AU2020442001B2 - Multi-rotor UAV intelligent patrol system - Google Patents
Multi-rotor UAV intelligent patrol system Download PDFInfo
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- AU2020442001B2 AU2020442001B2 AU2020442001A AU2020442001A AU2020442001B2 AU 2020442001 B2 AU2020442001 B2 AU 2020442001B2 AU 2020442001 A AU2020442001 A AU 2020442001A AU 2020442001 A AU2020442001 A AU 2020442001A AU 2020442001 B2 AU2020442001 B2 AU 2020442001B2
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- 230000005540 biological transmission Effects 0.000 claims abstract description 83
- 238000004891 communication Methods 0.000 claims abstract description 42
- 238000000034 method Methods 0.000 claims description 4
- 238000007792 addition Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000006424 Flood reaction Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000011161 development Methods 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
- G07C1/20—Checking timed patrols, e.g. of watchman
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Automation & Control Theory (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The present disclosure provides a multi-rotor UAV intelligent patrol system, involves how
to analyze and calculate patrol values of primarily selected UAVs to obtain a patrol UAV, and
monitor communication signals of the patrol UAV and control a flight altitude of the patrol UAV
to solve the problem regarding the influence on communication transmission of the patrol UAV
due to its proximity to a transmission line; comprising a data acquisition module, a server, a
patrol assignment module, a path storage module, an intelligent patrol module, and a patrol
power supply module; communication signals of the patrol UAV are monitored and a flight
altitude of the patrol UAV is controlled, so as to facilitate the patrol UAV for power patrol, and at
the same time, a patrol image is transmitted to a background terminal, so as to avoid the
influence on communication transmission of the patrol UAV due to its proximity to a
transmission line; the patrol power supply module monitors electric quantity and supplies power
for the patrol UAV, so as to facilitate the patrol UAV for timely power supply.
Description
Technical Field
The present disclosure relates to the technical field of power transmission line UAV
detection, and in particular to a multi-rotor UAV intelligent patrol system.
Background
Power transmission lines are widely distributed in many areas, with complex terrain and
harsh natural environments. For the traditional manual patrol method, the workload is heavy and
conditions are difficult; in particular, patrol of power transmission lines in mountainous areas
and across large rivers as well as patrol during ice disasters, floods, earthquakes, landslides, and
nights take a long time, have high labor costs and great difficulties, and are risky. In 2014, pilot
UAV patrol of power transmission lines was started. At present, UAV patrol is widely used,
which can realize patrol and positioning, and has a wide prospect.
UAVs currently available on the market can realize GPS positioning, simple image
processing, image transmission, and other technologies. However, transmission signals of UAVs
are interfered by magnetic fields of power transmission lines and power transmission towers.
Therefore, the interference can be effectively reduced by keeping a height distance between the
UAVs and power transmission lines, and a smooth development of power transmission patrol can
be promoted.
Summary of the Invention
An objective of the present disclosure is to provide a multi-rotor UAV intelligent patrol
system. In the present disclosure, communication signals of a patrol UAV are monitored and a
flight altitude of the patrol UAV is controlled, so as to facilitate the power patrol executed by the
patrol UAV, and at the same time, a patrol image is transmitted to a background terminal, so as to
avoid the influence on communication transmission of the patrol UAV due to its proximity to a
transmission line. A patrol power supply module monitors electric quantity and supplies power
for the patrol UAV, so as to facilitate the patrol UAV for timely power supply.
The technical problem to be solved by the present disclosure is:
(1) how to analyze and calculate patrol values of primarily selected UAVs to obtain a patrol
UAV, and monitor communication signals of the patrol UAV and control a flight altitude of the
patrol UAV to solve the problem of the influence on communication transmission of the patrol
UAV due to its proximity to a transmission line.
The purpose of the present invention can be achieved through the following technical
solutions:
A multi-rotor UAV intelligent patrol system comprises a data acquisition module, a server,
a patrol assignment module, a UAV module, a registration and login module, a path storage
module, an intelligent patrol module, and a patrol power supply module;
The data acquisition module being configured to acquire to-be-patrolled power
transmission line information and send the power transmission line information to the server,
wherein the power transmission line information comprises a start position, an end position, and
patrol time of a to-be-patrolled power transmission line and a line height of the power
transmission line;
The patrol assignment module being configured to perform UAV patrol assignment for the
to-be-patrolled power transmission line, specific assignment steps being as follows:
Step 1: marking multi-rotor UAVs in a patrol state as primarily selected UAVs, represented
by a symbol Wi, i =1, . . , n;
Step 2: calculating distance differences between positions of the primarily selected UAVs
and the start position and the end position of the to-be-patrolled power transmission line
respectively, to obtain start gaps and end gaps, marked as Gl wi and G2wi;
Step 3: acquiring purchase times of the primarily selected UAVs and calculating time
differences between the purchase times and current time of the system to obtain purchase
durations, marked as Twi;
Step 4: setting battery capacity of the primarily selected UAVs as Uwi;
Step 5: obtaining patrol values Fwi of the primarily selected UAVs by using the formula 2
*b4+H *b6 b5 (Xw-4O) U Fw = W + _ e 51 <XV. *b1+G2wi *b2+Twi *b3±1416.2 512, wherein bl, b2, b3, b4, b5, and
b6 are all preset scaling factors, Xwi is the number of times of patrol of the primarily selected
UAVs, and Hwi is power supply values of the primarily selected UAVs;
Step 6: marking the primarily selected UAV with the maximum patrol value as a patrol UAV, simultaneously acquiring a patrol path in the path storage module and a serial number of the patrol UAV stored in the server, matching the patrol path with the start position and the end position of the to-be-patrolled power transmission line, and marking the patrol path as a to-be-executed path when a start point and an end point of the patrol path coincide with the start position and the end position of the to-be-patrolled power transmission line; otherwise, generating a path acquisition instruction; and Step 7: sending, by the patrol assignment module, the serial number of the patrol UAV and the to-be-executed path or the path acquisition instruction to the intelligent patrol module; and the intelligent patrol module being configured for the patrol UAV to intelligently patrol the to-be-patrolled power transmission line, a specific patrol process thereof being as follows: a: after the intelligent patrol module receives the serial number of the patrol UAV and the to-be-executed path, the intelligent patrol module controls the patrol UAV to fly to the start position of the to-be-patrolled power transmission line, then controls the patrol UAV to fly according to the to-be-executed path, and at the same time, captures an image of the to-be-patrolled power transmission line and sends the image to the server; and b: after the intelligent patrol module receives the serial number of the patrol UAV and the path acquisition instruction, the intelligent patrol module controls the patrol UAV to fly to the start position of the to-be-patrolled power transmission line, then controls the patrol UAV to fly along the to-be-patrolled power transmission line, captures an image of the to-be-patrolled power transmission line and sends the image to the server; at the same time, the intelligent patrol module acquires communication signal strength of the patrol UAV, and when the communication signal strength is lower than a set threshold, the patrol UAV is controlled to fly upward to make its communication signal strength equal to the set threshold; when the communication signal strength is greater than the set threshold, the patrol UAV is controlled to fly downwards to make its communication signal strength equal to the set threshold; when the communication signal strength is equal to the set threshold, the patrol UAV flies along a current altitude, and a start position of flight of the patrol UAV, the altitude at which the communication signal strength of the patrol UAV is equal to the set threshold, and an end position of flight of the patrol UAV form a patrol path; and at the same time, the number of times of patrol of the patrol UAV is increased by one, and the intelligent patrol module sends the patrol path through the server to the path storage module for storage.
Preferably, the registration and login module is configured for a user to submit user
information and UAV information through a mobile terminal for registration and to send the
successfully registered user information and UAV information to the server; the user information
comprises a name, a cell phone number, and a position; and the UAV information comprises a
purchase time and battery capacity of a multi-rotor UAV and a model of the multi-rotor UAV,
and the server stores the user information and the UAV information after receiving them, and
numbers the multi-rotor UAV at the same time.
Preferably, the UAV module is configured for a user to submit usage start time and usage
end time of a multi-rotor UAV through a mobile terminal, match the patrol time with the usage
start time and the usage end time of the multi-rotor UAV submitted by the user, and when the
patrol time is within a range of the usage start time and the usage end time of the multi-rotor
UAV and a time difference between the patrol time and the usage end time is greater than the set
threshold, mark a state of the multi-rotor UAV as a patrol state.
Preferably, the patrol power supply module is configured to monitor electric quantity and
supply power for the patrol UAV, and specific steps thereof are as follows:
Step 1: acquiring electric quantity of the patrol UAV, and when the electric quantity is
equal to the set threshold, performing power distribution for the patrol UAV;
Step 2: acquiring a current position of the patrol UAV, acquiring users whose current
positions are within a preset range, and marking the users as primarily selected users;
Step 3: marking the primarily selected users as Rj, j=1, ... , n; and calculating distance
differences between the current position of the patrol UAV and the positions of the primarily
selected users to obtain power supply distances, marked as ERj;
Step 4: acquiring the number of times of charging of the primarily selected users, marked
as PRj;
Step 5: acquiring power supply priority values LRj of the primarily selected users by using
1 L, - * c1+ PRj*c2 the formula ERj , wherein c I and c2 are both preset scaling factors;
Step 6: selecting the primarily selected user with the greatest power supply priority value as a selected user, sending, by the patrol power supply module, a charging reminder instruction to a mobile terminal of the selected user, and when the selected user sends a consent instruction through the mobile terminal to the patrol power supply module, controlling, by the patrol power supply module, the patrol UAV to fly to the position of the selected user, supplying, by the selected user, powering for the patrol UAV, and sending, by the patrol UAV, a charging start time and a charging end time to the patrol power supply module, and at the same time, increasing the number of times of charging of the selected user by one; and when the patrol power supply module does not receive the consent instruction within a preset time range, selecting and marking the primarily selected user with the second greatest power supply priority value as a selected user;
Step 7: calculating a duration between the charging start time and the charging end time to
obtain a single charging duration; summing all single charging durations of the selected user to
obtain a total charging duration, marked as TRj;
Step 8: acquiring a power supply value HRj of the selected user by using the formula
HRj=TRj*c3+PRj*c4, wherein c3 and c4 are both preset scaling factors; and
Step 9: sending, by the patrol power supply module, the power supply value of the selected
user to the server, and marking, by the server, the power supply value of the selected user as a
power supply value of a multi-rotor UAV corresponding to the selected user.
The present disclosure has the following beneficial effects:
(1) The data acquisition module in the present disclosure acquires to-be-patrolled power
transmission line information and sends the power transmission line information to the server.
The patrol assignment module performs UAV patrol assignment for the to-be-patrolled power
transmission line, marks multi-rotor UAVs in a patrol state as primarily selected UAVs, and
obtains patrol values of the primarily selected UAVs by using a formula; and marks the primarily
selected UAV with the maximum patrol value as a patrol UAV, and at the same time, acquires a
patrol path in the path storage module and a serial number of the patrol UAV stored in the server.
After the intelligent patrol module receives the serial number of the patrol UAV and the path
acquisition instruction, the intelligent patrol module controls the patrol UAV to fly to the start
position of the to-be-patrolled power transmission line, then controls the patrol UAV to fly along
the to-be-patrolled power transmission line, captures an image of the to-be-patrolled power transmission line and sends the image to the server. At the same time, the intelligent patrol module acquires communication signal strength of the patrol UAV. A start position of flight of the patrol UAV, the altitude at which the communication signal strength of the patrol UAV is equal to the set threshold, and an end position of flight of the patrol UAV form a patrol path. Communication signals of the patrol UAV are monitored and a flight altitude of the patrol UAV is controlled, so as to facilitate the patrol UAV for power patrol, and at the same time, a patrol image is transmitted to a background terminal, so as to avoid the influence on communication transmission of the patrol UAV due to its proximity to a transmission line. (2) In the present disclosure, the patrol power supply module monitors electric quantity and supplies power for the patrol UAV, and selects the primarily selected user with the greatest power supply priority value as a selected user. The patrol power supply module sends a charging reminder instruction to a mobile terminal of the selected user. When the selected user sends a consent instruction through the mobile terminal to the patrol power supply module, the patrol power supply module controls the patrol UAV to fly to the position of the selected user. The selected user supplies power for the patrol UAV. The patrol power supply module monitors electric quantity and supplies power for the patrol UAV, so as to facilitate the patrol UAV for timely power supply.
Brief Description of Drawings The present disclosure is further described below with reference to the accompanying drawings. FIG. 1 is a schematic block diagram of a multi-rotor UAV intelligent patrol system according to the present disclosure.
Detailed Description of Preferred Embodiments The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work are within the protection scope of the present invention.
As shown in figure 1, the present disclosure provides a multi-rotor UAV intelligent patrol
system, comprising a data acquisition module, a server, a patrol assignment module, a UAV
module, a registration and login module, a path storage module, an intelligent patrol module, and
a patrol power supply module;
The data acquisition module being configured to acquire to-be-patrolled power
transmission line information and send the power transmission line information to the server,
wherein the power transmission line information comprises a start position, an end position, and
patrol time of a to-be-patrolled power transmission line, and a line height of the power
transmission line;
The patrol assignment module being configured to perform UAV patrol assignment for the
to-be-patrolled power transmission line, specific assignment steps thereof being as follows:
Step 1: marking multi-rotor UAVs in a patrol state as primarily selected UAVs, represented
by a symbol Wi, i =1, ... , n;
Step 2: calculating distance differences between positions of the primarily selected UAVs
and the start position and the end position of the to-be-patrolled power transmission line
respectively, to obtain start gaps and end gaps, marked as Gl wi and G2wi;
Step 3: acquiring purchase times of the primarily selected UAVs and calculating time
differences between the purchase times and current time of the system to obtain purchase
durations, marked as Twi;
Step 4: setting battery capacity of the primarily selected UAVs as Uwi;
Step 5: obtaining patrol values Fwi of the primarily selected UAVs by using the formula 2 U *b4+H *b6 b5 (Xw 4O) Fw = W + _ e 51
KGlwi *b1+G2i *b2+Twi *b31 l , wherein bl, b2, b3, b4, b5, and
b6 are all preset scaling factors, Xwi is the number of times of patrol of the primarily selected
UAVs, and Hwi is power supply values of the primarily selected UAVs;
Step 6: marking the primarily selected UAV with the maximum patrol value as a patrol
UAV, simultaneously acquiring a patrol path in the path storage module and a serial number of
the patrol UAV stored in the server, matching the patrol path with the start position and the end
position of the to-be-patrolled power transmission line, and marking the patrol path as a to-be-executed path when a start point and an end point of the patrol path coincide with the start position and the end position of the to-be-patrolled power transmission line respectively; otherwise, generating a path acquisition instruction; and Step 7: sending, by the patrol assignment module, the serial number of the patrol UAV and the to-be-executed path or the path acquisition instruction to the intelligent patrol module; and The intelligent patrol module being configured for the patrol UAV to intelligently patrol the to-be-patrolled power transmission line, a specific patrol process thereof being as follows: A: after the intelligent patrol module receives the serial number of the patrol UAV and the to-be-executed path, the intelligent patrol module controls the patrol UAV to fly to the start position of the to-be-patrolled power transmission line, then controls the patrol UAV to fly according to the to-be-executed path, and at the same time, captures an image of the to-be-patrolled power transmission line and sends the image to the server; and B: after the intelligent patrol module receives the serial number of the patrol UAV and the path acquisition instruction, the intelligent patrol module controls the patrol UAV to fly to the start position of the to-be-patrolled power transmission line, then controls the patrol UAV to fly along the to-be-patrolled power transmission line, captures an image of the to-be-patrolled power transmission line and sends the image to the server; at the same time, the intelligent patrol module acquires communication signal strength of the patrol UAV, and when the communication signal strength is lower than a set threshold, the patrol UAV is controlled to fly upward to make its communication signal strength equal to the set threshold; when the communication signal strength is greater than the set threshold, the patrol UAV is controlled to fly downwards to make its communication signal strength equal to the set threshold; when the communication signal strength is equal to the set threshold, the patrol UAV flies along a current altitude, and a start position of flight of the patrol UAV, the altitude at which the communication signal strength of the patrol UAV is equal to the set threshold, and an end position of flight of the patrol UAV form a patrol path; and at the same time, the number of times of patrol of the patrol UAV is increased by one, and the intelligent patrol module sends the patrol path through the server to the path storage module for storage. The registration and login module is configured for a user to submit user information and UAV information through a mobile terminal for registration and to send the successfully registered user information and UAV information to the server; the user information comprises a name, a cell phone number, and a position; and the UAV information comprises a purchase time and battery capacity of a multi-rotor UAV and a model of the multi-rotor UAV, and the server stores the user information and the UAV information after receiving them, and numbers the multi-rotor UAV at the same time. The UAV module is configured for a user to submit usage start time and usage end time of a multi-rotor UAV through a mobile terminal, match the patrol time with the usage start time and the usage end time of the multi-rotor UAV submitted by the user, and when the patrol time is within a range of the usage start time and the usage end time of the multi-rotor UAV and a time difference between the patrol time and the usage end time is greater than the set threshold, mark a state of the multi-rotor UAV as a patrol state. The patrol power supply module is configured to monitor electric quantity and supply power for the patrol UAV, and specific steps thereof are as follows: Step 1: acquiring electric quantity of the patrol UAV, and when the electric quantity is equal to the set threshold, performing power distribution for the patrol UAV; Step 2: acquiring a current position of the patrol UAV, acquiring users whose current positions are within a preset range, and marking the users as primarily selected users; Step 3: marking the primarily selected users as Rj, j=1, ... , n; and calculating distance differences between the current position of the patrol UAV and the positions of the primarily selected users to obtain power supply distances, marked as ERj; Step 4: acquiring the number of times of charging of the primarily selected users, marked as PRj;
Step 5: acquiring power supply priority values LRj of the primarily selected users by using 1 L =- *c1+PRj*c2 the formula ERj , wherein c I and c2 are both preset scaling factors; Step 6: selecting the primarily selected user with the greatest power supply priority value as a selected user, and sending, by the patrol power supply module, a charging reminder instruction to a mobile terminal of the selected user, and when the selected user sends a consent instruction through the mobile terminal to the patrol power supply module, controlling, by the patrol power supply module, the patrol UAV to fly to the position of the selected user, and supplying, by the selected user, power for the patrol UAV, and at the same time sending, by the patrol UAV, a charging start time and a charging end time to the patrol power supply module, and at the same time, increasing the number of times of charging of the selected user by one; and when the patrol power supply module does not receive the consent instruction within a preset time range, selecting the primarily selected user with the second greatest power supply priority value and marking it as a selected user;
Step 7: calculating a duration between the charging start time and the charging end time to
obtain a single charging duration; summing all single charging durations of the selected user to
obtain a total charging duration, marked as TRj;
Step 8: acquiring a power supply value HRj of the selected user by using the formula
HRj=TRj*c3+PRj*c4, wherein c3 and c4 are both preset scaling factors;
Step 9: sending, by the patrol power supply module, the power supply value of the selected
user to the server, and marking, by the server, the power supply value of the selected user as a
power supply value of a multi-rotor UAV corresponding to the selected user, the users are
corresponding to the multi-rotor UAVs one by one; and, by the patrol power supply module,
monitoring electric quantity and supplying power for the patrol UAV, to facilitate the patrol UAV
for timely power supply.
The working principle of the present disclosure is as follows. The data acquisition module
is configured to acquire to-be-patrolled power transmission line information and send the power
transmission line information to the server. The patrol assignment module is configured to
perform UAV patrol assignment for the to-be-patrolled power transmission line, mark multi-rotor
UAVs in a patrol state as primarily selected UAVs, calculate distance differences between
positions of the primarily selected UAVs and the start position and the end position of the
to-be-patrolled power transmission line respectively, to obtain start gaps and end gaps, acquire
purchase times of the primarily selected UAVs and calculate time differences between the
purchase times and current time of the system to obtain purchase durations, and obtain patrol
values Fwi of the primarily selected UAVs by using the formula
U *b4+H *b6 b5 -(Xw -40)2 Fw =1 " i + _ e m1 FW ~i LGw*b1±G2w*b2Tw *b3±1)i&6 512 ; mark the primarily selected UAV with the maximum patrol value as a patrol UAV, simultaneously acquire a patrol path in the path storage module and a serial number of the patrol UAV stored in the server, match the patrol path with the start position and the end position of the to-be-patrolled power transmission line, and mark the patrol path as a to-be-executed path when a start point and an end point of the patrol path coincide with the start position and the end position of the to-be-patrolled power transmission line respectively; and otherwise, generate a path acquisition instruction. The patrol assignment module sends the serial number of the patrol UAV and the to-be-executed path or the path acquisition instruction to the intelligent patrol module. The intelligent patrol module is configured for the patrol UAV to intelligently patrol the to-be-patrolled power transmission line.
After the intelligent patrol module receives the serial number of the patrol UAV and the path
acquisition instruction, the intelligent patrol module controls the patrol UAV to fly to the start
position of the to-be-patrolled power transmission line, then controls the patrol UAV to fly along
the to-be-patrolled power transmission line, captures an image of the to-be-patrolled power
transmission line and sends the image to the server. At the same time, the intelligent patrol
module acquires communication signal strength of the patrol UAV, and when the communication
signal strength is lower than a set threshold, the patrol UAV is controlled to fly upward to make
its communication signal strength equal to the set threshold; when the communication signal
strength is greater than the set threshold, the patrol UAV is controlled to fly downwards to make
its communication signal strength equal to the set threshold; when the communication signal
strength is equal to the set threshold, the patrol UAV flies along a current altitude, and a start
position of flight of the patrol UAV, the altitude at which the communication signal strength of
the patrol UAV is equal to the set threshold, and an end position of flight of the patrol UAV form
a patrol path. Communication signals of the patrol UAV are monitored and a flight altitude of the
patrol UAV is controlled, so as to facilitate the patrol UAV for power patrol, and at the same time,
a patrol image is transmitted to a background terminal, so as to avoid the influence on
communication transmission of the patrol UAV due to its proximity to a transmission line. The
patrol power supply module is configured to monitor electric quantity and supply power for the
patrol UAV, and select the primarily selected user with the greatest power supply priority value
as a selected user. The patrol power supply module sends a charging reminder instruction to a
mobile terminal of the selected user. When the selected user sends a consent instruction through
the mobile terminal to the patrol power supply module, the patrol power supply module controls the patrol UAV to fly to the position of the selected user, and the selected user supplies power for the patrol UAV. The patrol power supply module monitors electric quantity and supplies power for the patrol UAV, so as to facilitate the patrol UAV for timely power supply.
The contents described above are only examples and explanation of the structure of the
present invention. Various modifications or additions made to the specific embodiments
described above or any replacements made in a similar manner by those skilled in the art, shall
fall within the scope of protection of the present invention, as long as these modifications,
additions and/or replacement do not deviate from the structure of the invention or go beyond the
scope defined by the claims.
Claims (4)
1. A multi-rotor UAV intelligent patrol system, comprising a data acquisition module, a
server, a patrol assignment module, a UAV module, a registration and login module, a path
storage module, an intelligent patrol module, and a patrol power supply module;
the data acquisition module being configured to acquire to-be-patrolled power transmission
line information and send the power transmission line information to the server, wherein the
power transmission line information comprises a start position, an end position, and patrol time
of a to-be-patrolled power transmission line, and a line height of the power transmission line;
the patrol assignment module being configured to perform UAV patrol assignment for the
to-be-patrolled power transmission line, specific assignment steps being as follows:
step 1: marking multi-rotor UAVs in a patrol state as primarily selected UAVs, represented
by a symbol Wi, i =1, ... , n;
step 2: calculating distance differences between positions of the primarily selected UAVs
and the start position and the end position of the to-be-patrolled power transmission line
respectively, to obtain start gaps and end gaps, marked as Gl wi and G2wi;
step 3: acquiring purchase times of the primarily selected UAVs and calculating time
differences between the purchase times and current time of the system to obtain purchase
durations, marked as Twi;
step 4: setting battery capacity of the primarily selected UAVs as Uwi;
step 5: obtaining patrol values Fwi of the primarily selected UAVs by using the formula b5 "(Xw-4)2 U.*b4+H *b6 Fw = wi wi +--e m1 Glwi *bl G2wi *b2 Twi *b31 16 e 512R, wherein bl, b2, b3, b4, b5, and
b6 are all preset scaling factors, Xwi is the number of times of patrol of the primarily selected
UAVs, and Hwi is power supply values of the primarily selected UAVs;
step 6: marking the primarily selected UAV with a maximum patrol value as a patrol UAV,
simultaneously acquiring a patrol path in the path storage module and a serial number of the
patrol UAV stored in the server, matching the patrol path with the start position and the end
position of the to-be-patrolled power transmission line, and marking the patrol path as a
to-be-executed path when a start point and an end point of the patrol path coincide with the start
position and the end position of the to-be-patrolled power transmission line respectively; otherwise, generating a path acquisition instruction; and step 7: sending, by the patrol assignment module, the serial number of the patrol UAV and the to-be-executed path or the path acquisition instruction to the intelligent patrol module; and the intelligent patrol module being configured for the patrol UAV to intelligently patrol the to-be-patrolled power transmission line, a specific patrol process being as follows: a: after the intelligent patrol module receives the serial number of the patrol UAV and the to-be-executed path, the intelligent patrol module controls the patrol UAV to fly to the start position of the to-be-patrolled power transmission line, then controls the patrol UAV to fly according to the to-be-executed path, and at the same time, captures an image of the to-be-patrolled power transmission line and sends the image to the server; and b: after the intelligent patrol module receives the serial number of the patrol UAV and the path acquisition instruction, the intelligent patrol module controls the patrol UAV to fly to the start position of the to-be-patrolled power transmission line, then controls the patrol UAV to fly along the to-be-patrolled power transmission line, captures an image of the to-be-patrolled power transmission line and sends the image to the server; at the same time, the intelligent patrol module acquires communication signal strength of the patrol UAV, and when the communication signal strength is lower than a set threshold, the patrol UAV is controlled to fly upward to make its communication signal strength equal to the set threshold; when the communication signal strength is greater than the set threshold, the patrol UAV is controlled to fly downwards to make its communication signal strength equal to the set threshold; when the communication signal strength is equal to the set threshold, the patrol UAV flies along a current altitude, and a start position of flight of the patrol UAV, the altitude at which the communication signal strength of the patrol UAV is equal to the set threshold, and an end position of flight of the patrol UAV form a patrol path; and at the same time, the number of times of patrol of the patrol UAV is increased by one, and the intelligent patrol module sends the patrol path through the server to the path storage module for storage.
2. The multi-rotor UAV intelligent patrol system according to claim 1, wherein the
registration and login module is configured for a user to submit user information and UAV
information through a mobile terminal for registration and to send the successfully registered
user information and UAV information to the server; the user information comprises a name, a cell phone number, and a position; and the UAV information comprises a purchase time and battery capacity of a multi-rotor UAV, and a model of the multi-rotor UAV, and the server stores the user information and the UAV information after receiving them, and numbers the multi-rotor
UAV at the same time.
3. The multi-rotor UAV intelligent patrol system according to claim 1, wherein the UAV
module is configured for a user to submit usage start time and usage end time of a multi-rotor
UAV through a mobile terminal, match the patrol time with the usage start time and the usage
end time of the multi-rotor UAV submitted by the user, and when the patrol time is within a
range of the usage start time and the usage end time of the multi-rotor UAV and a time difference
between the patrol time and the usage end time is greater than the set threshold, mark a state of
the multi-rotor UAV as a patrol state.
4. The multi-rotor UAV intelligent patrol system according to claim 1, wherein the patrol
power supply module is configured to monitor electric quantity and supply power for the patrol
UAV, and specific steps are as follows:
step 1: acquiring electric quantity of the patrol UAV, and when the electric quantity is equal
to the set threshold, performing power distribution for the patrol UAV;
step 2: acquiring a current position of the patrol UAV, acquiring users whose current
positions are within a preset range, and marking the users as primarily selected users;
step 3: marking the primarily selected users as Rj, j=1, ... , n; and calculating distance
differences between the current position of the patrol UAV and the positions of the primarily
selected users to obtain power supply distances, marked as ERj;
step 4: acquiring the number of times of charging of the primarily selected users, marked
as PRj;
step 5: acquiring power supply priority values LRj of the primarily selected users by using
1 LR = E *cl+PRj *c2 the formula Rj , wherein c I and c2 are both preset scaling factors;
step 6: selecting the primarily selected user with the greatest power supply priority value as
a selected user, sending, by the patrol power supply module, a charging reminder instruction to a
mobile terminal of the selected user, and when the selected user sends a consent instruction
through the mobile terminal to the patrol power supply module, controlling, by the patrol power supply module, the patrol UAV to fly to the position of the selected user, supplying, by the selected user, powering for the patrol UAV, at the same time sending, by the patrol UAV, a charging start time and a charging end time to the patrol power supply module, and at the same time, increasing the number of times of charging of the selected user by one; and when the patrol power supply module does not receive the consent instruction within a preset time range, selecting and marking the primarily selected user with the second greatest power supply priority value as a selected user; step 7: calculating a duration between the charging start time and the charging end time to obtain a single charging duration; summing all single charging durations of the selected user to obtain a total charging duration, marked as TRj; step 8: acquiring a power supply value HRj of the selected user by using the formula HRj=TRj*c3+PRj*c4, wherein c3 and c4 are both preset scaling factors; and step 9: sending, by the patrol power supply module, the power supply value of the selected user to the server, and marking, by the server, the power supply value of the selected user as a power supply value of a multi-rotor UAV corresponding to the selected user.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
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| CN202010333988.9 | 2020-04-24 | ||
| CN202010333988.9A CN111625017B (en) | 2020-04-24 | 2020-04-24 | Many rotor unmanned aerial vehicle intelligence system of patrolling and examining |
| PCT/CN2020/121130 WO2021212773A1 (en) | 2020-04-24 | 2020-10-15 | Multi-rotor unmanned intelligent inspection system |
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| AU2020442001A1 AU2020442001A1 (en) | 2021-11-11 |
| AU2020442001B2 true AU2020442001B2 (en) | 2023-05-25 |
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| Country | Link |
|---|---|
| CN (1) | CN111625017B (en) |
| AU (1) | AU2020442001B2 (en) |
| WO (1) | WO2021212773A1 (en) |
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| CN115358497B (en) * | 2022-10-24 | 2023-03-10 | 湖南长理尚洋科技有限公司 | GIS technology-based intelligent panoramic river patrol method and system |
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| ZA202102575B (en) | 2022-02-23 |
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| WO2021212773A1 (en) | 2021-10-28 |
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