CN107402580B - Unmanned aerial vehicle-based power grid inspection automation method - Google Patents
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Abstract
The invention relates to the field of power inspection of unmanned aerial vehicles, in particular to an unmanned aerial vehicle-based power grid inspection automation method; the invention provides a systematic solution for the problems of insufficient cruising, inaccurate positioning precision, poor shooting effect and arrangement of the unmanned aerial vehicle after shooting in the automatic polling of the unmanned aerial vehicle by using a sub-node polling method, and realizes the automation of power grid polling; the method can completely replace manual inspection, realize comprehensive automatic power inspection and liberate people from the power inspection.
Description
Technical Field
The invention relates to the field of power inspection of unmanned aerial vehicles, in particular to an unmanned aerial vehicle-based power grid inspection automation method.
Background
With the continuous development of science and technology, the trend of automation and intellectualization of power grid equipment is not necessarily good. In the past, the power grid tower lines are inspected one by one along the inspection line by manpower, so that a large amount of manpower and time are needed, and the efficiency is low. In recent years, unmanned aerial vehicle slowly is used on power inspection, so can corresponding some human costs of reducing really, but, present unmanned aerial vehicle power inspection still relies on people's operation, and the data of patrolling and examining also still need artificial record and storage, and it still consumes the manpower and efficiency is limited, does not reach degree of automation far away to patrolling and examining.
However, at present, the power grid inspection automation of the unmanned aerial vehicle is required to be realized, and the following technical problems exist:
1. the power grid inspection line is long, and the battery endurance of the unmanned aerial vehicle is limited, so that the unmanned aerial vehicle has difficulty in completing the inspection of the whole power grid line;
2. the unmanned aerial vehicle generally adopts GPS positioning, the GPS positioning precision cannot reach the precision required by inspection, and is greatly influenced by the environment and the position, and the power grid line is often arranged in some remote places, so that the unmanned aerial vehicle is easy to lose the direction when automatically inspecting;
3. the unmanned aerial vehicle can fly along a set path and shoot along the path easily, but the shooting effect is difficult to control, such as wind power influence or unmanned aerial vehicle performance influence, so that even if the unmanned aerial vehicle can shoot power grid information along the path, the shot information cannot be guaranteed to be effective;
4. because the power grid patrols and examines the different positions patrol and examine the cycle different, still need to do suitable adjustment to patrolling and examining the circuit sometimes, so after finishing shooting, how to settle unmanned aerial vehicle is the problem that also needs to consider.
Therefore, to realize the automation of the power grid inspection of the unmanned aerial vehicle, the technical problem needs to be overcome.
Disclosure of Invention
The invention aims to solve the technical problems, realize the automation of power grid inspection of the unmanned aerial vehicle, release people from power inspection and greatly improve the power inspection efficiency.
The invention provides an unmanned aerial vehicle-based power grid inspection automation method which is characterized by comprising the following steps:
a1: the control terminal takes the tower pole as a node, a routing inspection line is made, and the routing inspection line is sent to the unmanned aerial vehicle;
a2: the unmanned aerial vehicle on the tower pole parking apron is matched with the RFID electronic tag arranged on the node through the built-in RFID high-radio-frequency card reader, if the unmanned aerial vehicle is just positioned on the first node in a matched mode, the unmanned aerial vehicle starts a camera to inspect, and if the unmanned aerial vehicle is not positioned on the first node in a matched mode, the unmanned aerial vehicle flies to the first node and then starts the camera to inspect;
a3: the unmanned aerial vehicle flies from the first node to the second node along the power grid line, shoots a video along the way, and simultaneously records the real-time swing angle of the cloud deck, the real-time coordinates of the unmanned aerial vehicle and the real-time data measured by the unmanned aerial vehicle balance detector during shooting;
a4: after the unmanned aerial vehicle reaches the second node, the real-time swing angle of the cradle head, the real-time coordinates of the unmanned aerial vehicle and the real-time data of the balance detection of the unmanned aerial vehicle recorded in the step A3 are sent to the control terminal together with the shot content;
a5: after the control terminal receives the data, generating a functional relation by corresponding shooting information of the swing angle of the holder, the positioning coordinates of the unmanned aerial vehicle and the detection data of the balancing instrument, then comparing the shooting information and the generated function with the preset shooting information and the preset function, generating a feedback function, and obtaining a feedback suggestion;
a6: if the feedback suggestion exceeds the acceptance range, namely the unmanned aerial vehicle is unavailable in shooting information of the key part, sending a signal to the unmanned aerial vehicle to command the unmanned aerial vehicle to shoot again;
a7: the unmanned aerial vehicle navigates back to a coordinate point when shooting is unclear, the rotation angle of the cradle head and the preset angle of the balancing instrument are adjusted according to the feedback function data, and shooting is started;
a8: the unmanned aerial vehicle shoots coordinate places in the feedback opinions one by one, flies to a second node, and sends feedback shooting data to the control terminal;
a9: the control terminal continues to execute the steps A5-A8 until the feedback opinions all fall into the acceptance range, and then proceeds to the following steps:
a10: the unmanned aerial vehicle flies from the second node to the third node, and the steps A3-A9 are repeated;
a11: according to the steps A3-A10, and the like until the last node, the unmanned aerial vehicle stops at the apron of the last node, and the inspection is finished.
As a further optimization of the present invention, the step of obtaining the positioning coordinates by the drone includes:
b1: arranging beacon base stations on each tower pole, wherein the base stations continuously send broadcast messages with certain power;
b2: the unmanned aerial vehicle receives a broadcast message sent by a beacon base station by using the carried Bluetooth terminal equipment;
b3: the unmanned aerial vehicle measures the message power, brings the message power into a function of the relation between power attenuation and distance, calculates the distance between the unmanned aerial vehicle and the beacon base station, measures the height by using an air pressure height sensor, and finally obtains a positioning coordinate;
as a further optimization of the invention, the unmanned aerial vehicle only receives messages sent by beacon base stations arranged at two nodes in front of and behind the position where the unmanned aerial vehicle is located;
as a further optimization of the invention, the Bluetooth is Bluetooth 4.0 or Bluetooth 5.0.
As a further optimization of the invention, the apron is provided with a protective cover; the protective cover is provided with an automatic door, and the automatic door can be controlled to open and close when the unmanned aerial vehicle stops or starts a journey; still be equipped with automatic charging device in the air park, supply unmanned aerial vehicle automatic charging.
As further optimization of the invention, the invention also comprises an automatic charging method of the unmanned aerial vehicle, which comprises the following steps:
c1: the unmanned aerial vehicle monitors the electric quantity of a battery in the unmanned aerial vehicle in real time in the process of routing inspection;
c2: when battery power in the unmanned aerial vehicle is lower than the set minimum threshold value, the unmanned aerial vehicle is patrolled and examined to next pole after, stops to this pole air park and charges by oneself.
C3: after detecting a charging instruction sent by the unmanned aerial vehicle, the automatic charging device charges the unmanned aerial vehicle;
c4; when the battery power detection device in the unmanned aerial vehicle detects that the power is full, the automatic charging device is powered off, and the unmanned aerial vehicle takes off again and continues to patrol.
The invention has the beneficial effects that:
the invention provides an unmanned aerial vehicle-based power grid inspection automation method, which can completely replace manual inspection, realize comprehensive automatic power inspection and liberate people from the power inspection. The invention utilizes the inspection method of the sub-nodes to systematically solve the problems of insufficient cruising, inaccurate positioning precision, poor shooting effect and arrangement of the unmanned aerial vehicle after shooting in the automatic inspection of the unmanned aerial vehicle, and realizes the automation of power grid inspection.
Detailed Description
The present invention will be described in detail with reference to specific examples.
The invention provides an unmanned aerial vehicle-based power grid inspection automation method which is characterized by comprising the following steps:
a1: the control terminal takes the tower pole as a node, a routing inspection line is made, and the routing inspection line is sent to the unmanned aerial vehicle;
it should be noted that the nodes may be nodes formed by each tower pole, or nodes formed by every several tower poles, and no section of pitch may be the same or different, depending on the specific situation;
a2: the unmanned aerial vehicle on the tower pole parking apron is matched with the RFID electronic tag arranged on the node through the built-in RFID high-radio-frequency card reader, if the unmanned aerial vehicle is just positioned on the first node in a matched mode, the unmanned aerial vehicle starts a camera to inspect, and if the unmanned aerial vehicle is not positioned on the first node in a matched mode, the unmanned aerial vehicle flies to the first node and then starts the camera to inspect;
the camera is started after the first node is confirmed to be reached, so that the camera and the storage space can be effectively utilized;
a3: the unmanned aerial vehicle flies from the first node to the second node along the power grid line, shoots a video along the way, and simultaneously records the real-time swing angle of the cloud deck, the real-time coordinates of the unmanned aerial vehicle and the real-time data measured by the unmanned aerial vehicle balance detector during shooting;
the unmanned aerial vehicle balance detector can be a gyroscope, the balance detector mainly detects the offset angle and the pitching angle of a body and a horizontal plane when the unmanned aerial vehicle shoots, and the angle needs to be measured as one of parameters of a function established later because the angle can affect the shooting angle of the unmanned aerial vehicle;
a4: after the unmanned aerial vehicle reaches the second node, the real-time swing angle of the cradle head, the real-time coordinates of the unmanned aerial vehicle and the real-time data of the balance detection of the unmanned aerial vehicle recorded in the step A3 are sent to the control terminal together with the shot content;
a5: after the control terminal receives the data, generating a functional relation by corresponding shooting information of the swing angle of the holder, the positioning coordinates of the unmanned aerial vehicle and the detection data of the balancing instrument, then comparing the shooting information and the generated function with the preset shooting information and the preset function, generating a feedback function, and obtaining a feedback suggestion;
a6: if the feedback suggestion exceeds the acceptance range, namely the unmanned aerial vehicle is unavailable in shooting information of the key part, sending a signal to the unmanned aerial vehicle to command the unmanned aerial vehicle to shoot again;
a7: the unmanned aerial vehicle navigates back to a coordinate point when shooting is unclear, the rotation angle of the cradle head and the preset angle of the balancing instrument are adjusted according to the feedback function data, and shooting is started;
a8: the unmanned aerial vehicle shoots coordinate places in the feedback opinions one by one, flies to a second node, and sends feedback shooting data to the control terminal;
in the above steps a 5-A8, the spatial coordinates of the unmanned aerial vehicle are respectively set as x, y, and z, the horizontal angle and the pitch angle of the pan-tilt are respectively set as θ 1 and θ 2, and the horizontal angle and the pitch angle of the unmanned aerial vehicle obtained by the balance detection are respectively θ 3 and θ 4, and in an ideal state, the unmanned aerial vehicle has θ 1, θ 2, θ 3, and θ 4 corresponding to the coordinate points x, y, and z, so that the shooting effect of the camera is optimal.
Because the unmanned aerial vehicle receives the natural condition influence, for example say that the wind is started etc. and make unmanned aerial vehicle take place the driftage, cause the change of unmanned aerial vehicle coordinate position, but as long as the position coordinate falls into predetermined domain D, x, y, z for D, and theta 1, theta 2, theta 3, theta 4 can satisfy with x, y, z one-to-one relation, then still can obtain the best shooting effect of effect.
Simplifying the above into a function model to obtain the following two one-to-one functions:
G＝f1(x，y，z)；
H＝f2(θ1，θ2，θ3，θ4)；
from the above correspondence relationship:
g is K.H, and K is a coefficient;
therefore, the following results were obtained:
f1(x，y，z)＝K·f2(θ1，θ2，θ3，θ4)；
therefore, the best imaging effect can be obtained if x, y, z, θ 1, θ 2, θ 3, and θ 4 satisfy the above relational expression.
In the actual process, because influences such as equipment performance, wind power, rain and dew, unmanned aerial vehicle flying speed cause cloud platform turned angle, balanced detection angle not to reach the default, promptly x, y, z, theta 1, theta 2, theta 3, theta 4 can't satisfy above-mentioned relational expression, make the shooting effect who obtains not reach the expectation.
However, the angles θ 1 ', θ 2', θ 3 ', θ 4' actually measured during shooting can be functionally related to the predicted angles θ 1, θ 2, θ 3, θ 4 to obtain the following formula:
θ1＝f’(θ1’)＝θ1’+△α1；
θ2＝f’(θ2’)＝θ2’+△α2；
θ3＝f’(θ3’)＝θ3’+△α3；
θ4＝f’(θ4’)＝θ4’+△α4；
then, the above-mentioned Δ α 1, Δ α 2, Δ α 3, and Δ α 4 may be extracted, and given a value range E, if Δ α 1, Δ α 2, Δ α 3, and Δ α 4E, it may be determined that the captured effect is within the receivable range, and if Δ α 1, Δ α 2, Δ α 3, and Δ α 4 exceeds the value range E, it may be determined that the captured effect is out of the receivable range.
Note that Δ α is a change amount of an angle, and the change amount of the angle may be a functional expression using an angular velocity ω and time t, and since the angular velocity ω of the pan/tilt head is generally a constant value, it is also possible to determine whether or not the imaging effect is acceptable using the change amount of time t.
The next step is continued.
A9: the control terminal continues to execute the steps A5-A8 until the feedback opinions all fall into the acceptance range, and then proceeds to the following steps:
a10: the unmanned aerial vehicle flies from the second node to the third node, and the steps A3-A9 are repeated;
a11: according to the steps A3-A10, and the like until the last node, the unmanned aerial vehicle stops at the apron of the last node, and the inspection is finished.
The effect principle of unmanned aerial vehicle feedback shooting is similar to the above-mentioned process, and no longer repeated here.
Because traditional GPS positioning accuracy is not high, receives the influence of environment and position moreover to a great extent, and the electric wire netting circuit often sets up in some remote places, adopts GPS location to cause unmanned aerial vehicle direction to lose very easily and the emergence accident, also hardly guarantees unmanned aerial vehicle's shooting effect moreover. Because the invention adopts the inspection method of the sub-node, and the base station is arranged at the node, the positioning can be realized by a short-distance positioning mode, such as Bluetooth. The short-distance positioning mode is more accurate in positioning, and environmental interference factors are relatively small.
Preferably, the positioning step comprises:
b1: arranging beacon base stations on each tower pole, wherein the base stations continuously send broadcast messages with certain power;
b2: the unmanned aerial vehicle receives a broadcast message sent by a beacon base station by using the carried Bluetooth terminal equipment;
b3: the unmanned aerial vehicle measures the message power, brings the message power into a function of the relation between power attenuation and distance, calculates the distance between the unmanned aerial vehicle and the beacon base station, measures the height by using an air pressure height sensor, and finally obtains a positioning coordinate;
preferably, the unmanned aerial vehicle only receives messages sent by beacon base stations arranged at two nodes in front of and behind the unmanned aerial vehicle. Because the send-receive distance of bluetooth is limited, unmanned aerial vehicle also can't receive far away signal, so when unmanned aerial vehicle passed through certain node, automatically closed the beacon basic station before this node. Because the tower pole has certain height, if necessary, can set up a plurality of beacon basic stations in the place of same tower pole co-altitude not, make the bluetooth location more accurate.
Preferably, the bluetooth is bluetooth 4.0 or bluetooth 5.0. The maximum transmission range of the Bluetooth 4.0 can reach about 100 meters, and the maximum transmission range of the Bluetooth 5.0 can reach about 300 meters, so when the Bluetooth model is selected, the maximum transmission range is determined according to the distance of an actual tower pole or the set node distance.
It should be noted that the short-range positioning should not be limited to bluetooth, and other short-range positioning modes such as ultrasonic positioning, WIFI positioning, etc. should also be included in the present invention.
Preferably, the apron is provided with a protective cover; the protective cover is provided with an automatic door, and the automatic door can be controlled to open and close when the unmanned aerial vehicle stops or sails and approaches the automatic door; still be equipped with automatic charging device in the air park, supply unmanned aerial vehicle automatic charging.
The protection casing is patrolled and examined to finish for unmanned aerial vehicle and provides the institute of settling, and protection unmanned aerial vehicle avoids the wind and rain to blow, and the protection casing can also be fine simultaneously protects charging device's in the air park safety, also lets unmanned aerial vehicle not disturbed by external environment when charging. When the unmanned aerial vehicle stops or starts a journey, the accessible RFID radio frequency device sends a signal to the automatically-controlled door, and the opening and closing of the automatically-controlled door are controlled.
Preferably, the unmanned aerial vehicle automatic charging steps are as follows:
c1: the unmanned aerial vehicle monitors the electric quantity of a battery in the unmanned aerial vehicle in real time in the process of routing inspection;
c2: when battery power in the unmanned aerial vehicle is lower than the set minimum threshold value, the unmanned aerial vehicle is patrolled and examined to next pole after, stops to this pole air park and charges by oneself.
C3: after detecting a charging instruction sent by the unmanned aerial vehicle, the automatic charging device charges the unmanned aerial vehicle;
c4; when the battery power detection device in the unmanned aerial vehicle detects that the power is full, the automatic charging device is powered off, and the unmanned aerial vehicle takes off again and continues to patrol.
Automatic charging device also can replace with automatic change battery device as above, when unmanned aerial vehicle electric quantity is not enough, flies to and changes the battery on this automatic change battery device, and the battery is changed and is finished continuing to take off and patrol and examine, uses the automatic efficiency that battery device that changes can more effectual improvement unmanned aerial vehicle and patrol and examine.
It should be noted that, as described above, the minimum threshold of the battery power set by the unmanned aerial vehicle should not be less than the power required by the unmanned aerial vehicle to complete a section of node patrol, so that it can be ensured that the unmanned aerial vehicle does not crash due to insufficient power during patrol. In addition, when the control terminal initially makes an inspection route, the initial point of the unmanned aerial vehicle is used as a starting point as much as possible, and a method of reciprocating flight is suggested to make the inspection route.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the protection scope of the present invention, although the present invention is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.
Claims (6)
1. An unmanned aerial vehicle-based power grid inspection automation method is characterized by comprising the following steps:
a1: the control terminal takes the tower pole as a node, a routing inspection line is made, and the routing inspection line is sent to the unmanned aerial vehicle;
a2: the unmanned aerial vehicle on the tower pole parking apron is matched with the RFID electronic tag arranged on the node through the built-in RFID high-radio-frequency card reader, if the unmanned aerial vehicle is just positioned on the first node in a matched mode, the unmanned aerial vehicle starts a camera to inspect, and if the unmanned aerial vehicle is not positioned on the first node in a matched mode, the unmanned aerial vehicle flies to the first node and then starts the camera to inspect;
a3: the unmanned aerial vehicle flies from the first node to the second node along the power grid line, shoots a video along the way, and simultaneously records the real-time swinging angle of a cloud deck, the positioning coordinate of the unmanned aerial vehicle and the real-time data measured by the unmanned aerial vehicle balance detector during shooting;
a4: after the unmanned aerial vehicle reaches the second node, the real-time swing angle of the holder, the positioning coordinates of the unmanned aerial vehicle and the real-time data of the balance detection of the unmanned aerial vehicle recorded in the step A3 are sent to the control terminal together with the shot content;
a5: after the control terminal receives the data, generating a functional relation by corresponding shooting information of the swing angle of the holder, the positioning coordinates of the unmanned aerial vehicle and the detection data of the balancing instrument, then comparing the shooting information and the generated function with the preset shooting information and the preset function, generating a feedback function, and obtaining a feedback suggestion;
a6: if the feedback suggestion exceeds the acceptance range, namely the unmanned aerial vehicle is unavailable in shooting information of the key part, sending a signal to the unmanned aerial vehicle to command the unmanned aerial vehicle to shoot again;
a7: the unmanned aerial vehicle navigates back to a coordinate point when shooting is unclear, the rotation angle of the cradle head and the preset angle of the balancing instrument are adjusted according to the feedback function data, and shooting is started;
a8: the unmanned aerial vehicle shoots coordinate places in the feedback opinions one by one, flies to a second node, and sends feedback shooting data to the control terminal;
a9: the control terminal continues to perform the steps a 5-A8 until the opinions all fall within the acceptance range, proceeds to the following steps,
a10: the unmanned aerial vehicle flies from the second node to the third node, and the steps A3-A9 are repeated;
a11: according to the steps A3-A10, and the like until the last node, the unmanned aerial vehicle stops at the apron of the last node, and the inspection is finished.
2. The unmanned aerial vehicle-based power grid inspection automation method of claim 1, the unmanned aerial vehicle obtaining location coordinates step comprising:
b1: arranging beacon base stations on each tower pole, wherein the base stations continuously send broadcast messages with certain power;
b2: the unmanned aerial vehicle receives a broadcast message sent by a beacon base station by using the carried Bluetooth terminal equipment;
b3: the unmanned aerial vehicle measures the message power, brings the message power into a function of the relation between power attenuation and distance, calculates the distance between the unmanned aerial vehicle and the beacon base station, measures the height by using an air pressure height sensor, and finally obtains the positioning coordinate of the unmanned aerial vehicle.
3. The power grid inspection automation method based on the unmanned aerial vehicle as claimed in claim 2, wherein the unmanned aerial vehicle only receives messages sent by beacon base stations arranged at two nodes before and after the unmanned aerial vehicle is located.
4. The unmanned aerial vehicle-based power grid inspection automation method according to claim 2 or 3, wherein the Bluetooth is Bluetooth 4.0 or Bluetooth 5.0.
5. The unmanned aerial vehicle-based power grid inspection automation method of claim 1, wherein the apron is provided with a protective cover; the protective cover is provided with an automatic door, and the automatic door can be controlled to open and close when the unmanned aerial vehicle stops or starts a journey; still be equipped with automatic charging device in the air park, supply unmanned aerial vehicle automatic charging.
6. The unmanned aerial vehicle-based power grid inspection automation method according to claim 1 or 5, further comprising an unmanned aerial vehicle automatic charging method, the steps of which are as follows:
c1: the unmanned aerial vehicle monitors the electric quantity of a battery in the unmanned aerial vehicle in real time in the process of routing inspection;
c2: when the electric quantity of a battery in the unmanned aerial vehicle is lower than a set minimum threshold value, the unmanned aerial vehicle is patrolled to the next tower pole and then stops to the tower pole parking apron for self-charging;
c3: after detecting a charging instruction sent by the unmanned aerial vehicle, the automatic charging device charges the unmanned aerial vehicle;
c4: when the battery power detection device in the unmanned aerial vehicle detects that the power is full, the automatic charging device is powered off, and the unmanned aerial vehicle takes off again and continues to patrol.
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