The present invention relates to an operation method of an unmanned aircraft operated by at least one processor, comprising: extracting information on environment where a plurality of transmission steel towers are located based on 3D point cloud data and optical image collected by an information collection means; controlling a posture so that the information collection means watches a selected transmission steel tower among the plurality of transmission steel towers; calculating a safe separation distance with the selected transmission steel tower; aligning a location of the unmanned aircraft with an arm direction of the selected transmission steel tower; and after aligning the location of the unmanned aircraft to a top electric insulator among a plurality of electric insulators installed on the selected transmission steel tower, flying by following the transmission lines connected to the top electric insulator.

    적어도 하나의 프로세서에 의해 동작하는 무인 항공기의 동작 방법으로서, 정보 수집 수단이 수집한 3차원 점군 데이터와 광학 이미지를 기초로, 복수의 송전 철탑들이 위치한 환경 정보를 추출하고, 복수의 송전 철탑들 중 선택된 송전 철탑을 정보 수집 수단이 주시하도록 자세를 제어한다. 선택된 송전 철탑과의 안전 이격 거리를 산출하고, 선택된 송전 철탑의 팔 방향으로 무인 항공기의 위치를 정렬한다. 그리고 선택된 송전 철탑에 구비된 복수의 애자들 중 최상단 애자에 무인 항공기의 위치를 정렬한 후, 최상단 애자에 연결된 송전선을 추종하여 비행한다.


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    Title :

    Autonomous flight system for unmanned aerial vehicle to inspect an ultrahigh voltage power transmission facility and method of operation thereof


    Additional title:

    대형 송전선로 점검을 위한 무인 항공기 시스템 및 무인 항공기의 동작 방법


    Contributors:
    OH KI YONG (author) / JEON MUNSU (author) / JEONG SIHEON JEONG (author) / KIM TAEWON (author) / MOON JOONHYEOK (author)

    Publication date :

    2024-02-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B64C AEROPLANES , Flugzeuge / B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL



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