PROBLEM TO BE SOLVED: To more accurately detect the state of an electric wire by making an unmanned flight body fly along a catenary curve.SOLUTION: A state detector mounted on an unmanned flight body comprises: an imaging unit that images a scenery picture in which scenery around the unmanned flight body is imaged; a catenary calculation unit that, on the basis of pictures of a plurality of structures included in the scenery picture imaged by the imaging unit and a picture of an electric wire suspended between the plurality of structures, calculates a catenary curve of the electric wire; a flight path calculation unit that calculates the unmanned flight body's flight path along the electric wire's catenary curve calculated by the catenary calculation unit; a flight control unit that, on the basis of the flight path calculated by the flight path calculation unit, controls a flight of the unmanned flight body; and a state detection unit that, during the unmanned flight body's flight on the flight path calculated on the basis of the catenary curve calculated by the catenary calculation unit, detects a state of an electric wire, a calculation target of the catenary curve, or another electric wire suspended between a plurality of structures suspending the calculation target electric wire.SELECTED DRAWING: Figure 1
【課題】無人飛行体がカテナリー曲線に沿って飛行することにより、電線の状態をより精度高く検出する。【解決手段】状態検出装置は、無人飛行体の周辺の風景が撮像された風景画像を撮像する撮像部と、撮像部が撮像する風景画像に含まれる複数の構造物の画像と、複数の構造物間に懸垂される電線の画像とに基づいて、電線のカテナリー曲線を算出するカテナリー算出部と、カテナリー算出部が算出した電線のカテナリー曲線に沿う無人飛行体の飛行経路を算出する飛行経路算出部と、飛行経路算出部が算出した飛行経路に基づいて、無人飛行体の飛行を制御する飛行制御部と、カテナリー算出部が算出したカテナリー曲線に基づいて算出された飛行経路を無人飛行体が飛行している時に、当該カテナリー曲線の算出対象の電線、または算出対象の電線を懸垂する複数の構造物間に懸垂される他の電線の状態を検出する状態検出部とを備え、無人飛行体に搭載される。【選択図】図1
STATE DETECTOR AND STATE DETECTION PROGRAM
状態検出装置及び状態検出プログラム
2017-04-20
Patent
Electronic Resource
Japanese
IPC: | H02G INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES , Verlegen oder Installieren elektrischer Kabel oder Leitungen, Verlegen oder Installieren kombinierter optischer und elektrischer Kabel oder Leitungen / B64C AEROPLANES , Flugzeuge / B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT |
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