CN106779327B - Power line patrol aircraft, aircraft system and method - Google Patents
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Abstract
The invention provides a power line patrol aircraft, an aircraft system and a method, wherein the aircraft comprises a main aircraft and a plurality of sub aircraft; the sub aircraft is fixed in the cabin of the main aircraft through a butt joint device; the sub aircraft is charged through the wireless charging module; the sub aircraft carries out signal transmission with the main aircraft through the wireless signal transceiver module; the sub aircraft is provided with an acoustic ranging positioning device and a patrol camera device; the main aircraft is used for receiving an inspection task instruction sent by a user and sending the divided inspection task to the corresponding sub aircraft through the wireless signal transceiver module; the sub aircraft is used for acquiring the image information of the object to be patrolled through the patrolling camera device. The invention can reduce the electric energy consumption of the aircraft in the patrol task, thereby improving the efficiency of the aircraft in power line patrol.
Description
Technical Field
The invention relates to the technical field of power line patrol, in particular to a power line patrol aircraft, an aircraft system and a method.
Background
With the rapid development of economy, electric power becomes an energy source which is inextricable for thousands of households, so that the total amount of electric power consumption is greatly increased. During the peak of electricity utilization, the power transmission and distribution line can run under full load or even short-time overload; and the coverage areas of the power line and the power transmission tower are wide, the natural environment is severe, the faults of the power transmission line are increased easily, and further large-area power failure accidents occur.
In order to ensure the safe operation of a power grid, power line operation and maintenance personnel mainly adopt regular line patrol at present and monitor and record power lines in an area through various monitoring instruments, and the manual line patrol mode has poor convenience for line patrol in a wide area and poor safety of the operation and maintenance personnel; among the prior art, can also be applied to the power line with unmanned aerial vehicle and patrol and examine the well, this mode is more the manpower and is patrolled and examined speed and security that can improve the circuit greatly and patrol and examine, but, because the restriction of hardware condition, unmanned aerial vehicle is when patrolling and examining the circuit in the wide area, often can be because of the not enough problem restriction unmanned aerial vehicle's of electric energy supply efficiency of patrolling and examining.
To above-mentioned unmanned aerial vehicle electric energy when carrying out power line and patrol and examine the lower problem of efficiency of patrolling and examining that leads to, effectual solution has not been proposed yet.
Disclosure of Invention
In view of the above, the present invention provides an electric power line patrol aircraft, an aircraft system and an electric power line patrol method, which can reduce the power consumption of the aircraft in a patrol task, and further improve the efficiency of the aircraft in electric power line patrol.
In a first aspect, an embodiment of the present invention provides an electric power line inspection aircraft, including a main aircraft, and a plurality of sub-aircraft disposed in a cabin of the main aircraft; the bottom in the cabin body of the main aircraft is provided with a butt joint device corresponding to the plurality of sub aircraft; a wireless charging module and a wireless signal transceiving module are arranged in the docking device; the sub aircraft is fixed in the cabin of the main aircraft through a butt joint device; the sub aircraft is charged through the wireless charging module; the sub aircraft carries out signal transmission with the main aircraft through the wireless signal transceiver module; the sub aircraft is provided with an acoustic ranging positioning device and a patrol camera device; the main aircraft is used for receiving the patrol task instruction sent by the user, analyzing the patrol task instruction, determining the number of the sub-aircraft executing the patrol task according to the analysis result, dividing the analyzed patrol task according to the number of the sub-aircraft executing the patrol task, and sending the divided patrol task into the corresponding sub-aircraft through the wireless signal receiving and sending module; the sub aircraft is used for extracting task attribute parameters from the received inspection tasks, and the task attribute parameters comprise the positions of objects to be inspected, the types of the objects to be inspected and the complexity of the tasks to be inspected; the sub aircraft flies to a to-be-patrolled place through the acoustic ranging positioning device, determines a patrolling route according to the type of an object to be patrolled, and determines a key patrolling point according to the complexity of a task to be patrolled; the sub aircraft collects the image information of the object to be patrolled through the patrolling camera device and sends the image information to the main aircraft through the wireless signal receiving and sending module; the main aircraft is also used for sending the received image information to the terminal equipment of the designated user.
With reference to the first aspect, an embodiment of the present invention provides a first possible implementation manner of the first aspect, wherein an external communication module and a central processing module are disposed on the host aircraft; the external communication module is used for receiving the patrol task instruction sent by the user and sending the patrol task instruction to the central processing module; the external communication module is also used for sending the image information to the terminal equipment of the appointed user; the central processing module is used for processing the inspection task instruction and transmitting the processed inspection task instruction to the corresponding sub aircraft through the wireless signal transceiving module; the central processing module is also used for planning a flight route and a stop point of the main aircraft according to the inspection task instruction; the docking point is arranged on the transmission tower.
With reference to the first aspect, an embodiment of the present invention provides a second possible implementation manner of the first aspect, where a guidance module is further disposed on the main aircraft; the guiding module comprises a Doppler radar detection unit and a position correction unit; the Doppler radar detection unit is used for detecting the sub aircraft returning to the preset range away from the main aircraft and acquiring the flight parameters of the sub aircraft; flight parameters comprise flight position, flight speed, flight direction and flight attitude; the position correcting unit is used for generating position correcting parameters according to the flight parameters and pre-stored position information of the sub aircraft in the cabin of the main flight system, and sending the position correcting parameters to the sub aircraft so that the sub aircraft can adjust the flight parameters according to the position correcting parameters.
With reference to the first possible implementation manner of the first aspect, an embodiment of the present invention provides a third possible implementation manner of the first aspect, where the host aircraft is provided with a GPS navigation module and an image recognition module; the main aircraft flies to the longitude and latitude positions of the stop points through the GPS navigation module, and the stop points are identified according to the image identification module.
With reference to the third possible implementation manner of the first aspect, the embodiment of the present invention provides a fourth possible implementation manner of the first aspect, wherein the main aircraft is further provided with a docking gripper, and the docking gripper is used for fixing the main aircraft on a docking point on the power transmission tower.
With reference to the first aspect, an embodiment of the present invention provides a fifth possible implementation manner of the first aspect, where the sub aircraft is further provided with a GPS navigation module and an image recognition module; the sub aircraft flies to the longitude and latitude position of the object to be patrolled through the GPS navigation module, and identifies the object to be patrolled according to the image identification module.
With reference to the first aspect, an embodiment of the present invention provides a sixth possible implementation manner of the first aspect, where the sub aircraft further includes a radar height locator and a driving device; the sub aircraft obtains the height of the object to be patrolled in real time through the image recognition module and the radar height positioning instrument, and adjusts the flying height of the sub aircraft in real time according to the height control driving device.
With reference to the third possible implementation manner of the first aspect, the fifth possible implementation manner of the first aspect, or the sixth possible implementation manner of the first aspect, an embodiment of the present invention provides a seventh possible implementation manner of the first aspect, wherein the image recognition module includes a comparison unit and a storage unit; the storage unit is pre-stored with picture data of an object to be inspected; the picture data comprises picture data of an object to be patrolled, which is acquired when the sub aircraft flies in a preset flying state; the comparison unit is used for comparing the real-time picture data of the object to be inspected, which is acquired by the inspection camera device, with the picture data of the object to be inspected, which is stored in the storage unit, and adjusting the flight state of the sub-aircraft in real time according to the comparison result.
In a second aspect, an embodiment of the present invention provides an electric power line patrol aircraft system, including the above electric power line patrol aircraft, and further including a server; the server communicates with the main aircraft through an external communication module arranged on the main aircraft of the power line patrol aircraft, and controls the main aircraft.
In a third aspect, an embodiment of the present invention provides a power line patrol method, including: the method comprises the steps that a main aircraft receives a patrol task instruction sent by a user, analyzes the patrol task instruction, determines the number of sub-aircraft executing the patrol task according to an analysis result, divides the analyzed patrol task according to the number of the sub-aircraft executing the patrol task, and sends the divided patrol task to the corresponding sub-aircraft through a wireless signal receiving and sending module; the sub aircraft extracts task attribute parameters from the received inspection tasks, wherein the task attribute parameters comprise the location of an object to be inspected, the type of the object to be inspected and the complexity of the task to be inspected; the sub aircraft flies to a to-be-patrolled place through the acoustic ranging positioning device, determines a patrolling route according to the type of an object to be patrolled, and determines a key patrolling point according to the complexity of a task to be patrolled; the sub aircraft collects the image information of the object to be patrolled through the patrolling camera device and sends the image information to the main aircraft through the wireless signal receiving and sending module; and the main aircraft sends the received image information to the terminal equipment of the designated user.
The embodiment of the invention has the following beneficial effects: the embodiment of the invention provides an electric power line inspection aircraft, an aircraft system and a method, wherein the aircraft comprises a main aircraft and a plurality of sub aircraft; the sub aircraft can be charged through the wireless charging module, and can perform signal transmission with the main aircraft through the wireless signal receiving and transmitting module; the inspection task instruction can be analyzed through the main aircraft, and then the inspection task is sent to the corresponding sub aircraft through the wireless signal receiving and sending module; the sub aircraft can acquire the image information of the object to be patrolled through the acoustic ranging positioning device and the patrolling camera device; in the mode, the sub aircraft executes the specific patrol task, and the main aircraft is responsible for issuing the patrol task instruction and supplying power to the sub aircraft.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is an external structural schematic diagram of an electric power line inspection aircraft according to an embodiment of the present invention;
fig. 2 is a schematic diagram of an internal structure of an electric power line inspection aircraft according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a docking device of an electric power line inspection aircraft according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of an application environment of a power line patrol aircraft according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an electric power line inspection aircraft according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a power line patrol aircraft system according to an embodiment of the present invention;
fig. 7 is a flowchart of a power line patrol method according to an embodiment of the present invention.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Aiming at the problem that the inspection efficiency is low due to insufficient electric energy when the unmanned aerial vehicle inspects the power line, the embodiment of the invention provides an inspection aircraft of the power line, an aircraft system and an inspection method; the technology can be applied to the patrol of power grid patrol personnel on the power line and can also be applied to the fault patrol of the power line in an auxiliary way; the following is described by way of example.
The first embodiment is as follows:
referring to fig. 1, an external configuration diagram of an electric power line patrol aircraft and to fig. 2, an internal configuration diagram of an electric power line patrol aircraft; the aircraft comprises a main aircraft 100 and a plurality of sub aircraft 200 arranged in a cabin of the main aircraft; in fig. 2, four sub-aircrafts are disposed in the cabin of the main aircraft.
The bottom in the cabin of the main aircraft 100 is provided with a docking device 102 corresponding to a plurality of sub aircraft; a wireless charging module 104 and a wireless signal transceiver module 106 are arranged in the docking device 102; the sub aircraft 200 is fixed in the cabin of the main aircraft through the docking device 102; the sub aircraft 200 is charged through the wireless charging module 104; the sub aircraft 200 performs signal transmission with the main aircraft 100 through the wireless signal transceiver module 106; the sub aircraft 200 is provided with an acoustic ranging positioning device 202 and an inspection camera device 204;
in particular, refer to a schematic structural diagram of a docking device of an electric power line patrol aircraft shown in fig. 3; the docking device may be a rectangular or cylindrical convex object (as shown in fig. 3 a), and a concave cavity corresponding to the size of the convex object is arranged at the docking position of the sub aircraft; the top of the convex object is provided with a pressure sensing part 300 and a buckle part 302, when the top of the convex object enters the concave cavity of the sub aircraft and contacts with the bottom of the concave cavity, the pressure sensing part is sunken by the pressure generated by the contact, and the buckle part extends out (as shown in figure 3 b) to fix the sub aircraft.
The main aircraft 100 is configured to receive a patrol task instruction sent by a user, analyze the patrol task instruction, determine the number of sub aircraft executing a patrol task according to an analysis result, divide the analyzed patrol task according to the number of sub aircraft executing the patrol task, and send the divided patrol task to the corresponding sub aircraft through the wireless signal transceiver module 106;
for example, see FIG. 4 for a schematic illustration of an environment in which a power line patrols an aircraft; the patrol tasks included in the patrol task instruction may be a linear connection of power lines 400 and transmission towers 402 within a certain latitude range (the patrol task in the application environment shown in fig. 4 includes 12 transmission towers and power lines between every two adjacent transmission towers); when the latitude and longitude range is too large, the patrol task can be partitioned, for example, into two parts; when the inspection is carried out on the first part, the main aircraft stops at the top of the No. 4 transmission tower, and according to the inspection task, the inspection of the first part is executed by four sub aircraft; the first sub aircraft is responsible for patrolling the transmission towers of No. 1-3, and the second sub aircraft is responsible for patrolling the transmission towers of No. 4-6; the third sub aircraft is responsible for patrolling the power line between the No. 1 and No. 4 transmission towers; and the fourth sub aircraft is responsible for patrolling the power line between the transmission towers No. 4 and No. 7.
The sub aircraft 200 is configured to extract task attribute parameters from the received inspection task, where the task attribute parameters include a location of an object to be inspected, a type of the object to be inspected, and a complexity of the task to be inspected; the sub aircraft flies to a to-be-patrolled place through the acoustic ranging positioning device 202, determines a patrolling route according to the type of an object to be patrolled, and determines a key patrolling point according to the complexity of a task to be patrolled; the sub aircraft 200 collects the image information of the object to be inspected through the inspection camera device 204, and sends the image information to the main aircraft through the wireless signal transceiver module 106; the main aircraft is also used for sending the received image information to terminal equipment of a specified user.
The complexity of the task to be patrolled can be preset by a user, and the number and the type of key patrolling points of the current patrolling object are determined according to the patrolling object and the patrolling target; the complexity of the inspection task can be set to be in modes of daily simple inspection, inspection of easily-occurring fault points, comprehensive inspection and the like.
The embodiment of the invention provides an electric power line inspection aircraft, which comprises a main aircraft and a plurality of sub aircraft; the sub aircraft can be charged through the wireless charging module, and can perform signal transmission with the main aircraft through the wireless signal receiving and transmitting module; the inspection task instruction can be analyzed through the main aircraft, and then the inspection task is sent to the corresponding sub aircraft through the wireless signal receiving and sending module; the sub aircraft can acquire the image information of the object to be patrolled through the acoustic ranging positioning device and the patrolling camera device; in the mode, the sub aircraft executes the specific patrol task, and the main aircraft is responsible for issuing the patrol task instruction and supplying power to the sub aircraft.
Example two:
corresponding to the power line patrol aircraft provided in the first embodiment, an embodiment of the present invention provides a power line patrol aircraft, and refer to a specific structural schematic diagram of a power line patrol aircraft shown in fig. 5; the main aircraft is provided with an external communication module 500 and a central processing module 502; the external communication module 500 is configured to receive a patrol task instruction sent by a user, and send the patrol task instruction to the central processing module 502; the external communication module 500 is further configured to send image information to a terminal device of a specified user; the central processing module 502 is configured to process the inspection task instruction, and send the processed inspection task instruction to the corresponding sub aircraft through the wireless signal transceiver module; the central processing module 502 is further configured to plan a flight route and a stop point of the host aircraft according to the patrol mission instruction; the docking point is arranged on the transmission tower. The above mode can realize the communication between the aircraft and the relevant equipment used by the external user, and further realize the control of the user on the aircraft.
The main aircraft is also provided with a guide module 504; the guidance module 504 includes a doppler radar detection unit 506 and a position correction unit 508; the doppler radar detection unit 506 is configured to detect a sub aircraft returning to the preset range from the main aircraft, and acquire flight parameters of the sub aircraft; the flight parameters comprise flight position, flight speed, flight direction and flight attitude; the position correcting unit 508 is configured to generate a position correcting parameter according to the flight parameter and pre-stored position information of the sub aircraft located in the cabin of the main flight system, and send the position correcting parameter to the sub aircraft, so that the sub aircraft adjusts the flight parameter according to the position correcting parameter. According to the mode, the guiding module is arranged, so that the returned sub aircraft can accurately enter the cabin body of the main aircraft and is connected with the butt joint device in the cabin body, the main aircraft can further obtain the image data collected by the sub aircraft, and the sub aircraft can be charged.
The main aircraft is provided with a GPS navigation module 510 and an image recognition module 512; the host aircraft flies to the latitude and longitude location of the waypoint through the GPS navigation module 510 and identifies the waypoint according to the image identification module 512. When the task is executed, the main aircraft needs to be parked at a certain parking point in the patrol area, the main aircraft can fly to a preset longitude and latitude position through the GPS navigation module, and the main aircraft can identify the parking point through the image identification module, so that the parking is completed. By the aid of the mode, the main aircraft can accurately arrive at the inspection area and stop, and position instability and electric energy waste caused by the fact that the main aircraft is always in a flying state are avoided.
In order to allow the main aircraft to be stably parked, the main aircraft is further provided with a parking gripper for fixing the main aircraft on a parking point on a power transmission tower.
Further, the sub aircraft is also provided with a GPS navigation module 514 and an image identification module 516; the sub-aircraft flies to the latitude and longitude position of the location of the object to be inspected through the GPS navigation module 514 and identifies the object to be inspected according to the image identification module 516. In the mode, the sub aircraft can reach the longitude and latitude positions of the object to be patrolled through the GPS navigation module, the object to be patrolled can be identified through the image identification module, and then the patrolling task for the object to be patrolled is completed.
The sub aircraft further comprises a radar height positioning instrument 518 and a driving device 520; the sub aircraft obtains the height of the object to be patrolled in real time through the image recognition module 516 and the radar height positioning instrument 518, and adjusts the flying height of the sub aircraft in real time according to the height control driving device 520.
For example, when the object to be inspected is a power line, the sub aircraft can adjust the flight height in real time according to the actual height of the line and the bending degree of the line, so that the distance between the sub aircraft and the line is in a reasonable range, clear and reliable image data are obtained, and inspection efficiency and quality are improved; when the object to be patrolled is a power transmission tower, the sub aircraft can carry out patrolling from top to bottom, from bottom to top or in a spiral mode according to the height of the power transmission tower and the distribution of key patrolling points of the power transmission tower, and the height is controlled by a radar height positioning instrument.
According to the mode, the flying height of the aircraft is adjusted in real time, so that the sub aircraft can be controlled at a reasonable flying height according to the actual situation of the object to be patrolled, and the patrolling task can be efficiently completed.
The image recognition module 516 includes an comparing unit 522 and a storage unit 524; the storage unit 524 stores the picture data of the object to be inspected in advance; the picture data comprises picture data of an object to be patrolled, which is acquired when the sub aircraft flies in a preset flying state; the comparison unit 522 is configured to compare the real-time image data of the object to be inspected, which is obtained by the inspection camera, with the image data of the object to be inspected, which is stored in the storage unit 524, and adjust the flight status of the sub aircraft in real time according to the comparison result.
For example, when the electric power line is patrolled, the storage unit stores the picture data of the electric power line acquired when the sub aircraft is at a reasonable height, the picture data can include the number of the electric power line, the diameter of the line, the extending direction of the line and the like, when the picture data of the electric power line acquired by the sub aircraft in real time is greatly different from the picture data stored in advance, and when the difference exceeds a preset range, the comparison unit sends an adjusting signal to the driving device or the related flight state control device to adjust the flight state of the sub aircraft, so that the image information of the electric power line acquired by the patrolling camera device is clearer and more accurate.
By the mode, the main aircraft can accurately identify the stop point, the sub aircraft can accurately identify the object to be patrolled, and the patrol task can be smoothly completed.
Example three:
corresponding to the power line patrol aircraft provided in the first embodiment and the second embodiment, an embodiment of the present invention provides a power line patrol aircraft system, which is shown in fig. 6 as a schematic structural diagram of the power line patrol aircraft system; the system comprises the power line patrol aircraft 600 and a server 602; the server 602 communicates with and controls the host aircraft of the inspection aircraft through an external communication module provided on the host aircraft of the power line inspection aircraft.
Specifically, a user can set task parameters related to power line patrol through the server and send a patrol task instruction to the main aircraft; the user can also obtain the image information of the object to be patrolled, which is collected by the sub aircraft, through the server, so that the user can check the patrolling result.
The power line patrol aircraft system provided by the embodiment of the invention has the same technical characteristics as the power line patrol aircraft provided by the embodiment, so that the same technical problems can be solved, and the same technical effects can be achieved.
Example four:
in correspondence to the power line patrol aircraft and the power line patrol aircraft system provided in the above embodiments, embodiments of the present invention provide a power line patrol method, see a flowchart of a power line patrol method shown in fig. 7; the method comprises the following steps:
step S702, a main aircraft receives a patrol task instruction sent by a user, analyzes the patrol task instruction, determines the number of sub-aircraft executing the patrol task according to the analysis result, divides the analyzed patrol task according to the number of the sub-aircraft executing the patrol task, and sends the divided patrol task to the corresponding sub-aircraft through a wireless signal transceiver module;
step S704, the sub aircraft extracts task attribute parameters from the received inspection task, wherein the task attribute parameters comprise the location of the object to be inspected, the type of the object to be inspected and the complexity of the task to be inspected; the sub aircraft flies to a to-be-patrolled place through the acoustic ranging positioning device, determines a patrolling route according to the type of an object to be patrolled, and determines a key patrolling point according to the complexity of a task to be patrolled; the sub aircraft collects the image information of the object to be patrolled through the patrolling camera device and sends the image information to the main aircraft through the wireless signal receiving and sending module.
And step S706, the main aircraft sends the received image information to the terminal equipment of the designated user.
According to the power line inspection method provided by the embodiment of the invention, the inspection task instruction can be analyzed through the main aircraft, and then the inspection task is sent to the corresponding sub aircraft through the wireless signal transceiver module; the sub aircraft can acquire the image information of the object to be patrolled through the acoustic ranging positioning device and the patrolling camera device; in the mode, the sub aircraft executes the specific patrol task, and the main aircraft is responsible for issuing the patrol task instruction and supplying power to the sub aircraft.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In addition, in the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The power line patrol aircraft is characterized by comprising a main aircraft and a plurality of sub-aircraft arranged in a cabin of the main aircraft;
the bottom in the cabin body of the main aircraft is provided with a butt joint device corresponding to the plurality of sub aircraft; a wireless charging module and a wireless signal transceiving module are arranged in the butt joint device; the sub aircraft is fixed in the cabin of the main aircraft through the docking device; the sub aircraft is charged through the wireless charging module; the sub aircraft carries out signal transmission with the main aircraft through the wireless signal transceiver module; the sub aircraft is provided with an acoustic ranging positioning device and an inspection camera device;
the main aircraft is used for receiving a patrol task instruction sent by a user, analyzing the patrol task instruction, determining the number of the sub aircraft executing the patrol task according to an analysis result, dividing the analyzed patrol task according to the number of the sub aircraft executing the patrol task, and sending the divided patrol task into the corresponding sub aircraft through the wireless signal receiving and sending module;
the sub aircraft is used for extracting task attribute parameters from the received inspection task, wherein the task attribute parameters comprise the location of an object to be inspected, the type of the object to be inspected and the complexity of the task to be inspected; the sub aircraft flies to the position of the object to be patrolled through the acoustic ranging and positioning device, determines a patrolling route according to the type of the object to be patrolled, and determines a key patrolling point according to the complexity of the task to be patrolled; the sub aircraft acquires the image information of the object to be patrolled through the patrolling camera device and sends the image information to the main aircraft through the wireless signal transceiver module;
and the main aircraft is also used for sending the received image information to terminal equipment of a specified user.
2. The aircraft of claim 1, wherein an external communication module and a central processing module are provided on the host aircraft;
the external communication module is used for receiving a patrol task instruction sent by a user and sending the patrol task instruction to the central processing module; the external communication module is also used for sending the image information to terminal equipment of an appointed user;
the central processing module is used for processing the inspection task instruction and sending the processed inspection task instruction to the corresponding sub aircraft through the wireless signal transceiver module; the central processing module is also used for planning a flight route and a stop point of the main aircraft according to the patrol task instruction; the docking point is arranged on the transmission tower.
3. The aircraft of claim 1, wherein a guidance module is further disposed on the host aircraft; the guiding module comprises a Doppler radar detection unit and a position correction unit;
the Doppler radar detection unit is used for detecting a sub aircraft returning to a preset range away from the main aircraft and acquiring flight parameters of the sub aircraft; the flight parameters comprise flight position, flight speed, flight direction and flight posture;
the position correcting unit is used for generating position correcting parameters according to the flight parameters and pre-stored position information of the sub aircraft in the cabin of the main aircraft, and sending the position correcting parameters to the sub aircraft, so that the sub aircraft can adjust the flight parameters according to the position correcting parameters.
4. The aircraft of claim 2, wherein the host aircraft is provided with a GPS navigation module and an image recognition module;
the main aircraft flies to the longitude and latitude positions of the docking points through the GPS navigation module, and the docking points are identified according to the image identification module.
5. The vehicle of claim 4, wherein the main vehicle is further provided with a docking gripper for securing the main vehicle to the docking point on the power transmission tower.
6. The aircraft of claim 1, wherein the sub-aircraft is further provided with a GPS navigation module and an image recognition module;
the sub aircraft flies to the longitude and latitude position of the object to be patrolled through the GPS navigation module, and identifies the object to be patrolled according to the image identification module.
7. The aircraft of claim 6 wherein the sub-aircraft further comprises a radar height locator and a drive;
the sub aircraft obtains the height of the object to be patrolled in real time through the image identification module and the radar height positioning instrument, and adjusts the flight height of the sub aircraft in real time according to the height control driving device.
8. The aircraft according to any one of claims 4, 6 and 7, characterized in that said image recognition module comprises a comparison unit and a storage unit;
the storage unit is pre-stored with the picture data of the object to be patrolled; the picture data comprises the picture data of the object to be patrolled, which is acquired when the sub aircraft flies in a preset flying state;
the comparison unit is used for comparing the real-time picture data of the object to be patrolled acquired by the patrolling camera device with the picture data of the object to be patrolled stored in the storage unit and adjusting the flight state of the sub-aircraft in real time according to the comparison result.
9. A power line patrol aircraft system comprising the power line patrol aircraft according to any one of claims 1 to 8, and further comprising a server;
the server is communicated with the main aircraft through an external communication module arranged on the main aircraft of the power line patrol aircraft, and controls the main aircraft.
10. A power line patrol method, comprising:
the method comprises the steps that a main aircraft receives a patrol task instruction sent by a user, analyzes the patrol task instruction, determines the number of sub-aircraft executing patrol tasks according to an analysis result, divides the analyzed patrol tasks according to the number of the sub-aircraft executing the patrol tasks, and sends the divided patrol tasks to the corresponding sub-aircraft through a wireless signal receiving and sending module;
the sub aircraft extracts task attribute parameters from the received inspection task, wherein the task attribute parameters comprise the location of an object to be inspected, the type of the object to be inspected and the complexity of the task to be inspected; the sub aircraft flies to the position of the object to be patrolled through the acoustic ranging and positioning device, determines a patrolling route according to the type of the object to be patrolled, and determines a key patrolling point according to the complexity of the task to be patrolled; the sub aircraft acquires image information of the object to be patrolled through a patrolling camera device and sends the image information to the main aircraft through a wireless signal receiving and sending module; the sub aircraft is charged through a wireless charging module of the main aircraft;
and the main aircraft sends the received image information to terminal equipment of an appointed user.
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| CN108364369B (en) * | 2018-01-17 | 2023-09-26 | 上海振华重工(集团)股份有限公司 | Unmanned aerial vehicle inspection point determining method, unmanned aerial vehicle inspection point determining device, unmanned aerial vehicle inspection point determining medium, unmanned aerial vehicle inspection point determining equipment and unmanned aerial vehicle inspection point determining system |
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