CN106873627A - A kind of multi-rotor unmanned aerial vehicle and method of automatic detecting transmission line of electricity - Google Patents
A kind of multi-rotor unmanned aerial vehicle and method of automatic detecting transmission line of electricity Download PDFInfo
- Publication number
- CN106873627A CN106873627A CN201710208843.4A CN201710208843A CN106873627A CN 106873627 A CN106873627 A CN 106873627A CN 201710208843 A CN201710208843 A CN 201710208843A CN 106873627 A CN106873627 A CN 106873627A
- Authority
- CN
- China
- Prior art keywords
- unmanned plane
- transmission line
- electricity
- unit
- flight
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000005540 biological transmission Effects 0.000 title claims abstract description 123
- 230000005611 electricity Effects 0.000 title claims abstract description 98
- 238000000034 method Methods 0.000 title claims abstract description 19
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical group C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 30
- 230000004888 barrier function Effects 0.000 claims description 38
- 238000001514 detection method Methods 0.000 claims description 19
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 claims description 9
- 238000011897 real-time detection Methods 0.000 claims description 8
- 238000012937 correction Methods 0.000 claims description 5
- 238000004422 calculation algorithm Methods 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 claims description 4
- 230000008859 change Effects 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 230000006641 stabilisation Effects 0.000 claims description 3
- 238000011105 stabilization Methods 0.000 claims description 3
- 238000003708 edge detection Methods 0.000 claims description 2
- 238000006243 chemical reaction Methods 0.000 claims 1
- 238000012545 processing Methods 0.000 description 13
- 230000009471 action Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 229910052744 lithium Inorganic materials 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Cable Installation (AREA)
Abstract
The invention discloses a kind of multi-rotor unmanned aerial vehicle and method of automatic detecting transmission line of electricity, unmanned plane includes machine vision unit, flight control units, circuit shooting unit and battery power supply unit;Machine vision unit and circuit shooting unit are connected with flight control units;Machine vision unit captures the image information of transmission line of electricity in real time, and position and direction of each bar transmission line of electricity in image are calculated according to the image information of capture, and each bar transmission line of electricity relative distance in the picture, then flight control modules are sent this data to stablize unmanned plane with respect to the position of transmission line of electricity, direction and height, makes that unmanned plane is parallel to follow flight line;The circuit shooting unit, when following flight line for unmanned plane to be parallel, obtains the image information of transmission line of electricity.The present invention improves the accuracy and security that unmanned plane patrols and examines transmission line of electricity, improves the stability of shooting picture, reduces the human cost that unmanned plane is patrolled and examined.
Description
Technical field
The present invention relates to unmanned plane polling transmission line field, more particularly, to it is a kind of can be with automatic detecting transmission line of electricity
Multi-rotor unmanned aerial vehicle and method.
Background technology
The year two thousand twenty China's transmission line of electricity overall length surpasses 1,590,000 kms, and polling transmission line work is to ensure safe and reliable
Important, the indispensable work of power supply.In recent years, with the development of remotely pilotless machine technology, electricity is patrolled and examined using unmanned plane
Line of force road has had been provided with technical feasibility.
At present, although electric inspection process field by the way of remotely pilotless machine is patrolled and examined compared to manual inspection side previous
Formula, efficiency has very big lifting, but in line data-logging, the mode of remotely pilotless machine still suffers from being difficult to stablize following power transmission line
Road, it is difficult to ensure parallel circuit shooting angle, it is necessary to the problems such as specified airman operates.
The content of the invention
The invention aims to solve the technical barrier that remotely pilotless machine is faced during polling transmission line, carry
For a kind of multi-rotor unmanned aerial vehicle and method of automatic detecting transmission line of electricity, the present invention is based on machine vision technique, can follow automatically
Transmission line of electricity flies, and improves accuracy and security that unmanned plane patrols and examines transmission line of electricity, improves the stability of shooting picture,
Reduce the human cost that unmanned plane is patrolled and examined.
To achieve these goals, the present invention is adopted the following technical scheme that:
A kind of multi-rotor unmanned aerial vehicle of automatic detecting transmission line of electricity, including machine vision unit, flight control units, circuit
Shooting unit and battery power supply unit;The machine vision unit and circuit shooting unit are connected with flight control units;Institute
Battery power supply unit is stated for UAS provides voltage;
The machine vision unit, for the image information of capture transmission line of electricity in real time, and according to the image information of capture
Position and direction of each bar transmission line of electricity in image, and each bar transmission line of electricity relative distance in the picture are calculated,
Then flight control modules are sent this data to stablize position, direction and the height of the relative transmission line of electricity of unmanned plane, makes nothing
It is man-machine parallel to follow flight line;
The circuit shooting unit, during for parallel circuit flight, obtains the image information of transmission line of electricity;
The machine vision unit, including image processing module and digital camera.Image processing module uses Cortex-
A53 frameworks chip is embedded processor, carries (SuSE) Linux OS, and with faster operation speed, image processing module has
Power supply unit, can be used 5V power supplys as input power.Described image processing module, for calculating each bar transmission line of electricity in real time
Position and direction in image, and each bar transmission line of electricity relative distance in the picture, and send this data to fly
Row control module is stablizing unmanned plane with respect to the position of transmission line of electricity, direction and height.Digital camera is had using OV series
More than 200W pixels, the image information for capturing transmission line of electricity.
The flight control units, including master control borad, it is embedded processor to use Cortex-M4 frameworks chip, for reality
When handling machine visual unit detection data, control unmanned plane follow transmission line of electricity to fly automatically;Treatment unmanned plane is respectively sensed
Device data, maintain unmanned plane body flight stability;Treatment of battery voltage detection unit data, control unmanned plane makes a return voyage safely.
The circuit shooting unit, including electric platform and high-definition camera.The electric platform, can be with base area dough figurine
The angle that the instruction real-time adjustment high-definition camera of member shoots.
Machine vision unit of the present invention and circuit shooting unit carry camera, but the camera types and work(for carrying
Can be different.Machine vision unit uses digital camera, and the image photographed to it carries out real-time processing, digital camera it is excellent
Point is that single image data volume is small, therefore embedded processor is few to the time needed for the real-time calculating of image information, but it shoots
The image for arriving is not clear enough.And the high-definition camera that circuit shooting unit then carries different model (can select fine definition
Simulation camera), the advantage is that image resolution ratio is high, above-mentioned digital camera can be made up in terms of image-capturing resolution not
Foot, dedicated for shooting the details of transmission line of electricity, is then stored or is sent to ground based terminal by being wirelessly transferred, and carries out ground
Face monitors.The present invention take full advantage of the image not enough clear but single image data volume that although digital camera photograph it is small,
Though high-definition camera single image data volume be not suitable for real-time processing greatly image resolution ratio it is high the characteristics of, in machine vision
Digital camera is carried in unit, high-definition camera is carried in circuit shooting unit, the time for both having met real-time processing will
Ask, the definition requirement of ground monitoring is met again.
The multi-rotor unmanned aerial vehicle of the automatic detecting transmission line of electricity, it is automatic around barrier also including what is be connected with flight control units
Unit, it is automatic during for unmanned plane long-distance flight to get around barrier (shaft tower etc.) flight.
It is described automatic around barrier unit, including 24GHZ radar sensors module and big-dipper satellite locating module.The 24GHZ
Radar sensor, has clear to occur for detecting in the threshold distance of front;The big-dipper satellite locating module, for real-time
Positioning unmanned plane body latitude and longitude coordinates, and the Distance positioning barrier according to detecting obstacles thing latitude and longitude coordinates, planning boat
Line, instructs unmanned plane automatic around barrier flight.
The multi-rotor unmanned aerial vehicle of the automatic detecting transmission line of electricity, the also state of flight including being connected with flight control units
Detection unit, for detecting the real-time state of flight of unmanned plane.
The state of flight detection unit, including barometer, gyroscope and accelerometer and electronic compass.The barometer
For detecting current spatial domain air pressure, to be further calculated current flight highly;Gyroscope and accelerometer are used to detect works as
6 free degree states of preceding unmanned plane, with the control base unit weight being further calculated needed for stabilization unmanned plane;Electronic compass is used for
Detection earth's magnetic field, to be further calculated unmanned plane head direction.
The multi-rotor unmanned aerial vehicle of the automatic detecting transmission line of electricity, the also information transfer including being connected with flight control units
Unit, is communicated for flight control units with ground based terminal, and unmanned plane oneself state information and image information are transmitted to ground
Terminal.
Described information transmission unit, including digital transmission module and figure transmission module.Digital transmission module passes logical with ground based terminal by number
Letter link is connected, for ground staff's real-time monitoring flight orientation and unmanned plane oneself state (including the position of current unmanned plane
Put coordinate, height above sea level, temperature, battery electric quantity, flight attitude, flight time, flying speed and heading);Figure transmission module and ground
Face terminal is connected by scheming biography communication link, for picture (high definition line information) real-time Transmission for shooting high-definition camera
To ground based terminal.
The battery power supply unit, including 3S lithium batteries and 12V-5V voltage transformation modules, it is nobody that 3S lithium batteries are used for
Electromechanical machine provides operating voltage, and 12V-5V voltage transformation modules are used to provide operating voltage for each circuit unit of unmanned plane.
The multi-rotor unmanned aerial vehicle of the automatic detecting transmission line of electricity, also including the voltage detection unit of detection cell voltage;
The voltage detection unit includes AD sample circuits, for detecting cell voltage, to calculate whether current voltage is equal to threshold value
Voltage, basic voltage of the threshold voltage according to needed for making a return voyage is set.
Present invention also offers a kind of method of automatic detecting transmission line of electricity, using above-mentioned multi-rotor unmanned aerial vehicle, control first
Unmanned plane processed takes off vertically, and machine vision unit captures the image information of transmission line of electricity in real time, and image letter to capturing enters
Row treatment, calculates position and direction of each bar transmission line of electricity in image, and each bar transmission line of electricity phase in the picture
Adjust the distance;Flight control units perform pid control algorithm according to the information being calculated, and are located at stablizing each bar transmission line of electricity
Position and direction in image, and each bar transmission line of electricity relative distance in the picture, i.e., unmanned plane is with respect to transmission line of electricity
Position, direction and height, make that unmanned plane is parallel to follow transmission line of electricity to fly, and ensure that unmanned plane is with the distance of transmission line of electricity part
Safe distance;Control circuit shooting unit shoots to transmission line of electricity simultaneously, realizes that unmanned plane transmission lines in parallel is patrolled and examined.
Further, image of the machine vision unit first to capturing obtains it using canny edge detection methods
Contour images, are then used by the transmission line of electricity in the hough transform methods detection contour images in OpenCV, obtain each bar transmission of electricity
Starting point and end point of the circuit in contour images;Then calculate each bar transmission line of electricity according to the data for obtaining and be located at profile diagram
Position and direction as in, and relative distance of each bar transmission line of electricity in contour images.
Further, whether there is obstacle using 24GHz radar sensor modules real-time detection front around barrier unit automatically
Thing (shaft tower etc.), once detect and there is barrier in threshold distance and determine it is not erroneous judgement by the continuous three times data of reception
Afterwards, following steps are performed:
<1>The automatic phase for obtaining current barrier and unmanned plane body from 24GHz radar sensor modules around barrier unit
Adjust the distance, call the latitude and longitude coordinates of big-dipper satellite locating module sensorcraft body, according to the two data and nobody
Machine head direction calculates barrier latitude and longitude coordinates;And with barrier latitude and longitude coordinates as the center of circle, current barrier and unmanned plane
The relative distance of body makees semi arch for radius, using the semi arch as the planning course line of unmanned plane;
<2>Control unmanned plane is according to planning airline operation, and the latitude and longitude coordinates of positioning unmanned plane body in real time, calculates nothing
The latitude and longitude coordinates of man-machine body and the difference in planning course line, are missed using positional PID control calculation real time correction flight orientation
Difference, it is ensured that unmanned plane is according to planning airline operation, cut-through thing;Unmanned plane continues to patrol and examine next section of line after barrier is flown over
Road.Whether complete transmission line of electricity feature is occurred in machine vision module real-time detection sky image again;Until continuing 2 width figures
As detecting complete transmission line of electricity feature, illustrate to have flown over barrier, then machine stops action of being diversion, continuation is parallel to follow transmission of electricity
Flight line.
Further, unmanned plane is parallel while follow flight line for flight control units control, and ground based terminal is enjoyed excellent
First control;Ground staff instruction is transmitted wirelessly by ground based terminal come change the current flight speed of unmanned plane, heading,
With respect to the orientation of transmission line of electricity, the shooting angle of circuit shooting unit;Unmanned plane body will be adjusted according to newest instruction in real time
Whole inherent parameters.
During unmanned plane follows polling transmission line, acquiescence is followed first transmission line of electricity in left side by electric platform
Shoot, but ground controller enjoys priority, and can at any time adjust head shooting angle, focuses on other electric wires and does not interfere with nothing
The man-machine action for following transmission line of electricity to fly.
Further, voltage detection unit real-time detection unmanned plane cell voltage, to ensure that safety is maked a return voyage;
After unmanned plane takes off, flight control units real-time calling big-dipper satellite locating module obtains current unmanned plane body
Latitude and longitude coordinates, and calculate the distance between current location and takeoff setting of unmanned plane body, returned then in conjunction with default
Whether speed of a ship or plane degree calculates the departure times on reverse, judges should now make a return voyage with reference to the battery level information of current unmanned plane;
When task is maked a return voyage in execution, most short path of making a return voyage is cooked up according to departure location coordinate and at that time unmanned plane coordinate,
Control unmanned plane makes a return voyage according to path planning;
In way of making a return voyage, the latitude and longitude coordinates of current unmanned plane body and the difference of path planning are calculated in real time, using position
Put formula pid control algorithm real time correction flight orientation error, it is ensured that unmanned plane makes a return voyage according to path planning.
Beneficial effects of the present invention:
According to the present invention, the stabilization that is difficult to that remotely pilotless machine polling transmission line faced can be solved and follow power transmission line
Road, shooting transmission line of electricity image is not parallel to wait technical barrier.Automatic unmanned plane patrols and examines transmission line of electricity, improves unmanned plane and patrols and examines defeated
The accuracy and security of electric line, improve the stability and utilization rate of shooting picture, reduce the manpower that unmanned plane is patrolled and examined
Cost.
Brief description of the drawings
Fig. 1 multi-rotor unmanned aerial vehicles follow flight line and patrol and examine flow chart automatically
The automatic long-distance flight of Fig. 2 multi-rotor unmanned aerial vehicles is with automatic around barrier flow chart
Fig. 3 multi-rotor unmanned aerial vehicle automatic control system structure charts
Specific embodiment
The present invention will be further described with embodiment below in conjunction with the accompanying drawings
As shown in figure 1, a kind of unmanned plane follows flight line and the control algolithm and flow patrolled and examined automatically:
1. unmanned plane takes off vertically, the data in flight control units real-time processing machine visual unit
2. be sent to the image in transmission line of electricity in image processing module by machine vision unit, and image processing module is first right
Image uses canny rim detections to obtain contour images, is then used by the hough change detection contour images in OpenCV
Transmission line of electricity, the starting point and end point of each bar transmission line of electricity in image are obtained, while obtaining transmission line of electricity in the picture
Width.Machine vision unit goes to calculate position and direction of each bar transmission line of electricity in image according to this data is obtained, with
And each bar transmission line of electricity relative distance in the picture.The information processed after completing is sent to flight control by machine vision unit
Unit processed.
3. when ground staff's locking unmanned plane is with respect to grid locational, flight control units preserve one group of image procossing
The data of the transmission line of electricity that module is sended over.The process that following flight control units can constantly be repeated below:
<1>The positional information of the transmission line of electricity that flight control units provide present image processing module and the position for preserving
Make comparisons, using the variable quantity of position as the flight attitude and flying height of controlled quentity controlled variable adjustment unmanned plane, make power transmission line in image
Remain at position when unmanned plane relative position is locked.
<2>The directional information of the transmission line of electricity that flight control units provide present image processing module and the direction for preserving
Make comparisons, using direction change amount as the flight attitude and flying height of controlled quentity controlled variable adjustment unmanned plane, make transmission line of electricity in image
Remain at direction when unmanned plane relative position is locked.
<3>The pitch information of the transmission line of electricity that flight control units provide present image processing module and the spacing for preserving
Make comparisons, using the variable quantity of spacing as the flight attitude and flying height of controlled quentity controlled variable adjustment unmanned plane, each bar is defeated in making image
Spacing between electric wire remains at spacing when unmanned plane relative position is locked.
4. after above-mentioned control is completed, each bar transmission line of electricity is located at position and direction and each bar in image to unmanned plane
Transmission line of electricity relative distance in the picture, i.e. unmanned plane can just be stablized with respect to the position of transmission line of electricity, direction and height
In one less scope.The camera on unmanned plane can be photographed in this state stablize relatively and clearly power transmission line
The image on road, and the observation personnel on ground are constantly sent an image to, while unmanned plane can be according to certain speed along defeated
Electric line is flown.
Automatic unmanned plane long-distance flight and automatic control algolithm and flow such as Fig. 2 institutes around barrier flight in the present invention
Show:
1. unmanned plane be in it is parallel follow transmission line of electricity fly during.
2. scheduling cell voltage detection unit response:
<1>AD sample circuits detect cell voltage.
<2>12.6V voltages are the cell voltage that takes off, and flight control units calculate current location and rise according to coordinate in real time
Fly the distance between position, the departure times on reverse is calculated then in conjunction with default speed of making a return voyage, with reference to the battery electric quantity of current unmanned plane
Whether information judges should now make a return voyage.
<3>Judge step<2>In whether make a return voyage, be then enter step 3, otherwise jump to step 5.
3. unmanned plane first in the horizontal direction, is directed away from the direction flight of circuit, until transmission line of electricity region is left,
Then it is quick to raise certain altitude, into accessible spatial domain.
4. instruction of making a return voyage, the locating module response of scheduling big-dipper satellite are performed:
<1>Position current unmanned plane body latitude and longitude coordinates.
<2>According to the latitude and longitude coordinates and changing coordinates of unmanned plane departure time, planning unmanned plane makes a return voyage most short straight line road
Footpath.In way of making a return voyage, the difference of unmanned plane coordinate and planning course line is calculated in real time, using positional PID control calculation reality
When correct flight orientation error, it is ensured that unmanned plane according to planning airline operation.
<3>Unmanned plane makes a return voyage flight to takeoff setting, and device descending at constant speed, and this process of patrolling and examining terminates.
Whether there is barrier in the threshold distance of 5.24GHZ radar sensors real-time detection front.
6., if continuing to receive obstacle distance information 3 times after self-discovery barrier, barrier is defined as rather than erroneous judgement,
Into step 7, step 1 is otherwise return.
7. perform and instructed around barrier, the locating module response of scheduling big-dipper satellite:
<1>Position current unmanned plane body latitude and longitude coordinates.
<2>Barrier longitude and latitude is calculated towards angle with unmanned plane body relative distance and unmanned plane head according to barrier
Degree coordinate.
<3>With barrier latitude and longitude coordinates as the center of circle, current unmanned plane body and obstacle distance make semi arch for radius,
Using the semi arch as planning course line;
8. unmanned plane body is according to planning airline operation, cut-through thing;And unmanned plane body longitude and latitude is calculated in real time
Degree coordinate and the difference for planning course line, using positional PID control calculation real time correction flight orientation error, it is ensured that unmanned plane is pressed
According to planning airline operation.
9. whether complete transmission line of electricity feature is occurred again in machine vision module real-time detection sky image;If continuing
2 width image detections, then into step 10, otherwise return step 8 to complete transmission line of electricity feature.
10. unmanned plane continuation is parallel follows transmission line of electricity to fly, and stops action of being diversion.
Finally it should be noted that:Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations.
Claims (10)
1. a kind of multi-rotor unmanned aerial vehicle of automatic detecting transmission line of electricity, it is characterised in that including machine vision unit, flight control
Unit, circuit shooting unit and battery power supply unit;The machine vision unit and circuit shooting unit are single with flight control
Unit is connected;The battery power supply unit provides voltage for UAS;
The machine vision unit, for the image information of capture transmission line of electricity in real time, and calculates according to the image information of capture
Go out position and direction of each bar transmission line of electricity in image, and each bar transmission line of electricity relative distance in the picture, then
Flight control modules are sent this data to stablize position, direction and the height of the relative transmission line of electricity of unmanned plane, makes unmanned plane
It is parallel to follow flight line;
The circuit shooting unit, when following flight line for unmanned plane to be parallel, obtains the image information of transmission line of electricity.
2. the multi-rotor unmanned aerial vehicle of automatic detecting transmission line of electricity according to claim 1, it is characterised in that also including with fly
It is automatic around barrier unit that row control unit is connected;It is automatic to include that 24GHZ radar sensors module and big-dipper satellite are fixed around barrier unit
Position module;Flight control units instruct unmanned plane automatic winged around barrier according to the automatic information planning course line detected around barrier unit
OK.
3. the multi-rotor unmanned aerial vehicle of automatic detecting transmission line of electricity according to claim 1, it is characterised in that also including with fly
The connected state of flight detection unit of row control unit;
The state of flight detection unit includes barometer, gyroscope and accelerometer and electronic compass;The barometer is used for
Current spatial domain air pressure is detected, to be further calculated current flight highly;Gyroscope and accelerometer be used to detecting currently without
6 man-machine free degree states, with the control base unit weight being further calculated needed for stabilization unmanned plane;Electronic compass is used to detect
Earth's magnetic field, to be further calculated unmanned plane head direction.
4. the multi-rotor unmanned aerial vehicle of automatic detecting transmission line of electricity according to claim 1, it is characterised in that also including being used for
The information transmission unit that flight control units communicate with ground based terminal;
Described information transmission unit includes digital transmission module and figure transmission module;Digital transmission module passes through digital transmission communication link with ground based terminal
It is connected, for ground staff's real-time monitoring unmanned plane state;Figure transmission module is connected with ground based terminal by scheming biography communication link
Connect, for the picture real-time Transmission that shoots circuit shooting unit to ground based terminal.
5. the multi-rotor unmanned aerial vehicle of automatic detecting transmission line of electricity according to claim 1, also including voltage detection unit, uses
In the output voltage of real-time detection battery power supply unit, to calculate whether current voltage is equal to threshold voltage, threshold voltage root
Set according to the basic voltage needed for making a return voyage.
6. a kind of method of automatic detecting transmission line of electricity, it is characterised in that using many any one of Claims 1 to 5
Rotor wing unmanned aerial vehicle, control unmanned plane takes off, and captures the image information of transmission line of electricity in real time by machine vision unit, and to capture
To image information processed, calculate position and direction of each bar transmission line of electricity in the image, and each bar power transmission line
Road relative distance in the picture;Flight control units perform pid control algorithm, to stablize nothing according to the information being calculated
The position of man-machine relative transmission line of electricity, direction and height, make that unmanned plane is parallel to follow transmission line of electricity to fly, and ensure unmanned plane with
The distance of transmission line of electricity part is safe distance;Control circuit shooting unit shoots to transmission line of electricity simultaneously, realizes unmanned plane
Transmission lines in parallel is patrolled and examined.
7. the method for automatic detecting transmission line of electricity according to claim 6, it is characterised in that the machine vision unit is first
Its contour images first is obtained using canny edge detection methods to the image for capturing, the hough conversion in OpenCV is then used by
Transmission line of electricity in method detection contour images, obtains starting point and end point of each bar transmission line of electricity in contour images;So
The position and direction during each bar transmission line of electricity is located at contour images are calculated according to the data for obtaining afterwards, and each bar transmission line of electricity exists
Relative distance in contour images.
8. the method for automatic detecting transmission line of electricity according to claim 6, it is characterised in that automatic to be utilized around barrier unit
24GHz radar sensor modules real-time detection front whether there is barrier, once detect the presence of barrier in threshold distance
And determine it is not after judging by accident, to perform following steps by the continuous three times data of reception:
<1>It is automatic around barrier unit obtained from 24GHz radar sensor modules current barrier it is relative with unmanned plane body away from
From the latitude and longitude coordinates of big-dipper satellite locating module sensorcraft body being called, according to the two data and unmanned plane machine
Head direction calculates barrier latitude and longitude coordinates;And with barrier latitude and longitude coordinates as the center of circle, current barrier and unmanned plane body
Relative distance make semi arch for radius, using the semi arch as the planning course line of unmanned plane;
<2>Control unmanned plane is according to planning airline operation, and the latitude and longitude coordinates of positioning unmanned plane body in real time, calculates unmanned plane
The latitude and longitude coordinates of body and the difference in planning course line, using positional PID control calculation real time correction flight orientation error, protect
Card unmanned plane is according to planning airline operation, cut-through thing;Unmanned plane continues to patrol and examine next section of circuit after barrier is flown over.
9. the method for automatic detecting transmission line of electricity according to claim 6, flight control units control unmanned plane it is parallel with
While with flight line, ground based terminal enjoys priority control;Ground staff transmits wirelessly instruction come more by ground based terminal
Change current flight speed, heading, the orientation of relative transmission line of electricity, the shooting angle of circuit shooting unit of unmanned plane;Nothing
Man-machine body will adjust inherent parameters according to newest instruction in real time.
10. the method for automatic detecting transmission line of electricity according to claim 6, it is characterised in that voltage detection unit is real-time
Detection unmanned plane cell voltage;
After unmanned plane takes off, flight control units real-time calling big-dipper satellite locating module obtains the warp of current unmanned plane body
Latitude coordinate, and the distance between current location and takeoff setting of unmanned plane body are calculated, then in conjunction with default speed of making a return voyage
Whether degree calculates the departure times on reverse, judges should now make a return voyage with reference to the battery level information of current unmanned plane;
When task is maked a return voyage in execution, most short path of making a return voyage is cooked up according to departure location coordinate and at that time unmanned plane coordinate, controlled
Unmanned plane makes a return voyage according to path planning;
In way of making a return voyage, the latitude and longitude coordinates of current unmanned plane body and the difference of path planning are calculated in real time, using position model
Pid control algorithm real time correction flight orientation error, it is ensured that unmanned plane makes a return voyage according to path planning.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710208843.4A CN106873627B (en) | 2017-03-31 | 2017-03-31 | Multi-rotor unmanned aerial vehicle and method for automatically inspecting power transmission line |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710208843.4A CN106873627B (en) | 2017-03-31 | 2017-03-31 | Multi-rotor unmanned aerial vehicle and method for automatically inspecting power transmission line |
Publications (2)
Publication Number | Publication Date |
---|---|
CN106873627A true CN106873627A (en) | 2017-06-20 |
CN106873627B CN106873627B (en) | 2020-07-28 |
Family
ID=59160723
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201710208843.4A Expired - Fee Related CN106873627B (en) | 2017-03-31 | 2017-03-31 | Multi-rotor unmanned aerial vehicle and method for automatically inspecting power transmission line |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN106873627B (en) |
Cited By (46)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107124220A (en) * | 2017-06-30 | 2017-09-01 | 广东电网有限责任公司电力科学研究院 | A kind of unmanned helicopter-mounted satellite communication terminal for electric inspection process |
CN107272739A (en) * | 2017-07-24 | 2017-10-20 | 湘潭大学 | A kind of pesticide spraying system and method based on primary and secondary system |
CN107481234A (en) * | 2017-08-23 | 2017-12-15 | 中国电力科学研究院 | One kind is used to examine unmanned plane cruising inspection system visual light imaging method for testing performance |
CN107885229A (en) * | 2017-12-15 | 2018-04-06 | 上海达实联欣科技发展有限公司 | A kind of unmanned plane and its electric power line inspection method of achievable power line automatic detecting |
CN107884781A (en) * | 2017-11-07 | 2018-04-06 | 北京电子工程总体研究所 | A kind of double unmanned plane tracking distance-finding methods |
CN107943074A (en) * | 2017-11-20 | 2018-04-20 | 国网山东省电力公司莱芜供电公司 | A kind of miniature multi-rotor unmanned aerial vehicle safe spacing of electric inspection process keeps system |
CN108132675A (en) * | 2017-11-23 | 2018-06-08 | 东南大学 | Unmanned plane is maked an inspection tour from main path cruise and intelligent barrier avoiding method by a kind of factory |
CN108270998A (en) * | 2018-01-19 | 2018-07-10 | 中国农业科学院农业信息研究所 | A kind of farmland image capturing system |
CN108263606A (en) * | 2018-01-29 | 2018-07-10 | 四川尚航智能科技有限公司 | One kind is based on VTOL fixed-wing unmanned plane and its natural gas line cruising inspection system, method |
CN108334113A (en) * | 2018-04-19 | 2018-07-27 | 北京邮电大学 | Unmanned plane deicing system and method |
CN108521809A (en) * | 2017-12-18 | 2018-09-11 | 深圳市大疆创新科技有限公司 | Obstacle information reminding method, system, unit and recording medium |
CN108628347A (en) * | 2018-06-29 | 2018-10-09 | 广州供电局有限公司 | The autonomous loading method of crusing robot, crusing robot and device |
CN108919821A (en) * | 2018-06-12 | 2018-11-30 | 浙江大学 | A kind of unmanned plane automatic tour inspection system and method towards scale centralization photovoltaic plant |
CN108983809A (en) * | 2018-07-16 | 2018-12-11 | 福州日兆信息科技有限公司 | The method and unmanned plane of accurate identification positioning surrounding based on unmanned plane |
CN109002048A (en) * | 2018-06-12 | 2018-12-14 | 浙江大学 | A kind of scale centralization photovoltaic plant image data acquiring method based on multi-rotor unmanned aerial vehicle |
CN109387741A (en) * | 2018-10-18 | 2019-02-26 | 国网河北省电力有限公司沧州供电分公司 | Line fault emergency repair method based on BEI-DOU position system |
CN109406941A (en) * | 2018-10-18 | 2019-03-01 | 国网河北省电力有限公司沧州供电分公司 | Failure observation system based on BEI-DOU position system |
CN109765930A (en) * | 2019-01-29 | 2019-05-17 | 理光软件研究所(北京)有限公司 | A kind of unmanned plane vision navigation system |
CN109961466A (en) * | 2017-12-14 | 2019-07-02 | 翔升(上海)电子技术有限公司 | Ranch animals monitoring method and system |
CN109995991A (en) * | 2017-12-29 | 2019-07-09 | 深圳市优必选科技有限公司 | Shooting method, robot and mobile terminal |
CN110031828A (en) * | 2018-10-22 | 2019-07-19 | 国网浙江省电力有限公司检修分公司 | A kind of unmanned plane range-measurement system and method based on transmission line of electricity magnetic distribution |
CN110113570A (en) * | 2019-05-07 | 2019-08-09 | 江苏方天电力技术有限公司 | A kind of autonomous cruising inspection system of power transmission line unmanned machine and its working method |
CN110134148A (en) * | 2019-05-24 | 2019-08-16 | 中国南方电网有限责任公司超高压输电公司检修试验中心 | A kind of transmission line of electricity helicopter make an inspection tour in tracking along transmission line of electricity |
CN110209196A (en) * | 2019-06-21 | 2019-09-06 | 绿漫科技有限公司 | A kind of unmanned plane garden night watching method and system |
CN110395398A (en) * | 2019-09-05 | 2019-11-01 | 广东电网有限责任公司 | A kind of ground connection assembly system and its earthing method based on multi-rotor unmanned aerial vehicle |
CN110799924A (en) * | 2018-10-26 | 2020-02-14 | 深圳市大疆创新科技有限公司 | Control method and device for unmanned aerial vehicle, unmanned aerial vehicle and computer readable storage medium |
CN110850889A (en) * | 2019-11-18 | 2020-02-28 | 国网江苏省电力有限公司泰州供电分公司 | Unmanned aerial vehicle autonomous inspection system based on RTK navigation |
CN111272148A (en) * | 2020-01-20 | 2020-06-12 | 江苏方天电力技术有限公司 | Unmanned aerial vehicle autonomous inspection self-adaptive imaging quality optimization method for power transmission line |
CN111398682A (en) * | 2020-04-22 | 2020-07-10 | 安徽东源电力有限公司 | Method for measuring by using unmanned aerial vehicle in distribution line design stage |
CN111580542A (en) * | 2019-02-15 | 2020-08-25 | 北京京东尚科信息技术有限公司 | Dynamic unmanned aerial vehicle formation control method and device and storage medium |
CN111625017A (en) * | 2020-04-24 | 2020-09-04 | 滨州学院 | Many rotor unmanned aerial vehicle intelligence system of patrolling and examining |
CN111766897A (en) * | 2020-07-10 | 2020-10-13 | 广东电网有限责任公司 | Channel inspection method of power transmission line, unmanned aerial vehicle and system |
CN111814547A (en) * | 2020-06-03 | 2020-10-23 | 国网浙江嘉善县供电有限公司 | Overhead high-voltage wire tracking detection system and method based on visual identification |
CN112164015A (en) * | 2020-11-30 | 2021-01-01 | 中国电力科学研究院有限公司 | Monocular vision autonomous inspection image acquisition method and device and power inspection unmanned aerial vehicle |
CN112180942A (en) * | 2020-10-19 | 2021-01-05 | 广东电网有限责任公司 | Power transmission line autonomous line-tracing inspection system and method and terminal equipment |
CN112306093A (en) * | 2020-10-30 | 2021-02-02 | 卓旺(安徽)航空科技产业股份有限公司 | Extra-high voltage power grid unmanned aerial vehicle autonomous automatic channel inspection system |
CN112486199A (en) * | 2020-12-11 | 2021-03-12 | 国网辽宁省电力有限公司沈阳供电公司 | Unmanned aerial vehicle inspection control system and method suitable for remote power transmission tower group |
CN112731960A (en) * | 2020-12-02 | 2021-04-30 | 国网辽宁省电力有限公司阜新供电公司 | Unmanned aerial vehicle remote power transmission line intelligent inspection system and method |
CN112748121A (en) * | 2020-12-31 | 2021-05-04 | 天津大学 | Unmanned aerial vehicle detection method and device based on hydraulic structure surface cracks |
CN112748744A (en) * | 2020-12-29 | 2021-05-04 | 广东极臻智能科技有限公司 | Transformer substation amphibious inspection device and inspection method thereof |
CN112882490A (en) * | 2021-01-13 | 2021-06-01 | 华东交通大学 | Railway inspection unmanned aerial vehicle based on 5G technology |
CN112947542A (en) * | 2021-01-25 | 2021-06-11 | 国网甘肃省电力公司电力科学研究院 | Artificial intelligence inspection system based on unmanned aerial vehicle |
CN114120467A (en) * | 2021-11-30 | 2022-03-01 | 江苏思极科技服务有限公司 | Unmanned aerial vehicle power inspection system and method based on 5G cross-regional remote control |
CN116027798A (en) * | 2022-09-30 | 2023-04-28 | 三峡大学 | Unmanned aerial vehicle power inspection system and method based on image correction |
CN117876624A (en) * | 2024-03-13 | 2024-04-12 | 纵古(江苏)智能科技有限公司 | Complex environment track planning method based on unmanned aerial vehicle remote sensing image |
CN118068850A (en) * | 2024-04-17 | 2024-05-24 | 泰诺尔(北京)科技有限公司 | Unmanned aerial vehicle return control method and system |
Citations (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20120042273A1 (en) * | 2010-08-13 | 2012-02-16 | Dingeman David M | Machines, Program Products, and Computer-Implemented Methods for Interactive Aircraft Performance Substantiation |
CN102570345A (en) * | 2011-09-19 | 2012-07-11 | 天津全华时代航天科技发展有限公司 | UAV (unmanned aerial vehicle) transmission-line patrolling system |
CN102591355A (en) * | 2012-02-24 | 2012-07-18 | 山东电力研究院 | Method for detecting safe power-line-cruising distance of UAV (unmanned aerial vehicle) |
CN103488988A (en) * | 2013-09-06 | 2014-01-01 | 广东电网公司电力科学研究院 | Method for extracting insulators in electrical equipment based on unmanned aerial vehicle line patrol visible light image |
CN103730862A (en) * | 2013-11-12 | 2014-04-16 | 广东威恒电力技术开发有限公司 | Unmanned aerial vehicle platform power line patrol system and work mode |
CN103941746A (en) * | 2014-03-29 | 2014-07-23 | 国家电网公司 | System and method for processing unmanned aerial vehicle polling image |
CN104601956A (en) * | 2015-01-15 | 2015-05-06 | 西安工程大学 | Power transmission line online monitoring system and method based on fixed-wing unmanned aerial vehicle |
CN104865971A (en) * | 2015-05-26 | 2015-08-26 | 广西大学 | Power transmission line inspection unmanned plane control method and unmanned plane |
CN105278543A (en) * | 2015-09-28 | 2016-01-27 | 小米科技有限责任公司 | Method and device for increasing flight security, and electronic equipment |
CN106092054A (en) * | 2016-05-30 | 2016-11-09 | 广东能飞航空科技发展有限公司 | A kind of power circuit identification precise positioning air navigation aid |
CN106155086A (en) * | 2016-08-09 | 2016-11-23 | 长安大学 | A kind of Road Detection unmanned plane and automatic cruising method thereof |
CN106356757A (en) * | 2016-08-11 | 2017-01-25 | 河海大学常州校区 | Method for inspecting electric power lines by aid of unmanned aerial vehicle on basis of human vision characteristics |
CN106371456A (en) * | 2016-08-31 | 2017-02-01 | 中测新图(北京)遥感技术有限责任公司 | Unmanned plane patrol method and system |
-
2017
- 2017-03-31 CN CN201710208843.4A patent/CN106873627B/en not_active Expired - Fee Related
Patent Citations (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20120042273A1 (en) * | 2010-08-13 | 2012-02-16 | Dingeman David M | Machines, Program Products, and Computer-Implemented Methods for Interactive Aircraft Performance Substantiation |
CN102570345A (en) * | 2011-09-19 | 2012-07-11 | 天津全华时代航天科技发展有限公司 | UAV (unmanned aerial vehicle) transmission-line patrolling system |
CN102591355A (en) * | 2012-02-24 | 2012-07-18 | 山东电力研究院 | Method for detecting safe power-line-cruising distance of UAV (unmanned aerial vehicle) |
CN103488988A (en) * | 2013-09-06 | 2014-01-01 | 广东电网公司电力科学研究院 | Method for extracting insulators in electrical equipment based on unmanned aerial vehicle line patrol visible light image |
CN103730862A (en) * | 2013-11-12 | 2014-04-16 | 广东威恒电力技术开发有限公司 | Unmanned aerial vehicle platform power line patrol system and work mode |
CN103941746A (en) * | 2014-03-29 | 2014-07-23 | 国家电网公司 | System and method for processing unmanned aerial vehicle polling image |
CN104601956A (en) * | 2015-01-15 | 2015-05-06 | 西安工程大学 | Power transmission line online monitoring system and method based on fixed-wing unmanned aerial vehicle |
CN104865971A (en) * | 2015-05-26 | 2015-08-26 | 广西大学 | Power transmission line inspection unmanned plane control method and unmanned plane |
CN105278543A (en) * | 2015-09-28 | 2016-01-27 | 小米科技有限责任公司 | Method and device for increasing flight security, and electronic equipment |
CN106092054A (en) * | 2016-05-30 | 2016-11-09 | 广东能飞航空科技发展有限公司 | A kind of power circuit identification precise positioning air navigation aid |
CN106155086A (en) * | 2016-08-09 | 2016-11-23 | 长安大学 | A kind of Road Detection unmanned plane and automatic cruising method thereof |
CN106356757A (en) * | 2016-08-11 | 2017-01-25 | 河海大学常州校区 | Method for inspecting electric power lines by aid of unmanned aerial vehicle on basis of human vision characteristics |
CN106371456A (en) * | 2016-08-31 | 2017-02-01 | 中测新图(北京)遥感技术有限责任公司 | Unmanned plane patrol method and system |
Cited By (61)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107124220A (en) * | 2017-06-30 | 2017-09-01 | 广东电网有限责任公司电力科学研究院 | A kind of unmanned helicopter-mounted satellite communication terminal for electric inspection process |
CN107272739A (en) * | 2017-07-24 | 2017-10-20 | 湘潭大学 | A kind of pesticide spraying system and method based on primary and secondary system |
CN107272739B (en) * | 2017-07-24 | 2020-09-29 | 湘潭大学 | Pesticide spraying system and method based on primary and secondary systems |
CN107481234B (en) * | 2017-08-23 | 2021-11-26 | 中国电力科学研究院 | Test method for testing visible light imaging performance of unmanned aerial vehicle inspection system |
CN107481234A (en) * | 2017-08-23 | 2017-12-15 | 中国电力科学研究院 | One kind is used to examine unmanned plane cruising inspection system visual light imaging method for testing performance |
CN107884781A (en) * | 2017-11-07 | 2018-04-06 | 北京电子工程总体研究所 | A kind of double unmanned plane tracking distance-finding methods |
CN107943074A (en) * | 2017-11-20 | 2018-04-20 | 国网山东省电力公司莱芜供电公司 | A kind of miniature multi-rotor unmanned aerial vehicle safe spacing of electric inspection process keeps system |
CN108132675A (en) * | 2017-11-23 | 2018-06-08 | 东南大学 | Unmanned plane is maked an inspection tour from main path cruise and intelligent barrier avoiding method by a kind of factory |
CN108132675B (en) * | 2017-11-23 | 2020-02-21 | 东南大学 | Autonomous path cruising and intelligent obstacle avoidance method for factory inspection unmanned aerial vehicle |
CN109961466A (en) * | 2017-12-14 | 2019-07-02 | 翔升(上海)电子技术有限公司 | Ranch animals monitoring method and system |
CN107885229A (en) * | 2017-12-15 | 2018-04-06 | 上海达实联欣科技发展有限公司 | A kind of unmanned plane and its electric power line inspection method of achievable power line automatic detecting |
CN108521809A (en) * | 2017-12-18 | 2018-09-11 | 深圳市大疆创新科技有限公司 | Obstacle information reminding method, system, unit and recording medium |
CN109995991A (en) * | 2017-12-29 | 2019-07-09 | 深圳市优必选科技有限公司 | Shooting method, robot and mobile terminal |
CN108270998A (en) * | 2018-01-19 | 2018-07-10 | 中国农业科学院农业信息研究所 | A kind of farmland image capturing system |
CN108263606A (en) * | 2018-01-29 | 2018-07-10 | 四川尚航智能科技有限公司 | One kind is based on VTOL fixed-wing unmanned plane and its natural gas line cruising inspection system, method |
CN108334113A (en) * | 2018-04-19 | 2018-07-27 | 北京邮电大学 | Unmanned plane deicing system and method |
CN108919821A (en) * | 2018-06-12 | 2018-11-30 | 浙江大学 | A kind of unmanned plane automatic tour inspection system and method towards scale centralization photovoltaic plant |
CN109002048B (en) * | 2018-06-12 | 2020-06-09 | 浙江大学 | Multi-rotor unmanned aerial vehicle large-scale centralized photovoltaic power station image data acquisition method |
CN109002048A (en) * | 2018-06-12 | 2018-12-14 | 浙江大学 | A kind of scale centralization photovoltaic plant image data acquiring method based on multi-rotor unmanned aerial vehicle |
CN108628347A (en) * | 2018-06-29 | 2018-10-09 | 广州供电局有限公司 | The autonomous loading method of crusing robot, crusing robot and device |
CN108628347B (en) * | 2018-06-29 | 2021-08-31 | 广东电网有限责任公司广州供电局 | Inspection robot, and autonomous online method and device of inspection robot |
CN108983809A (en) * | 2018-07-16 | 2018-12-11 | 福州日兆信息科技有限公司 | The method and unmanned plane of accurate identification positioning surrounding based on unmanned plane |
CN109387741B (en) * | 2018-10-18 | 2021-06-15 | 国网河北省电力有限公司沧州供电分公司 | Line fault first-aid repair method based on Beidou positioning system |
CN109406941A (en) * | 2018-10-18 | 2019-03-01 | 国网河北省电力有限公司沧州供电分公司 | Failure observation system based on BEI-DOU position system |
CN109406941B (en) * | 2018-10-18 | 2021-12-24 | 国网河北省电力有限公司沧州供电分公司 | Fault monitoring system based on Beidou positioning system |
CN109387741A (en) * | 2018-10-18 | 2019-02-26 | 国网河北省电力有限公司沧州供电分公司 | Line fault emergency repair method based on BEI-DOU position system |
CN110031828A (en) * | 2018-10-22 | 2019-07-19 | 国网浙江省电力有限公司检修分公司 | A kind of unmanned plane range-measurement system and method based on transmission line of electricity magnetic distribution |
CN110799924A (en) * | 2018-10-26 | 2020-02-14 | 深圳市大疆创新科技有限公司 | Control method and device for unmanned aerial vehicle, unmanned aerial vehicle and computer readable storage medium |
CN109765930B (en) * | 2019-01-29 | 2021-11-30 | 理光软件研究所(北京)有限公司 | Unmanned aerial vehicle vision navigation |
CN109765930A (en) * | 2019-01-29 | 2019-05-17 | 理光软件研究所(北京)有限公司 | A kind of unmanned plane vision navigation system |
CN111580542A (en) * | 2019-02-15 | 2020-08-25 | 北京京东尚科信息技术有限公司 | Dynamic unmanned aerial vehicle formation control method and device and storage medium |
CN110113570A (en) * | 2019-05-07 | 2019-08-09 | 江苏方天电力技术有限公司 | A kind of autonomous cruising inspection system of power transmission line unmanned machine and its working method |
CN110134148A (en) * | 2019-05-24 | 2019-08-16 | 中国南方电网有限责任公司超高压输电公司检修试验中心 | A kind of transmission line of electricity helicopter make an inspection tour in tracking along transmission line of electricity |
CN110209196A (en) * | 2019-06-21 | 2019-09-06 | 绿漫科技有限公司 | A kind of unmanned plane garden night watching method and system |
CN110395398B (en) * | 2019-09-05 | 2023-09-08 | 广东电网有限责任公司 | Grounding assembly system based on multi-rotor unmanned aerial vehicle and grounding method thereof |
CN110395398A (en) * | 2019-09-05 | 2019-11-01 | 广东电网有限责任公司 | A kind of ground connection assembly system and its earthing method based on multi-rotor unmanned aerial vehicle |
CN110850889A (en) * | 2019-11-18 | 2020-02-28 | 国网江苏省电力有限公司泰州供电分公司 | Unmanned aerial vehicle autonomous inspection system based on RTK navigation |
CN111272148A (en) * | 2020-01-20 | 2020-06-12 | 江苏方天电力技术有限公司 | Unmanned aerial vehicle autonomous inspection self-adaptive imaging quality optimization method for power transmission line |
CN111398682A (en) * | 2020-04-22 | 2020-07-10 | 安徽东源电力有限公司 | Method for measuring by using unmanned aerial vehicle in distribution line design stage |
CN111625017B (en) * | 2020-04-24 | 2021-04-23 | 滨州学院 | Many rotor unmanned aerial vehicle intelligence system of patrolling and examining |
CN111625017A (en) * | 2020-04-24 | 2020-09-04 | 滨州学院 | Many rotor unmanned aerial vehicle intelligence system of patrolling and examining |
CN111814547A (en) * | 2020-06-03 | 2020-10-23 | 国网浙江嘉善县供电有限公司 | Overhead high-voltage wire tracking detection system and method based on visual identification |
CN111766897B (en) * | 2020-07-10 | 2024-02-27 | 广东电网有限责任公司 | Channel inspection method, unmanned aerial vehicle and system for power transmission line |
CN111766897A (en) * | 2020-07-10 | 2020-10-13 | 广东电网有限责任公司 | Channel inspection method of power transmission line, unmanned aerial vehicle and system |
CN112180942A (en) * | 2020-10-19 | 2021-01-05 | 广东电网有限责任公司 | Power transmission line autonomous line-tracing inspection system and method and terminal equipment |
CN112306093A (en) * | 2020-10-30 | 2021-02-02 | 卓旺(安徽)航空科技产业股份有限公司 | Extra-high voltage power grid unmanned aerial vehicle autonomous automatic channel inspection system |
CN112164015A (en) * | 2020-11-30 | 2021-01-01 | 中国电力科学研究院有限公司 | Monocular vision autonomous inspection image acquisition method and device and power inspection unmanned aerial vehicle |
CN112164015B (en) * | 2020-11-30 | 2021-04-23 | 中国电力科学研究院有限公司 | Monocular vision autonomous inspection image acquisition method and device and power inspection unmanned aerial vehicle |
CN112731960A (en) * | 2020-12-02 | 2021-04-30 | 国网辽宁省电力有限公司阜新供电公司 | Unmanned aerial vehicle remote power transmission line intelligent inspection system and method |
CN112486199A (en) * | 2020-12-11 | 2021-03-12 | 国网辽宁省电力有限公司沈阳供电公司 | Unmanned aerial vehicle inspection control system and method suitable for remote power transmission tower group |
CN112748744A (en) * | 2020-12-29 | 2021-05-04 | 广东极臻智能科技有限公司 | Transformer substation amphibious inspection device and inspection method thereof |
CN112748121A (en) * | 2020-12-31 | 2021-05-04 | 天津大学 | Unmanned aerial vehicle detection method and device based on hydraulic structure surface cracks |
CN112882490A (en) * | 2021-01-13 | 2021-06-01 | 华东交通大学 | Railway inspection unmanned aerial vehicle based on 5G technology |
CN112947542A (en) * | 2021-01-25 | 2021-06-11 | 国网甘肃省电力公司电力科学研究院 | Artificial intelligence inspection system based on unmanned aerial vehicle |
CN114120467A (en) * | 2021-11-30 | 2022-03-01 | 江苏思极科技服务有限公司 | Unmanned aerial vehicle power inspection system and method based on 5G cross-regional remote control |
CN114120467B (en) * | 2021-11-30 | 2024-01-26 | 江苏思极科技服务有限公司 | Unmanned aerial vehicle power inspection system and method based on 5G cross-regional remote control |
CN116027798A (en) * | 2022-09-30 | 2023-04-28 | 三峡大学 | Unmanned aerial vehicle power inspection system and method based on image correction |
CN116027798B (en) * | 2022-09-30 | 2023-11-17 | 三峡大学 | Unmanned aerial vehicle power inspection system and method based on image correction |
CN117876624A (en) * | 2024-03-13 | 2024-04-12 | 纵古(江苏)智能科技有限公司 | Complex environment track planning method based on unmanned aerial vehicle remote sensing image |
CN117876624B (en) * | 2024-03-13 | 2024-05-07 | 纵古(江苏)智能科技有限公司 | Complex environment track planning method based on unmanned aerial vehicle remote sensing image |
CN118068850A (en) * | 2024-04-17 | 2024-05-24 | 泰诺尔(北京)科技有限公司 | Unmanned aerial vehicle return control method and system |
Also Published As
Publication number | Publication date |
---|---|
CN106873627B (en) | 2020-07-28 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN106873627A (en) | A kind of multi-rotor unmanned aerial vehicle and method of automatic detecting transmission line of electricity | |
US10648809B2 (en) | Adaptive compass calibration based on local field conditions | |
US11604479B2 (en) | Methods and system for vision-based landing | |
US10168601B2 (en) | Flying camera with string assembly for localization and interaction | |
CN105790155B (en) | A kind of autonomous cruising inspection system of power transmission line unmanned machine and method based on differential GPS | |
CN103822635B (en) | The unmanned plane during flying spatial location real-time computing technique of view-based access control model information | |
CN108306217A (en) | A kind of overhead high-voltage wire intelligent independent is along conducting wire flight cruising inspection system and method | |
CN106708073B (en) | A kind of quadrotor system of independent navigation power-line patrolling fault detection | |
CN107272740B (en) | Novel four-rotor unmanned aerial vehicle control system | |
CN105182992A (en) | Unmanned aerial vehicle control method and device | |
CN105335733A (en) | Autonomous landing visual positioning method and system for unmanned aerial vehicle | |
CN108062108A (en) | A kind of intelligent multi-rotor unmanned aerial vehicle and its implementation based on airborne computer | |
Huh et al. | A vision-based automatic landing method for fixed-wing UAVs | |
CN105446351B (en) | It is a kind of can lock onto target Qu Yu lookout the unmanned airship system based on independent navigation | |
CN107608386A (en) | A kind of UAV Navigation System and method based on the distribution of high-voltage line electromagnetism fingerprint | |
CN109782788A (en) | Unmanned plane low latitude obstacle avoidance system and control method based on binocular vision | |
CN102190081B (en) | Vision-based fixed point robust control method for airship | |
CN104700576A (en) | Quick water rescuing system and method | |
CN104932529A (en) | Unmanned plane autonomous flight cloud control system | |
CN104298248A (en) | Accurate visual positioning and orienting method for rotor wing unmanned aerial vehicle | |
CN112486199A (en) | Unmanned aerial vehicle inspection control system and method suitable for remote power transmission tower group | |
WO2022036724A1 (en) | Machine vision-based target tracking system and method for unmanned aerial vehicle | |
CN112612294A (en) | Unmanned aerial vehicle with automatic laser radar obstacle avoidance system | |
CN110825098B (en) | Unmanned aerial vehicle distribution network intelligent inspection system | |
CN113222838A (en) | Unmanned aerial vehicle autonomous line patrol method based on visual positioning |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
CF01 | Termination of patent right due to non-payment of annual fee | ||
CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200728 |