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1. (WO2017065216) STATE DETECTION DEVICE AND STATE DETECTION PROGRAM

Pub. No.:    WO/2017/065216    International Application No.:    PCT/JP2016/080378
Publication Date: Fri Apr 21 01:59:59 CEST 2017 International Filing Date: Fri Oct 14 01:59:59 CEST 2016
IPC: H02G 1/02
B64C 13/18
B64C 27/08
B64C 39/02
B64D 47/08
Applicants: TOKYO ELECTRIC POWER COMPANY HOLDINGS, INCORPORATED
東京電力ホールディングス株式会社
Inventors: TAKAGI Kunio
高木 邦夫
Title: STATE DETECTION DEVICE AND STATE DETECTION PROGRAM
Abstract:
In the present invention, an unmanned flight vehicle flies along a catenary curve, thereby detecting the state of an electric wire more accurately. The state detection device is equipped with: an imaging unit for capturing a scenery image showing the scenery around an unmanned flight vehicle; a catenary calculation part for calculating the catenary curve of an electric wire on the basis of an image of multiple structures included in the scenery image captured by the imaging unit and an image of the electric wire suspended between the multiple structures; a flight path calculation part for calculating a flight path of the unmanned flight vehicle along the catenary curve of the electric wire calculated by the catenary calculation part; a flight control part for controlling the flight of the unmanned flight vehicle on the basis of the flight path calculated by the flight path calculation part; and a state detection unit for detecting, during the flight of the unmanned flight vehicle along the flight path which is calculated on the basis of the catenary curve calculated by the catenary calculation part, the state of the electric wire for which the catenary curve is calculated, or the state of another electric wire which is suspended between the multiple structures suspending the electric wire for which the catenary curve is calculated. The state detection device is mounted on the unmanned flight vehicle.