contact between the cable and the obstacle; a cable control command generating step in which the cable winding device generates a cable control command for controlling a cable length, which is a length of the cable, based on the current cable shape and the appropriate cable shape so that the cable has the appropriate cable shape; and In the cable driving step, the cable winding device winds and releases the cable in accordance with the cable control command. A cable winding method characterized by the above. (Appendix 17) a control step of controlling the unwinding and winding of a cable connected to the unmanned air vehicle; a relative position calculation step of calculating relative position information indicating a relative position of the unmanned aerial vehicle; a cable information acquisition step of acquiring cable information that is information about the cable; on the computer, The control step a current cable shape estimating step of estimating a current cable shape based on the relative position information and the cable information; an appropriate cable shape deriving step of diagnosing contact between the cable and an obstacle based on the relative position information and the cable shape and deriving an appropriate cable shape that is an appropriate cable shape that can avoid contact between the cable and the obstacle; a cable control command generating step of generating a cable control command for controlling a cable length, which is a length of the cable, based on the current cable shape and the appropriate cable shape so that the cable has the appropriate cable shape; and In the control step, the letting out and winding of the cable are controlled in accordance with the cable control command. A cable winding program comprising: [Explanation of symbols]

[0153] 1 Winding system, 2 Track, 3, 3A to 3C Unmanned aerial vehicle, 4 Cable, 5 Camera, 7 Winding mechanism, 10, 10X control unit, 11 Relative position calculation unit, 12 Cable information acquisition unit, 13 Cable drive unit, 14 Current cable shape estimation unit, 15 Appropriate cable shape derivation unit, 16 Cable control command generation unit, 20 Upper system, 21 Cable optimization unit, 22 Auxiliary command generation unit, 31 Base, 32 Cable winding unit, 33 Cable discharge unit, 34 Roller, 35 Port unit, 36, 37 Rotating shaft, 38 Winding drum, 39 Slit, 50 Obstacle, 70, 70A to 70C, 70X Cable winding device, 90, 93 Processing circuit, 91 Processor, 92 Memory.

Claims

1. a cable driving unit that is connected to the unmanned aerial vehicle via a cable and that feeds out and winds up the cable; a control unit that controls the cable driving unit; a relative position calculation unit that calculates relative position information indicating a relative position of the unmanned aerial vehicle; a cable information acquisition unit that acquires cable information that is information about the cable; Equipped with The control unit a current cable shape estimation unit that estimates a current cable shape based on the relative position information and the cable information; an appropriate cable shape derivation unit that diagnoses contact between the cable and an obstacle based on the relative position information and the cable shape and derives an appropriate cable shape that is an appropriate cable shape that can avoid contact between the cable and the obstacle; a cable control command generation unit that generates a cable control command for controlling the length of the cable based on the current cable shape and the appropriate cable shape so that the cable has the appropriate cable shape; and The cable driving unit delivers and retracts the cable in accordance with the cable control command. A cable winding device characterized by:

2. a cable driving unit that is connected to the unmanned aerial vehicle via a cable and that feeds out and winds up the cable; a control unit that controls the cable driving unit; a relative position calculation unit that calculates relative position information indicating a relative position of the unmanned aerial vehicle; a cable information acquisition unit that acquires cable information that is information about the cable; Equipped with the cable driving unit rotates the discharge direction of the cable to at least one of a horizontal direction and an upward direction; The control unit a cable control command generation unit that diagnoses contact between the cable and an obstacle based on the relative position information and the cable information and generates a cable control command to rotate the discharge direction of the cable in at least one of the horizontal direction and the upward direction so as to avoid contact between the cable and the obstacle; the cable driving unit rotates the discharge direction of the cable in at least one of the horizontal direction and the upward direction in accordance with the cable control command; A cable winding device characterized by:

3. The cable information includes at least one of a cable length, a cable tension, and an image of the cable.

3. The cable winding device according to claim 1 or 2.

4. the control unit determines contact between the cable and the obstacle based on the cable information or information calculated using the cable information, and when it determines that the cable and the obstacle have come into contact, generates the cable control command to avoid contact between the cable and the obstacle.

3. The cable winding device according to claim 1 or 2.

5. the control unit determines contact between the cable and the obstacle using the relative position information.

5. The cable winding device according to claim 4.

6. the control unit determines contact between the cable and the obstacle using a surface shape of the surrounding environment of the cable.

5. The cable winding device according to claim 4.

7. The cable drive unit a cylindrical cable outlet portion for sending out the cable to the outside; The cable control command generation unit generating the cable control command so that the cable outlet and the unmanned aerial vehicle are located within a plane perpendicular to the horizontal direction; 3. The cable winding device according to claim 2.

8. the cable control command generation unit generates a cable control command for rotating a discharge direction of the cable toward the upward direction so that the cable is not bent at the cable discharge unit; the cable driving unit rotates the discharge direction of the cable toward the upward direction in accordance with the cable control command; 8. The cable winding device according to claim 7.

9. the appropriate cable shape deriving unit derives the appropriate cable shape in which a cable tension, which is a tension in the cable, is minimized.

2. The cable winding device according to claim 1.

10. the control unit generates the cable control command such that a cable tension that is a tension in the cable is minimized.

3. The cable winding device according to claim 2.

11. the cable drive unit is plural; the control unit transmits the cable control command to each of the cable driving units.

3. The cable winding device according to claim 1 or 2.

12. a cable winding device that winds and unwinds a cable connected to the unmanned aerial vehicle; a host system that acquires data on the cable from the cable winding device, generates control instructions for controlling the cable based on the data on the cable, and transmits the control instructions to the cable winding device; and The cable winding device is a cable driving unit that is connected to the unmanned aerial vehicle via the cable and that delivers and retracts the cable; a control unit that controls the cable driving unit; a relative position calculation unit that calculates relative position information indicating a relative position of the unmanned aerial vehicle; a cable information acquisition unit that acquires cable information that is information about the cable; Equipped with The control unit a current cable shape estimation unit that estimates a current cable shape based on the relative position information and the cable information; an appropriate cable shape derivation unit that diagnoses contact between the cable and an obstacle based on the relative position information and the cable shape and derives an appropriate cable shape that is an appropriate cable shape that can avoid contact between the cable and the obstacle; an auxiliary command generation unit that generates an auxiliary command for controlling a cable length, which is the length of the cable, in accordance with the control command; a cable control command generation unit that generates a cable control command for controlling the cable length based on the current cable shape and the appropriate cable shape so that the cable has the appropriate cable shape, and that, when an auxiliary command is received, generates the cable control command in accordance with the auxiliary command; and The cable driving unit delivers and retracts the cable in accordance with the cable control command. A cable winding system characterized by:

13. the cable data includes at least one of the relative position information, the cable information, the current cable shape, and the desired cable shape; 13. A cable winding system according to claim 12.

14. The cable winding device is mounted on a mobile body that can move on the ground.

13. A cable winding system according to claim 12.

15. The cable winding device forcibly moves the position of the unmanned aerial vehicle by controlling at least one of the cable length and the cable discharge direction.

15. A cable winding system according to any one of claims 12 to 14.

16. a cable driving step in which a cable winding device connected to the unmanned aerial vehicle via a cable winds up and delivers the cable; a control step in which the cable winding device controls the letting out and winding of the cable; a relative position calculation step in which the cable winding device calculates relative position information indicating a relative position of the cable winding device with respect to the unmanned aerial vehicle; a cable information acquisition step in which the cable winding device acquires cable information that is information about the cable; Including, The control step a current cable shape estimating step in which the cable winding device estimates a current cable shape that is a current cable shape based on the relative position information and the cable information; an appropriate cable shape deriving step in which the cable winding device diagnoses contact between the cable and an obstacle based on the relative position information and the cable shape and derives an appropriate cable shape that is an appropriate cable shape that can avoid contact between the cable and the obstacle; a cable control command generating step in which the cable winding device generates a cable control command for controlling a cable length, which is a length of the cable, based on the current cable shape and the appropriate cable shape so that the cable has the appropriate cable shape; and In the cable driving step, the cable winding device winds and releases the cable in accordance with the cable control command. A cable winding method characterized by the above.

17. a control step of controlling the unwinding and winding of a cable connected to the unmanned air vehicle; a relative position calculation step of calculating relative position information indicating a relative position of the unmanned aerial vehicle; a cable information acquisition step of acquiring cable information that is information about the cable; on the computer, The control step a current cable shape estimating step of estimating a current cable shape based on the relative position information and the cable information; an appropriate cable shape deriving step of diagnosing contact between the cable and an obstacle based on the relative position information and the cable shape and deriving an appropriate cable shape that is an appropriate cable shape that can avoid contact between the cable and the obstacle; a cable control command generating step of generating a cable control command for controlling a cable length, which is a length of the cable, based on the current cable shape and the appropriate cable shape so that the cable has the appropriate cable shape; and In the control step, the letting out and winding of the cable are controlled in accordance with the cable control command. A cable winding program comprising:

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