Apparatus for wire installation using AI drone

Abstract

The present invention relates to a wire stranding device using an artificial intelligence drone. The drone is input with the coordinates of the steel towers in the stranding section, allowing it to autonomously fly over the towers. The towers are equipped with wire guide devices, and multiple cameras are used to precisely identify the positions of the wire guide devices and precisely control the drone's position to accurately pass the wire through the penetration holes of the wire guide devices. Since the entire stranding process described above is performed automatically, there is no need for a drone operator or a tower climbing worker, and the stranding work can be carried out quickly, accurately, and safely.

Description

Technology Field

[0001] The present invention relates to a wire stranding device, and more specifically, to a device for stranding a pilot wire using an artificial intelligence drone based on video signals. Background Technology

[0002] Stranding work refers to the process of hanging power lines on steel towers after tower assembly, and is classified into wire stranding, overhead ground wire stranding, and power line stranding.

[0003] A drum wound with wire is installed on one side of the stranded section, and a puller is installed on the other. The wire is unwound from the stranded drum, passed through blocks and pulleys installed on the tops of the steel towers, and then connected to the aforementioned puller. Initially, a lightweight pilot wire is stranded, followed by the installation of a messenger wire using a wire switching method, and then replaced with a power line using the same procedure.

[0004] The aforementioned pilot wire was routed using walking or helicopters; however, in the case of walking, crossing is often impossible due to highways or bodies of water (rivers, lakes, etc.), and in the case of helicopters, there are disadvantages such as complaints due to noise and excessive costs.

[0005] Therefore, recently, unmanned aerial vehicles (drones) are also being used to perform cable laying. When laying cables using a drone, a drone operator controls the drone via a wireless remote control to deliver the cable to a worker who has climbed the transmission tower; the worker then receives the wire from the drone and installs it so that it passes through a wire guide device (e.g., cable laying pulley) pre-installed on the tower.

[0006] However, there was a problem where, if the drone operator was inexperienced or local gusts of wind made it difficult to control the drone, it was difficult for the worker on the tower to receive the drone's wire, which not only hindered the smooth progress of the work but also seriously threatened the worker's safety by causing the drone to collide with them.

[0007] In addition, due to the limitations in communication distance between the drone controller and the drone, long-span wiring was not possible, making it applicable only to a small number of short-distance steel towers, which resulted in poor practicality. Prior art literature

[0008] Republic of Korea Published Patent Application 10-2017-0087340 (Published July 28, 2017) The problem to be solved

[0009] Accordingly, the present invention has been devised to resolve the aforementioned problems, and aims to provide a wire twisting device using an artificial intelligence drone that enables wire twisting to be performed quickly, accurately, and safely at all times without variables related to the drone operator's proficiency or weather conditions, by automatically carrying out the processes of the AI ​​drone moving to a target location and the wire passing through and being secured by a wire guide device installed on the top of the steel tower without the need for a drone operator or a steel tower climbing worker.

[0010] In addition, another objective is to provide a wire twisting device using an artificial intelligence drone that enables twisting between towers over longer distances by resolving the problem of twisting distance limitations caused by communication distance constraints between the controller and the drone, as the drone automatically flies to a target location and eliminates the need for drone control by a pilot. means of solving the problem

[0011] The present invention, for achieving the above-mentioned purpose, comprises: an artificial intelligence drone that autonomously flies while suspending a wire and sequentially passes through steel towers in a wire-flying section; and a wire guide device installed on the upper arm of a steel tower through which the wire passes and which holds and supports the wire.

[0012] The above drone is equipped with a first camera for photographing and recognizing the wire guide device from above the steel tower, and a second camera for photographing and recognizing the through hole of the wire guide device from the front of the wire guide device.

[0013] The above drone has a wire connection part formed on the bottom surface of the body in the shape of a rod, and a wire is connected to the bottom of the wire connection part.

[0014] A conductive wire is connected to the lower end of the above-mentioned wire connection part, a weight is connected to the conductive wire, and a stranded wire is connected to the end of the weight.

[0015] The drone further includes an image processing module for processing video signals captured by the first camera and the second camera, a short-range communication module for communicating with the wire guide device, a communication module for communicating with a ground control station, a movement control module for flight control, and a sensor module for detecting passage through the wire guide device.

[0016] The above wire guide device includes a tower fixing part fixed to the upper arm of a steel tower, a through hole formed in the tower fixing part, and a locking device module installed in the tower fixing part that blocks the upper part of the through hole by protruding a locking pin.

[0017] The above wire guide device further includes a positioning module for measuring the position coordinates of the steel tower, a short-range communication module for communicating with the drone, and a communication module for communicating with a ground control station.

[0018] A proximity sensor is installed in the above wire guide device to detect when a wire connection part of a drone, a conductive wire connected to the wire connection part, a weight connected to the conductive wire, and a stranded wire connected to the weight pass through a through hole.

[0019] Two sensing wires are installed on the bottom surface of the through hole of the wire guide device, and the sensing wires form a self-holding circuit together with an actuator that operates the locking pin of the locking device module. The self-holding circuit receives power when the conductive wire connected to the drone comes into contact with both of the two sensing wires, operates the actuator, and maintains the operating state of the actuator even when the conductive wire is separated from the sensing wires.

[0020] An upper image captured by a first camera equipped on a drone is provided on both upper sides of the above-mentioned through hole, and a front image captured by a second camera equipped on a drone is provided on both front sides of the above-mentioned through hole.

[0021] Meanwhile, the wire stranding method using an artificial intelligence drone according to the present invention comprises: a wire stranding section selection and wire guide device coordinate securing step (S10) of selecting a section to perform stranding among the steel tower installation sections, installing a wire guide device on each steel tower included within the selected stranding section, and securing position coordinates measured from each wire guide device; a step of inputting wire guide device coordinates to a drone by inputting the secured position coordinates of the wire guide devices into a drone movement control module (S20); a step of sequentially connecting a conductive wire, a weight, and a stranding wire to the wire connection part of the drone, connecting the wire to the drone that starts flying, and starting operation (S30); a step of the drone approaching the steel tower by flying to the nearest steel tower based on the input position coordinates of the wire guide devices (S40); and a step of precisely controlling the position of the drone so that the drone is positioned on the same line as the passing position by means of a camera, an image processing device, and a movement control module equipped on the drone (S50). The method includes: a step (S60) in which the drone flies forward and the wire connection part of the drone passes through the wire guide device through the wire guide device; a step (S70) in which, when the drone passes through the wire guide device through the wire guide device, a locking device module operates so that a locking pin blocks the upper part of the through hole, thereby preventing the wire for stranding that has passed through the through hole from moving outside the through hole; a stranding success communication step (S80) in which, when the locking device module operates, a communication module equipped in the wire guide device informs the ground control station that the stranding was successful; a step (S90) in which the drone moves to the next tower; and a step of repeating steps S40 through S90.

[0022] In the step (S50) of precisely controlling the position of the above drone, when the first camera of the drone captures an image of the top of the wire guide device and the image processing module recognizes this, the drone slowly descends and hovers in place in front of the wire guide device, and then when the second camera of the drone captures an image of the front of the wire guide device and the image processing module recognizes this, the position of the drone is precisely controlled until the upper center point of the through hole of the wire guide device and the lower part of the wire connection of the drone face each other.

[0023] In the step (S60) where the drone passes through the wire guide device, if a proximity sensor installed in the through hole of the wire guide device detects any one of the drone's wire connection part, the conductive wire connected to the wire connection part, the weight, or the stranded wire, the detection signal is transmitted to the locking device module, and the step (S70) in which the locking device module operates can be performed.

[0024] In the step (S60) where the drone passes through the wire guide device, if the conductive wire comes into contact with both of the pair of detection wires installed in the through holes of the wire guide device, a self-holding circuit configured including the detection wires and the actuator of the locking device module is activated, thereby enabling the locking device module to operate (S70).

[0025] After the above-mentioned wire success communication step (S80), if there are no more towers to move to, a drone ground landing step (S90') is performed in which the drone lands on the ground, and after the drone ground landing step (S90'), a wire fixing step (S100) is performed in which the wire is fixed to a ground installation. Effects of the invention

[0026] According to the present invention as described above, an artificial intelligence drone moves sequentially to the steel towers along the railway section according to their respective coordinate values, and the wire is automatically secured to a wire guide device installed on the top of the tower, thereby eliminating the need for a drone operator or a tower climbing worker.

[0027] Therefore, cable laying work can always be carried out quickly, accurately, and easily without variables related to the drone operator's skill level or weather conditions.

[0028] In addition, for the same reasons mentioned above, collisions between drones and tower climbers are fundamentally prevented, thereby significantly improving the safety of line construction. Brief explanation of the drawing

[0029] FIG. 1 is an external perspective view of an artificial intelligence drone according to the present invention. FIG. 2 is a bottom perspective view of the above-mentioned drone. FIG. 3 is a schematic diagram of a wire guide device according to the present invention. FIG. 4 is an example diagram of the installation state of an external recognition unit and a detection line, which are components of the wire guide device. FIGS. 5 to 7 are drawings illustrating the operation process of a locking device module based on wire detection of a detection line. FIG. 8 is a block diagram schematically showing the progress steps of a wire stranding method according to the present invention. FIG. 9 is an explanatory diagram showing the flight process of a drone according to the wire twisting method according to the present invention. FIG. 10 is a flowchart that explains in more detail the process from the start of drone operation until passing through the wire guide device in the wire stranding method according to the present invention. FIGS. 11 to 13 are explanatory diagrams depicting the drone stranding process according to the present invention. Specific details for implementing the invention

[0030] The present invention is susceptible to various modifications and may have various embodiments, and specific embodiments are illustrated in the drawings and described in detail. However, this is not intended to limit the invention to specific embodiments, and it should be understood that the invention includes all modifications, equivalents, and substitutions that fall within the spirit and scope of the invention. The thickness of lines or the size of components, etc., illustrated in the attached drawings may be exaggerated for clarity and convenience of explanation.

[0031] Furthermore, the terms described below are defined in consideration of their functions in the present invention, and these definitions may vary depending on the intent of the user or operator or case law. Therefore, the definitions of these terms should be based on the content throughout this specification.

[0032] Hereinafter, preferred embodiments according to the present invention will be described in detail with reference to the attached drawings.

[0033] A wire stranding device using an artificial intelligence drone according to the present invention comprises an artificial intelligence drone (100) (hereinafter referred to as "drone") that autonomously flies while suspending a pilot wire (hereinafter referred to as "wire"), and a wire guide device (300) installed on the upper arm of a steel tower that guides the path of travel while restraining the wire (meaning preventing detachment).

[0034] The drone (100) used in the present invention is an artificial intelligence (AI) drone capable of autonomously flying to a target point while determining its own position movement in real time, and as shown in FIG. 1, it basically comprises a body, a plurality of rotor blades for flight, and an equal number of motors for driving the rotor blades.

[0035] The above drone (100) is equipped with a positioning module to determine its location in real time. The positioning module is a GPS module that receives GPS satellite signals to obtain its location coordinates.

[0036] As shown in FIGS. 1 and 2, a rod-shaped wire connection part (110) is installed on the bottom surface of the body of the drone (100), and a wire can be connected to the bottom of the wire connection part (110). Since the wire can be connected in various ways, a detailed description of the connection part structure is omitted.

[0037] The above drone (100) is equipped with a first camera (121) and a second camera (122). The first camera (121) is a stereo camera capable of obtaining a three-dimensional image and is used to photograph the downward direction during the flight of the drone to recognize the upper part of the wire guide device (300) installed on the upper part of the steel tower.

[0038] The second camera (122) is a small camera installed on the lower front of the wire connection part (110) to photograph its front. The second camera (122) is used to recognize the front of the wire guide device (300) by photographing the front of the wire guide device (300) when the drone (100) is positioned in front of the wire guide device (300).

[0039] In addition, the drone (100) is equipped with an image processing module to process digital image signals captured by the first camera (121) and the second camera (122) to recognize the position of the wire guide device (300).

[0040] In addition, the drone (100) is equipped with a short-range communication module to exchange mutual position information with the wire guide device (300) and to receive operation information of the wire guide device (300).

[0041] Additionally, the drone (100) is equipped with a movement control module for receiving the coordinates of a flight target point, i.e., a wire guide device (300), and moving the drone (100) to the location of the coordinates. The coordinates of all wire guide devices (300) included in the wire section can be input into the movement control module collectively before the drone flies.

[0042] The above movement control module controls the motors of the drone (100) to fly to the wire guide device (300) of the target tower by using various data such as image processing data of the image processing module, a signal from the wire guide device (300) of the short-range communication module, and the position coordinates of the wire guide device (300) that were previously entered.

[0043] Additionally, a sensor module is installed at the lower end of the wire connection part (110). The sensor module is a proximity sensor that uses various types of sensors to detect light, magnetic fields, radio waves, ultrasound, etc., and detects that the drone (100), more specifically the lower end of the wire connection part (100) of the drone (100) (the part where the wire is connected and the second camera (122) is installed) passes through the wire guide device (300).

[0044] In addition, the drone (100) is equipped with a communication module and can notify the Ground Control Station (GCS) of the successful wire twisting, that is, that the wire has been successfully penetrated and secured by the wire guide device (300). The communication module can transmit wire-related information to the Ground Control Station without distance limitations by using the communication network of a telecommunications company.

[0045] A conductive wire (200) and a weight (210) can be connected between the wire connection part (110) and the stranded wire (220) (= pilot wire).

[0046] The conductive wire (200) is connected to the lower end of the wire connection part (110), a weight (210) is connected to the end of the conductive wire (200), and a stranded wire (220) is connected to the weight (210).

[0047] The conductive wire (200) acts to operate the locking device module (320) by contacting a pair of detection wires (340) (see FIG. 4), which are components of the wire guide device (300), and electrically connecting them to each other. In addition, the contact action serves as a detection means to more reliably detect that the stranded wire (220) has passed through the wire guide device (300) normally.

[0048] The above weight (210) is formed in a thin, long linear shape so that it can easily pass through the through hole (301) (see FIG. 3) of the wire guide device (300) without getting caught, in succession to the front conductive wire (200).

[0049] The weight (210) prevents the conductive wire (200) and the stranded wire (220) from being blown away by the wind, thereby preventing the stranded wire (220) from getting wrapped around the rotor blades of the drone, and also allows the conductive wire (200) to hang downward so that contact with the detection line (340) can be made smoothly when the conductive wire (200) passes through the wire guide device (300).

[0050] As shown in FIG. 3, the wire guide device (300) comprises an H-shaped tower fixing part (310) that forms the frame of the device and is mounted on the uppermost arm of the tower, and a locking device module (320) installed on one side of the middle crossbar of the tower fixing part (310). A wire penetration hole (301) is formed between the locking device module (320) and the vertical column on one side of the tower fixing part (310).

[0051] Additionally, the wire guide device (300) is equipped with a positioning module (GPS module) for securing the position coordinates of the wire guide device (300), and a short-range communication module for communicating with the short-range communication module of the drone (100). These positioning module and short-range communication module may be installed inside the locking device module (320) or may be installed separately outside.

[0052] In addition, a proximity sensor (330) capable of detecting the passage of the lower part of the wire connection part (110) of the drone (100) and the conductive wire (200) connected thereto is installed on the bottom surface or both side walls of the through hole (301). Of course, if a different type of proximity sensor (330) is applied, the passage of the weight (210) and the stranded wire (220) can also be directly detected.

[0053] In addition, a locking pin (321) is provided on the upper side of one side of the locking device module (320) to protrude toward the through hole (301) and block the upper part of the through hole (301), and an actuator that operates the locking pin (321) is provided inside the locking device module (320).

[0054] When the proximity sensor (330) detects that the wire connection part (110) of the drone has passed through, the locking device module (320) operates an actuator to protrude the locking pin (321) and blocks the upper part of the through hole (301), thereby restraining the wire (220) that has passed through the through hole (301) so that it does not detach from the wire guide device (300) (pilot wire = wire = wire for wire).

[0055] The coordinate information measured by the position positioning module of the wire guide device (300), the detection information of the proximity sensor (330), and the operation information of the locking device module (320) are transmitted to the drone (100) by the short-range communication module.

[0056] In addition, the coordinate information measured by the above position positioning module can be transmitted to a ground control station immediately after the wire guide device (300) is installed on the steel tower and put into operation by a communication module (long-distance communication module) equipped in the wire guide device (300). This coordinate data is stored in the data storage of the ground control station, and subsequently, after selecting a wire section, the coordinate information of the wire guide devices installed on the steel tower corresponding to the wire section can be downloaded collectively and input into the movement control module of the drone (100).

[0057] Meanwhile, an external recognition part is provided in the wire guide device (300). As shown in FIG. 4, the external recognition part is provided on the upper surface of the wire guide device (300) adjacent to the through hole (301). That is, the external recognition part is formed on one side vertical column of the steel tower fixing part (310) and on one side of the front and one side of the upper surface of the locking device module (320).

[0058] The above external recognition unit includes an upper image (351) formed on the upper surfaces of both sides of the through hole (301) and a front image (352) formed on the front surfaces of both sides of the through hole (301).

[0059] The upper image (351) may be formed in the shape of an isosceles triangle with the central vertices facing each other and in blue, and the front image (352) may be formed in the shape of an upward arrow with the upper vertex positioned at the same height as the upper part of the through hole (301) and in red, but this is merely an example, and the external recognition part may be configured in various shapes, colors, and materials that can be easily recognized by the first camera (121) and second camera (122) and the image processing module of the drone (100). To improve the recognition rate by the cameras, it is desirable for the external recognition part to have low light reflection.

[0060] The above locking device module (320) operates an actuator when the proximity sensor (330) detects that the wire connection part (110) of the drone has passed through, as described above. Additionally, a configuration is described in which the actuator is operated by detecting the passage of a conductive wire (200) without installing the proximity sensor (330).

[0061] To detect the passage of the conductive wire (200) and to operate the actuator, a pair (= two strands) of detection wires (340) are installed on the bottom surface of the through hole (301) as shown in FIG. 4, and a PLC self-holding circuit is configured including the detection wires (340) and the actuator.

[0062] The above-mentioned sensing wire (340) is made of a conductive metal material and a weak current is applied to each to act as a positive and negative electrode, respectively. The components of the self-holding circuit, excluding the sensing wire (340), are installed inside the locking device module.

[0063] A self-holding circuit refers to a circuit in which power supply to a device (e.g., motor, light, etc.) continues even when the switch is turned off by removing the force applied to the switch, after the device has been operated by supplying power through a switch. Since this is a widely accepted and known technology in the field of electrical control, a detailed description of the circuit configuration is omitted.

[0064] In the present invention, the sensing wire (340) acts as a switch for the self-holding circuit, and the switch is turned on when the wire connection part (110) of the drone passes through the through hole (301) and the conductive wire (200) comes into contact with both strands of the sensing wire (340) (see FIG. 5 and FIG. 6).

[0065] Accordingly, an internal magnetic switch (which is a component of the self-holding circuit) provided between the actuator and the power source is turned on, and power is supplied to the actuator, causing the locking pin (321) to protrude (see FIG. 7). This locked state (actuator operating state) is maintained by the magnetic switch remaining on through the action of the self-holding circuit even when the conductive wire (200) is separated from the detection line (340). The self-holding circuit is provided with a separate off switch to turn off the magnetic switch, which is also a general component of the self-holding circuit.

[0066] Meanwhile, the sensor line (340) can be extended and installed not only on the bottom surface of the through hole (301) but also on both sides. This is because even if the wire connection part (110) of the drone (100) passes accurately through the center top of the through hole (301), the conductive wire (200) may sway due to the influence of wind, and in this case, the conductive wire (200) may come into contact with either of the two sides rather than the bottom surface of the through hole (301).

[0067] Therefore, as described above, if the detection line (340) is extended and installed on both the bottom surface and both sides of the through hole (301), contact with the detection line (340) is made even when the conductive wire (200) comes into contact with one side rather than the bottom surface, thereby canceling out the effect of the wind and accurately detecting the passage of the conductive wire (200). Since the passage of the conductive wire (200) implies the passage of the weight (210) and the stranded wire (220) that are linearly connected thereto, detecting the conductive wire (200) is equivalent to detecting the passage of the stranded wire (220) through the through hole (301) (since the drone is moving).

[0068] Now, a wire stranding method using an artificial intelligence drone according to the present invention will be described.

[0069] As shown in FIG. 8, the wire stranding method according to the present invention includes the steps of selecting a stranding section and securing the coordinates of a wire guide device (S10), inputting the wire guide device coordinates to a drone (S20), connecting a wire to a drone and starting operation (S30), the drone approaching a steel tower (S40), precisely controlling the position of the drone (S50), the drone passing through the wire guide device (S60), operating a locking device module (S70), communicating successful stranding (S80), and moving the drone to the next steel tower (S90). Subsequently, the process from the step of the drone approaching a steel tower (S40) onwards is repeated.

[0070] When the wiring for all towers in the wiring section is completed, a drone ground landing step (S90') is performed after the above wiring success communication step (S80), and after the drone ground landing step (S90'), a wire fixing step (S100) for fixing the wire to a ground installation is performed.

[0071] Step for selecting the wire section and securing the coordinates of the wire guide device (S10);

[0072] This is carried out after the assembly of steel towers in the power line installation section is completed and the wire guide device (300) is installed on the upper arms of the steel towers. In this step (S10), the line section is appropriately selected by taking into account various conditions such as the terrain and distance of the line section, and position coordinates are obtained from the wire guide device (300) installed on all steel towers included within the line section. When the wire guide device (300) is installed on the steel tower and power is supplied, the position coordinates are measured by the corresponding position positioning module, and the coordinate values ​​are transmitted by the short-range communication module and the communication module.

[0073] Step of inputting the coordinates of the wire guide device into the drone (S20);

[0074] The location coordinates of all steel towers equipped with wire guide devices (300) are transmitted and stored in a data storage of a ground control station via a communication module, and the wire worker can download only the location coordinates of the steel towers corresponding to the wire section from the data storage. The downloaded data is input into the movement control module of the drone (100), and accordingly, the artificial intelligence drone (100) can move sequentially from a nearby steel tower to a distant steel tower by following the location coordinates of the steel towers in the wire section.

[0075] Alternatively, when the drone is taken to the wire section and set up, the coordinate information of the steel tower location within the wire section can be received directly from the wire guide device (300) to the drone (100) through communication between the drone (100) and the short-range communication module of the wire guide device (300). The received coordinate values ​​are input into the movement control module of the drone (100).

[0076] After inputting the position coordinates of each wire guide device (300) into the movement control module algorithm, the movement of the drone can be checked for abnormalities on a PC through a drone movement inspection simulation program. If no abnormalities are found during the inspection

[0077] Step of connecting a wire to the drone and starting operation (S30);

[0078] Once the operation program setting of the drone (100) is complete, the stranded wire (220) must actually be connected. First, a conductive wire (200) is connected to the wire connection part (110) of the drone, a weight (220) is connected to the end of the conductive wire (200), and a stranded wire (220) is connected to the end of the weight (220).

[0079] After connecting the wire, begin the operation (flight) of the drone.

[0080] When the operation of the drone begins, all components of the drone, such as the short-range communication module, image processing module, first camera (121), and second camera (122), are all operated to perform their respective functions.

[0081] Step of the drone approaching the tower (S40);

[0082] The drone connected by a wire moves to the nearest tower according to the input coordinates. The drone, having risen from the ground, first flies to an altitude higher than the tower as shown in Fig. 9 and moves toward the target tower.

[0083] Step of precisely controlling the position of the drone (S50);

[0084] As shown in FIGS. 9 and 10, when the image processing module recognizes the upper image (351) of the external recognition part of the wire guide device (300) from the image captured by the first camera (121) while the drone is approaching the steel tower (S51), the drone slowly descends and approaches the front of the wire guide device (300) and begins to fly in place (S52).

[0085] In that state, the second camera (122) captures the front image (352) of the external recognition unit, and the image processing module recognizes it. The image processing module grids the captured image and recognizes the distance difference between the reference point (the midpoint of the line segment connecting the upper vertices of the arrows of both front images) that the drone (specifically the lower part of the wire connection unit (110)) must pass through within the grid space and the current position of the drone, and based on the result, the movement control module precisely controls the position of the drone until the distance difference between the reference point and the drone gradually decreases and is reduced to within the allowable error range (S54).

[0086] Step (S60) in which the drone passes through the wire guide device;

[0087] After going through the above step (S54), when the position of the wire connection part (110) of the drone and the reference point through which the wire connection part (110) must pass coincide, the drone flies straight and passes through the through hole (301) of the wire guide device (300).

[0088] Step (S70) in which the locking device module operates;

[0089] When the lower part of the wire connection part (110) passes through the upper center point (reference point) of the through hole (301), the passage of the drone is first detected by the sensor module embedded in the wire connection part (110) and the proximity sensor (330) of the wire guide device (300).

[0090] The detection signal of the proximity sensor (330) is transmitted to the locking device module (320) of the wire guide device (300) to actuate the actuator of the locking device module (320), thereby causing the locking pin (321) to protrude and block the upper part of the through hole (301), thereby restraining the wire (220) passing through the inside of the through hole (301) so that it does not escape to the outside of the through hole (301) (here, 'restraining' means preventing the wire (220) from escaping to the outside of the through hole (301), and does not mean preventing the wire (220) from advancing forward along the drone).

[0091] Meanwhile, the above-mentioned locking device module (320) can be operated by the conductive wire (200) coming into contact with the detection line (340). When the lower end of the wire connection part of the drone passes through the through hole (301), the conductive wire (200) passes through the through hole (301) at the same time. When passing through the through hole, the conductive wire (200) has a sufficient length to hang down on the detection line (340) and come into contact with both detection lines (340).

[0092] As shown in FIG. 5, when the conductive wire (200) comes into contact with only one detection line (340), the self-holding circuit does not operate, so the locking device module (320) does not operate. Subsequently, when the conductive wire (200) proceeds further and comes into contact with both detection lines (340) as shown in FIG. 6, the self-holding circuit operates, and the actuator of the locking device module (320) operates, causing the locking pin (321) to protrude and block the upper part of the through hole (301). Subsequently, even after the conductive wire (200) is completely removed from the through hole (301) by the flight of the drone, the operating state of the locking device module (320) is maintained by the function of the self-holding circuit, so that the wire guide device (300) can safely hold and support all wires passing through the through hole while the pilot wire stranding operation and wire switching operation (the process of replacing the pilot wire through the messenger wire to the power line) are in progress.

[0093] Meanwhile, the detection line (340) can be used as another sensor. That is, the passage of the wire is detected first by the proximity sensor (330), and the passage of the wire is detected second by the detection line (340). By detecting the passage of the wire twice in this way, it can be verified more reliably that the wire has passed through the through hole (301) of the wire guide device (300).

[0094] Successful communication step (S80);

[0095] When the wire (220) reliably passes through the through hole (301) of the wire guide device (300) and the wire stranding is successful, the communication module of the wire guide device (300) transmits wire stranding success information to the ground control station.

[0096] In addition, wire connection success information is also transmitted between the short-range communication module of the wire guide device (300) and the short-range communication module of the drone (100), so that the movement control module of the drone (100) can recognize that the wire connection of the current tower has been completed.

[0097] Step (S90) where the drone moves to the next tower;

[0098] Once the current tower's wiring is completed, the drone moves to the tower at the next nearest coordinate.

[0099] Afterwards, the process following the step (S40) in which the above-mentioned drone approaches the tower is repeated until the last tower of the line section.

[0100] Meanwhile, when the line of the last steel tower is completed, the drone ground landing phase (S90') is carried out.

[0101] When the drone lands on the ground, the wire is separated from the wire connection part (110) (more precisely, the wire for the stranding (220) is separated from the weight (210)) and fixed to a fixed installation on the ground.

[0102] With this, the series of wiring operations is concluded.

[0103] FIGS. 11 to 13 are explanatory diagrams depicting the drone stranding process according to the present invention.

[0104] As shown in Fig. 11, the stranded wire (220) unwound from the wire drum (510) is connected to the drone (100) via the tensioner (520).

[0105] As shown in Fig. 12, the wire (220) for the stranding wire passes through the through hole of the wire guide device (300) installed on the upper arm of the steel tower (400) by the flight of the drone (100), and the wire (220) is retained and supported in the through hole by operating the locking device module as described above.

[0106] After this process, when the wire laying for all steel towers within the wire section is completed, the drone descends, and the wire (220) separated from the drone is fixed to a ground fixture (530). The ground fixture may be a puller capable of winding the wire onto a drum.

[0107] As described above, according to the present invention, an artificial intelligence drone (100) moves sequentially to the steel towers of the line section according to their respective coordinate values, and the wire (220) is automatically held and secured by a wire guide device (300) installed on the top of the steel tower, thereby eliminating the need for a drone operator or a steel tower climbing worker.

[0108] In other words, according to the present invention, wire twisting proceeds automatically simply by inputting coordinates into the drone and setting it up, without the need for professional drone pilots.

[0109] Therefore, cable laying work can always be carried out quickly, accurately, and easily without variables related to the drone operator's skill level or weather conditions.

[0110] In addition, for the same reasons mentioned above, collisions between drones and tower climbers are fundamentally prevented, thereby significantly improving the safety of line construction.

[0111] In addition, since drone control by a drone operator is not required, the problem of cable distance limitations caused by communication distance constraints between the controller and the drone is resolved, making it possible to perform cable connections between towers at longer distances.

[0112] In addition, the present invention allows for easy installation of wires between specific points not only between steel towers but also wherever a wire guide device can be installed, and the initially installed wire can be easily replaced with a thicker wire through a wire switching method, making it applicable in various industries.

[0113] As described above, the present invention has been explained with reference to the embodiments illustrated in the drawings, but this is merely illustrative, and those skilled in the art will understand that various modifications and equivalent alternative embodiments are possible therefrom. Accordingly, the true technical scope of protection of the present invention should be determined by the claims below. Explanation of the symbols

[0114] 100 : AI Drone 110 : Wire Connector 121 : 1st camera 122 : 2nd camera 200: Conductive wire 210: Weight 220: Stranded wire (pilot wire) 300: Wire guide device 301 : Penetration hole 310 : Steel tower fixing part 320: Locking device module 321: Locking pin 330 : Proximity sensor 340 : Detection line 351: Top image 352: Front image

Claims

Claim 1 An artificial intelligence drone that autonomously flies while suspended by a wire and sequentially passes through steel towers in a transmission line section; and a wire guide device installed on the upper arm of a steel tower to hold and support the wire through which the wire passes, wherein the wire guide device comprises a steel tower fixing part fixed to the upper arm of the steel tower, a through hole formed in the steel tower fixing part, and a locking device module installed on the steel tower fixing part to block the upper part of the through hole by protruding a locking pin, and the drone comprises a first camera for photographing and recognizing the wire guide device from above the steel tower, and a second camera for photographing and recognizing the through hole of the wire guide device from the front of the wire guide device, wherein the drone has a wire connection part formed protruding in a rod shape on the bottom surface of a body, and a wire is connected to the bottom of the wire connection part, and the drone comprises an image processing module for processing video signals captured by the first camera and the second camera, a short-range communication module for communicating with the wire guide device, a communication module for communicating with a ground control station, and a flight control module A wire stranding device using an artificial intelligence drone based on video signals, further comprising a movement control module and a sensor module for detecting passage of a wire guide device.

Images