CN108054453B - 一种电力巡线无人机充电方法 - Google Patents

一种电力巡线无人机充电方法 Download PDF

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CN108054453B
CN108054453B CN201711453858.3A CN201711453858A CN108054453B CN 108054453 B CN108054453 B CN 108054453B CN 201711453858 A CN201711453858 A CN 201711453858A CN 108054453 B CN108054453 B CN 108054453B
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焦良葆
张彪
曹雪虹
史塨毓
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Nanjing Institute of Technology
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Abstract

本发明公开了一种电力巡线无人机充电方法，在电力线路沿线设置充电设备，充电设备主要用于从电力线上获取电能并进行转换后给巡线无人机进行充电。巡线无人机通过视觉系统检测到充电设备的定位标志后，进行是否需要在该充电设备处进行充电的判断。当需要充电时，通过视觉识别充电设备伸出的充电接口来调整无人机姿态完成充电线与充电接口的对接。充电线和充电接口对接时，先完成负极对接，然后再进行正极对接，并将连接处收入充电设备，有效的保护充电时的稳定性，并能够防止雨雪天气充电短路。

Description

一种电力巡线无人机充电方法
技术领域
本发明涉及一种电力巡线无人机充电方法。
背景技术
近年来无人机技术迅猛发展，将无人机应用在电力巡线中也越来越普遍。与传统的人工巡线方式相比，无人机巡线具有效率高、成本低以及巡查结果准确等优势。但现阶段的无人机巡线技术存在着不能长期续航的问题。现有技术中无人机是由人工遥控，其飞行距离与工作时间都受电量的限制。当无人机电量低于一半时就要返回充电，在返回途中无人机很容易因为电量耗尽发生坠毁。从而造成资源浪费。从而需要在输电线路上设置用于无人机充电的充电站。
发明内容
发明目的：针对上述现有技术，提出一种电力巡线无人机充电方法，能够对电力巡线无人机进行及时、安全的充电控制。
技术方案：一种电力巡线无人机充电方法，所述无人机为旋翼无人机，电力线路沿线设有充电设备，所述充电设备设有定位标志、充电接口以及通讯模块；包括如下步骤：
步骤1：将电力线路沿线的充电设备位置信息存储到用于检测对应电力线路的所述无人机的控制器中；
步骤2：所述无人机在电力巡线过程中搜索所述充电设备，若电力线路沿线仅设置一个充电设备，当搜索到所述充电设备时，读取无人机电池剩余电量，结合无人机巡线规划路径剩余路程及返回最短路径，判断无人机电池剩余电量是否满足剩余飞行路程，若不满足则进行步骤3；若电力线路沿线间隔设置若干个充电设备，当搜索到距离无人机实时位置最近的所述充电设备时，读取无人机电池剩余电量，结合无人机巡线规划路径上下一个充电设备的位置信息，判断无人机电池剩余电量是否满足飞行到下一个充电设备位置，若不满足则进行步骤3；
步骤3：控制无人机悬停在所述充电设备处，通过无人机的通讯模块向所述充电设备发出充电请求信息和身份识别信息；
步骤4：所述充电设备通过通讯模块接收到所述无人机发出的信息，经无人机身份信息验证通过后，进入充电控制；
步骤5：所述充电设备控制其内部的牵引机构将负极充电接口伸出，然后控制无人机将负极充电线放出与所述负极充电接口对接，并通过充电设备将负极充电接口拖入充电设备内部；
步骤6：所述充电设备控制其内部的牵引机构将正极充电接口伸出，然后控制无人机将正极充电线放出与所述正极充电接口对接，并通过充电设备将正极充电接口拖入充电设备内部；
步骤7：通过充电设备内部的控制电路对无人机进行充电，充电完成后将无人机的充电线送出并释放，完成无人机充电步骤。
进一步的，搜索充电设备的方法为：通过无人机摄像头对电力线路巡检时，通过对画面信息进行实时分析，识别充电设备预设的所述定位标志。
进一步的，所述步骤4中，无人机身份信息验证方法为：所述充电设备设置有电力线载波通讯模块，所述充电设备将接收到的无人机身份信息通过所述电力线载波通讯模块发送到远程控制中心，通过与远程控制中心的身份验证服务器中预存数据进行比对后，发出比对结果到所述充电设备。
进一步的，所述步骤5和步骤6中，所述充电接口上设有环形颜色标记，所述无人机通过双目立体视觉系统对所述环形颜色标记进行定位后，调整无人机姿态完成充电线与充电接口的对接。
进一步的，所述充电接口与设置充电线端部电磁吸合结构。
有益效果：本发明的一种电力巡线无人机充电方法，在电力线路沿线设置充电设备，充电设备主要用于从电力线上获取电能并进行转换后给巡线无人机进行充电。巡线无人机通过视觉系统检测到充电设备的定位标志后，进行是否需要在该充电设备处进行充电的判断。当需要充电时，通过视觉识别充电设备伸出的充电接口来调整无人机姿态完成充电线与充电接口的对接。充电线和充电接口对接时，先完成负极对接，然后再进行正极对接，并将连接处收入充电设备，有效的保护充电时的稳定性，并能够防止雨雪天气充电短路。
附图说明
图1为本发明方法的流程图。
具体实施方式
下面结合附图对本发明做更进一步的解释。
如图1所示，一种电力巡线无人机充电方法，无人机为旋翼无人机，电力线路沿线设有充电设备，充电设备设有定位标志、充电接口以及通讯模块。本方法包括如下步骤：
步骤1：将电力线路沿线的充电设备位置信息存储到用于检测对应电力线路的无人机的控制器中。
步骤2：无人机在电力巡线过程中搜索充电设备，若电力线路沿线仅设置一个充电设备，当搜索到充电设备时，读取无人机电池剩余电量，结合无人机巡线规划路径剩余路程及返回最短路径，判断无人机电池剩余电量是否满足剩余飞行路程，若不满足则进行步骤3。
若电力线路沿线间隔设置若干个充电设备，当搜索到距离无人机实时位置最近的充电设备时，读取无人机电池剩余电量，结合无人机巡线规划路径上下一个充电设备的位置信息，判断无人机电池剩余电量是否满足飞行到下一个充电设备位置，若不满足则进行步骤3。
其中，搜索充电设备的方法为：通过无人机摄像头对电力线路巡检时，通过对画面信息进行实时分析，识别充电设备预设的定位标志。
步骤3：控制无人机悬停在充电设备处，通过无人机的通讯模块向充电设备发出充电请求信息和身份识别信息。
步骤4：充电设备通过通讯模块接收到无人机发出的信息，经无人机身份信息验证通过后，进入充电控制。其中，无人机身份信息验证方法为：充电设备设置有电力线载波通讯模块，充电设备将接收到的无人机身份信息通过电力线载波通讯模块发送到远程控制中心，通过与远程控制中心的身份验证服务器中预存数据进行比对后，发出比对结果到充电设备。
步骤5：充电设备控制其内部的牵引机构将负极充电接口伸出，然后控制无人机将负极充电线放出与负极充电接口对接，并通过充电设备将负极充电接口拖入充电设备内部。
步骤6：充电设备控制其内部的牵引机构将正极充电接口伸出，然后控制无人机将正极充电线放出与正极充电接口对接，并通过充电设备将正极充电接口拖入充电设备内部。充电接口与设置充电线端部电磁吸合结构，有助于顺利完成充电线与充电接口的对接并确保两者之间连接牢固。
进一步的，步骤5和步骤6中，充电接口上设有环形颜色标记，无人机通过双目立体视觉系统对环形颜色标记进行定位后，调整无人机姿态完成充电线与充电接口的对接。
步骤7：通过充电设备内部的控制电路对无人机进行充电，充电完成后将无人机的充电线送出并释放，完成无人机充电步骤。
以上所述仅是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。

Claims (3)

1.一种电力巡线无人机充电方法，其特征在于，所述无人机为旋翼无人机，电力线路沿线设有充电设备，所述充电设备设有定位标志、充电接口以及通讯模块；包括如下步骤：
步骤1：将电力线路沿线的充电设备位置信息存储到用于检测对应电力线路的所述无人机的控制器中；
步骤2：所述无人机在电力巡线过程中搜索所述充电设备，若电力线路沿线仅设置一个充电设备，当搜索到所述充电设备时，读取无人机电池剩余电量，结合无人机巡线规划路径剩余路程及返回最短路径，判断无人机电池剩余电量是否满足剩余飞行路程，若不满足则进行步骤3；若电力线路沿线间隔设置若干个充电设备，当搜索到距离无人机实时位置最近的所述充电设备时，读取无人机电池剩余电量，结合无人机巡线规划路径上下一个充电设备的位置信息，判断无人机电池剩余电量是否满足飞行到下一个充电设备位置，若不满足则进行步骤3；
步骤3：控制无人机悬停在所述充电设备处，通过无人机的通讯模块向所述充电设备发出充电请求信息和身份识别信息；
步骤4：所述充电设备通过通讯模块接收到所述无人机发出的信息，经无人机身份信息验证通过后，进入充电控制；
步骤5：所述充电设备控制其内部的牵引机构将负极充电接口伸出，然后控制无人机将负极充电线放出与所述负极充电接口对接，并通过充电设备将负极充电接口拖入充电设备内部；
步骤6：所述充电设备控制其内部的牵引机构将正极充电接口伸出，然后控制无人机将正极充电线放出与所述正极充电接口对接，并通过充电设备将正极充电接口拖入充电设备内部；
步骤7：通过充电设备内部的控制电路对无人机进行充电，充电完成后将无人机的充电线送出并释放，完成无人机充电步骤；
所述步骤5和步骤6中，所述充电接口上设有环形颜色标记，所述无人机通过双目立体视觉系统对所述环形颜色标记进行定位后，调整无人机姿态完成充电线与充电接口的对接；所述充电接口与设置充电线端部电磁吸合结构。
2.根据权利要求1所述的电力巡线无人机充电方法，其特征在于，所述步骤2中，搜索充电设备的方法为：通过无人机摄像头对电力线路巡检时，通过对画面信息进行实时分析，识别充电设备预设的所述定位标志。
3.根据权利要求1或2任一所述的电力巡线无人机充电方法，其特征在于，所述步骤4中，无人机身份信息验证方法为：所述充电设备设置有电力线载波通讯模块，所述充电设备将接收到的无人机身份信息通过所述电力线载波通讯模块发送到远程控制中心，通过与远程控制中心的身份验证服务器中预存数据进行比对后，发出比对结果到所述充电设备。
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