CN108306217B - Intelligent autonomous overhead high-voltage line wire flying inspection system and method - Google Patents
Intelligent autonomous overhead high-voltage line wire flying inspection system and method Download PDFInfo
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- H—ELECTRICITY
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Abstract
The invention discloses an intelligent autonomous overhead high-voltage line flying inspection system and method along a wire, and the system comprises a ground control station, a laser radar data processing module and a multi-rotor unmanned aerial vehicle, wherein the laser radar and the laser radar data processing module are arranged on the multi-rotor unmanned aerial vehicle, the laser radar is used for acquiring angle and distance information of a high-voltage line relative to the multi-rotor unmanned aerial vehicle, and the laser radar data processing module transmits the information to the ground control station in a wireless mode; motor drive module among many rotor unmanned aerial vehicle carries out speed control to each screw motor among many rotor unmanned aerial vehicle under unmanned aerial vehicle control center control for unmanned aerial vehicle and overhead high-voltage line keep fixed distance along the flight that cruises of overhead high-voltage line. The intelligent overhead high-voltage line monitoring system has the advantages of no need of personnel operation in the inspection process, high efficiency, multifunction, omnibearing intelligent overhead high-voltage line monitoring and inspection and the like.
Description
Technical Field
The invention relates to the technical field of inspection, in particular to an intelligent autonomous aerial inspection system and method for an overhead high-voltage wire along a wire, which are suitable for detecting the condition of the overhead high-voltage wire and the distance of a tree barrier around the overhead high-voltage wire.
Background
With the rapid development of economy, the construction of power grids in various countries goes through a high-speed development stage, for example, in China, six power grids spanning provincial regions are already built at present, and the total length of a power transmission line exceeds 115 ten thousand kilometers. The power line is exposed in the field for a long time, and is damaged by continuous mechanical tension, lightning flashover, material aging, human influence to generate strand breakage, abrasion, corrosion and the like, so that the power line needs to be repaired or replaced in time. Meanwhile, the power transmission line discharge may be caused by the growth of the trees in the field, and the trees must be treated in time. The distance detection between the high-altitude medium power grid and surrounding objects, the distance detection between the high-voltage power line and trees and the like become important indexes for the safety detection of the ultrahigh-voltage power grid.
In the existing research, a three-dimensional laser scanner carried by a helicopter is used for patrolling the power transmission line, but the helicopter adopting the scheme and the maintenance cost thereof are high, so that the cost is high, and the popularization and the use in the actual production are not facilitated. In particular, the safety problem is a serious problem related to the safety of human bodies and equipment (including airplanes and power grids), and is more unfavorable for popularization.
Therefore, in the prior art, a fixed-wing unmanned aerial vehicle is proposed to patrol the power line, but the scheme only adopts visible light images and videos to patrol the power transmission line corridor, the detection means is single, only rough patrol can be performed on the overhead line, only large defects can be found, and image data obtained by patrol is only sampled and taken, and high-definition shooting can not be performed on the high-voltage line in a full-coverage manner. Parameters such as the distance between crossing lines of the power transmission line, the distance between a high-voltage line and a ground building (vegetation), sag of the power transmission line, windage yaw of the power transmission line and the like cannot be measured. And the fixed-wing unmanned aerial vehicle can not hover at a precise fixed point to realize precise detection.
The multi-rotor unmanned aerial vehicle is widely applied to more and more fields due to the advantages of small volume, simple structure , easiness in control and the like. However, most unmanned aerial vehicles all adopt a wireless remote control mode to control flight, and the unmanned aerial vehicles need to be controlled in the visual field range of an operator, so that the flight range is limited, and autonomous flight cannot be realized. Moreover, the unmanned aerial vehicle adopts a wireless remote control mode to control flight in an environment with high magnetic field interference such as an overhead high-voltage line, so that misoperation or equipment failure are easily caused, and equipment is damaged.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide an intelligent overhead high-voltage line autonomous flight inspection system, which has the advantages of no need of personnel operation in the inspection process, high efficiency, multiple functions, omnibearing intelligent overhead high-voltage line monitoring inspection and the like.
The invention also aims to provide a method for intelligently and autonomously flying along the lead based on the overhead high-voltage line inspection system, in the method, the unmanned aerial vehicle automatically locks the high-voltage line for cruising flight without manual intervention during flying, parameter information such as the distance between the overhead high-voltage line and peripheral tree barriers and sag points of the high-voltage line can be detected, and the shot image is clear.
The purpose of the invention is realized by the following technical scheme: an intelligent autonomous overhead high-voltage line wire flying inspection system comprises a ground control station, a laser radar data processing module and a multi-rotor unmanned aerial vehicle, wherein the laser radar and the laser radar data processing module are arranged on the multi-rotor unmanned aerial vehicle, the laser radar is used for acquiring angle and distance information of a high-voltage line relative to the multi-rotor unmanned aerial vehicle, and the laser radar data processing module transmits the information to the ground control station in a wireless mode; many rotor unmanned aerial vehicle includes the camera module, the picture passes the module, motor drive module and unmanned aerial vehicle control center, ground control station and unmanned aerial vehicle control center wireless connection, motor drive module carries out rotational speed control to each screw motor among many rotor unmanned aerial vehicle under the control of unmanned aerial vehicle control center, make unmanned aerial vehicle and overhead high-voltage line keep fixed distance along the flight that cruises of overhead high-voltage line, the camera module acquires overhead high-voltage line information in real time, the picture passes the module and gives ground control station with the overhead high-voltage line information transmission that the camera module acquireed.
On the basis of a traditional system for inspecting a power line by a fixed-wing unmanned aerial vehicle, the structure of the laser radar is added, the unmanned aerial vehicle is changed into a multi-rotor unmanned aerial vehicle, the laser radar is used for acquiring the angle and the distance of a high-voltage wire relative to the unmanned aerial vehicle, so that the flying posture of the multi-rotor unmanned aerial vehicle can be adjusted in real time through the control of a ground control station, the unmanned aerial vehicle and the overhead high-voltage wire keep a fixed distance and fly along the overhead high-voltage wire in a cruising mode, manual intervention is not needed, the errors of manual operation are reduced, and the workload of daily inspection of an operation department. And because the distance is fixed, the image shot by the camera module is more accurate.
Preferably, the laser radar data processing module comprises a laser radar processor, a wireless data transceiver module and a power supply voltage stabilizing module, wherein the power supply voltage stabilizing module is used for stabilizing the power supply voltage of the unmanned aerial vehicle and supplying the power supply voltage to the laser radar processor, the wireless data transceiver module and the laser radar; the laser radar processor generates a constant PWM signal to drive the laser radar to rotate at a constant rotating speed, and obtains the angle and the distance of a relevant high-voltage line relative to the unmanned aerial vehicle; the angle and the distance data of the high-voltage line relative to the unmanned aerial vehicle are sent to the ground control station through the wireless data transceiver module.
Furthermore, the data processing center adopts an ARM embedded processor.
Furthermore, the wireless data transceiver module adopts 2.4G wireless data transceiving.
Preferably, be equipped with the AHRs module on the many rotor unmanned aerial vehicle. The method is used for acquiring the angular velocity, the acceleration and the magnetic data information of the unmanned aerial vehicle, and can provide course, roll and side-turning information for the aircraft.
Preferably, be equipped with the GPS module on the many rotor unmanned aerial vehicle. Be used for realizing the accurate location to unmanned aerial vehicle.
Preferably, be equipped with distance detection sensor on the many rotor unmanned aerial vehicle. The unmanned aerial vehicle is used for automatically avoiding obstacles when encountering the obstacles in the flight process of the unmanned aerial vehicle.
A method for intelligently and autonomously flying along a lead to inspect a system based on the overhead high-voltage line comprises the following steps: laser radar gathers the high-voltage line in real time for many rotor unmanned aerial vehicle's angle and distance information, according to information automatic adjustment many rotor unmanned aerial vehicle's flight gesture, makes it can keep fixed distance with the high-voltage line and cruises the flight along the high-voltage line. Therefore, the unmanned aerial vehicle can autonomously adjust the flight attitude according to the line trend and the sag height in the cruising process.
Specifically, the method comprises the following steps:
s1, reading the inspection task information: before starting an inspection task, the unmanned aerial vehicle reads the information of the inspected tower segment, including the tower type data of the tower segment in size, the height of the tower, the GPS coordinate position of the tower and the like;
s2, locking the cruise angle: the unmanned aerial vehicle adjusts the head orientation of the unmanned aerial vehicle according to the GPS coordinate positions of the two towers, so that the unmanned aerial vehicle is orthogonal and vertical to the azimuth angle of the high-voltage line between the tower sections;
s3, confirming the position of the high-voltage wire: obtaining the distance and the angle of a section point of a high-voltage line relative to the unmanned aerial vehicle by using the unmanned aerial vehicle as a coordinate center through a laser radar carried by the unmanned aerial vehicle, calculating the horizontal distance and the vertical distance between the unmanned aerial vehicle and the high-voltage line, and calculating the offsets e1 and e2 of the unmanned aerial vehicle and the high-voltage line from a set distance;
s4, unmanned aerial vehicle position adjustment: acquiring the relative position of the high-voltage line and the unmanned aerial vehicle according to the parameters, judging whether the relative position exceeds a preset range, applying a PID control algorithm to perform closed-loop control on pitching and yawing of the unmanned aerial vehicle, keeping the unmanned aerial vehicle and the overhead high-voltage line at a fixed vertical distance and a fixed horizontal distance, and shooting to obtain image information of the overhead high-voltage line;
s5, after the inspection work result, the unmanned aerial vehicle retreats backward for a certain distance, then rises to a height A meters higher than the tower top height of the large tower, and then the GPS return point obtained when the unmanned aerial vehicle is started is obtained to carry out full-automatic return.
Preferably, horizontal distance and vertical distance between the unmanned aerial vehicle and the high-voltage line are calculated by using the laser radar, and the method comprises the following steps:
a. the machine head of the unmanned aerial vehicle is perpendicular to the overhead high-voltage line, and the laser radar is vertically arranged on the unmanned aerial vehicle;
b. the laser radar carries out space ranging scanning at a fixed rotating speed and a fixed scanning frequency;
c. the laser radar takes the nose direction of an unmanned aerial vehicle as the initial zero direction, takes a sector area with the upward M degrees, the downward N degrees and the distance of P meters as an overhead high-voltage line point cloud data acquisition area, and obtains the effective angle and distance information of the high-voltage line in a polar coordinate system by taking the unmanned aerial vehicle as the origin of coordinates through data filtering;
d. and c, obtaining the horizontal distance and the vertical distance between the unmanned aerial vehicle and the high-voltage line through the angle and distance information extracted in the step c through a calculation formula of a trigonometric function.
Preferably, the unmanned aerial vehicle self-positioning adopts a method of combining GPS positioning and an IMU module, specifically:
the GPS module is used for positioning to obtain the actual position of the unmanned aerial vehicle, and the distances from the unmanned aerial vehicle to the two towers are obtained by combining with pre-planned unmanned aerial vehicle route information, so that the flying moving speed is adjusted;
simultaneously IMU module acquires unmanned aerial vehicle's angle, can realize unmanned aerial vehicle's orientation adjustment through adjusting unmanned aerial vehicle's screw motor speed to make the unmanned aerial vehicle angle realize 90 degrees quadrature verticality with the azimuth of two towers. Unmanned aerial vehicle's aircraft nose and high-voltage line keep perpendicular firstly can guarantee that unmanned aerial vehicle can carry out effectual patrolling and examining to the high-voltage line and shoot, secondly guarantee that the data that the laser radar scanning on the unmanned aerial vehicle obtained are the optimization data.
Preferably, a tree barrier distance threshold value is preset before routing inspection is started, if the unmanned aerial vehicle detects that the distance between the high-voltage line and the line-running tree is lower than the set threshold value in the routing inspection process, the related information of the tree barrier point is automatically recorded, a routing inspection report is generated on site after the cruising is finished, and information such as the distance between the high-voltage line and the tree in the tree barrier point, the position of the tree barrier point, a site picture and the like is recorded in the routing inspection report.
Preferably, many rotor unmanned aerial vehicle are patrolled and examined the in-process and independently shoot the high-voltage line at fixed interval (such as every 4 meters). The full coverage of the whole gear circuit is ensured, and omission is avoided.
Compared with the prior art, the invention has the following advantages and beneficial effects:
(1) the inspection system provided by the invention uses the multi-rotor unmanned aerial vehicle as a carrier, and simultaneously realizes the all-dimensional and zero-dead-angle inspection of the overhead high-voltage line by combining a laser radar scanning technology, so that the fault inspection parameter information of a plurality of overhead high-voltage line faults such as broken strand fault points, lightning stroke and the like on the overhead high-voltage line and the shortest distance between the fault points and peripheral tree barriers is obtained, and the effective inspection monitoring is carried out on the overhead high-voltage line.
(2) The inspection system disclosed by the invention adopts a navigation technology combining GPS positioning and laser radar scanning, so that the unmanned aerial vehicle is greatly locked in an area keeping a horizontal distance and a vertical distance corresponding to a high-voltage wire, the GPS positioning can determine an inspection tower section, the problem of tower section area navigation is solved, and the laser radar scanning is utilized to identify the relative position of the high-voltage wire relative to the unmanned aerial vehicle, so that the unmanned aerial vehicle can keep a certain horizontal distance and a certain vertical distance with the high-voltage wire to inspect along the trend of the high-voltage wire. The full-automatic inspection of the unmanned aerial vehicle is not affected by terrain change and high-voltage line sag.
(3) According to the inspection system, the autonomous flight of the unmanned aerial vehicle is realized by adopting a laser radar scanning application control theory, personnel operation is not needed, and the problem that the unmanned aerial vehicle needs to be in the visual field range of an operator so as to limit the flight area of the unmanned aerial vehicle is solved.
(4) The inspection system can effectively detect the distance of the tree barrier of the overhead high-voltage line, if the unmanned aerial vehicle detects that the distance between the high-voltage line and the line-driven tree is lower than a set threshold value in the cruising process, the unmanned aerial vehicle can automatically record the related information of the tree barrier point, an inspection report is generated on site after cruising is finished, and the specific distance, the position, the site picture and other information of the high-voltage line and the tree in the tree barrier point are recorded in detail in the inspection report.
(5) According to the inspection system, the unmanned aerial vehicle carries the laser radar equipment, and the minimum distance between the overhead high-voltage line and the peripheral vegetation can be accurately measured through the laser radar scanning technology. Simultaneously, the flight platform can also carry out the record of shooing of full coverage to overhead high-voltage line to can be at the on-the-spot real-time generation detection report. The maintenance personnel can not only clearly know the tree obstacle condition of the overhead high-voltage line through the data of the detection report, but also provide a large amount of real basic data for the power transmission line in the aspects of design, operation maintenance and the like.
(6) According to the inspection system, the unmanned aerial vehicle carries the laser radar equipment, the flying posture of the unmanned aerial vehicle is automatically adjusted through the scanning data of the laser radar, and the unmanned aerial vehicle can cruise and fly along the high-voltage line at a fixed distance from the high-voltage line. Cruise in-process unmanned aerial vehicle will be according to the line trend, the independent adjustment flight gesture of sag height, need not artificial intervention, reduce manual operation's error. The establishment of the intelligent fine-tuning inspection flight platform for the laser ranging of the high-voltage overhead line can effectively promote the safe operation of the power transmission line. The reliability and the production efficiency of safe operation of the power grid are improved, the workload of daily routing inspection of an operation department is reduced, and the method has important significance for safe operation of the system.
Drawings
Fig. 1 is a schematic view of an application scenario of the present embodiment.
Fig. 2 is a diagram of the operation of the modules of the multi-rotor drone according to the present embodiment.
Fig. 3 is a schematic structural diagram of the multi-rotor drone of the present embodiment.
Fig. 4 is a flowchart of the inspection method of the present embodiment.
Fig. 5 is a schematic diagram of the two points AB in azimuth and distance.
In the figure: 301 a control box, 302 a stability-enhancing cradle head, 303 a camera module, 304 a wireless power receiving device, 305 a wireless communication module.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited thereto.
Examples
As shown in FIG. 1, this embodiment is an overhead high-voltage line intelligence is independently along wire flight system of patrolling and examining, including ground station, laser radar data processing module, many rotor unmanned aerial vehicle and laser radar, specifically explain each structure below.
As shown in fig. 2, the lidar data processing module in this embodiment includes an ARM embedded data processing module, a 2.4G long-distance wireless data transceiver module, and a power supply voltage stabilizing module. The ARM embedded data processing module is used for generating constant PWM (pulse width modulation) to drive the laser radar to rotate at a constant rotating speed, collecting distance data and angle data transmitted back by the laser radar, and simultaneously performing real-time data filtering and data resolving to obtain the angle and the distance of a relevant high-voltage line relative to the unmanned aerial vehicle. The power voltage stabilizing module stabilizes the 16.8V to 24V power voltage of the unmanned aerial vehicle to 5V, and the power voltage stabilizing module is used by the ARM embedded data processing module, the 2.4G remote wireless data transceiver module and the laser radar. The 2.4G remote wireless data transceiver module is used for sending the angle and the distance data of the high-voltage line relative to the unmanned aerial vehicle to the ground station, and receiving the parameter setting instruction sent by the ground station.
As shown in fig. 3, the unmanned aerial vehicle in this embodiment is an autonomous flight multi-rotor unmanned aerial vehicle, and a control box 301, a stability augmentation pan-tilt 302, a camera module 303, a laser radar installation device 304 and a wireless communication module 305 are installed on the main body of the unmanned aerial vehicle. The control box 301 is loaded with a microprocessor, an AHRs module, a GPS module, a distance detection sensor, a map transmission module, a power management module, and a motor drive module. The microprocessor is connected with the motor driving module, the AHRs module, the GPS module, the distance detection sensor, the wireless communication module and the stability augmentation holder 302. The stability augmentation holder 302 is connected with a camera module 303 and a picture transmission module. The microprocessor is used for realizing control calculation of the unmanned aerial vehicle and realizing information fusion of each module. The motor drive module is used for realizing the drive to many rotor unmanned aerial vehicle screw motors, realizes the different rotational speed control of 3 screw motors of unmanned aerial vehicle simultaneously through receiving microprocessor's instruction to the realization is to the control of unmanned aerial vehicle motion. The AHRs module comprises auxiliary motion sensors such as a three-axis accelerometer, a three-axis gyroscope, a three-axis electronic compass and the like, is used for acquiring information such as angular velocity, acceleration and magnetic data of the unmanned aerial vehicle, and can provide course, roll and side-turning information for the unmanned aerial vehicle, so that accurate and reliable attitude and navigation information is provided for the multi-rotor unmanned aerial vehicle. The GPS module is used for realizing accurate positioning of the unmanned aerial vehicle, so that the unmanned aerial vehicle is guaranteed to travel along a preset high-voltage line tower section. The distance detection sensor is used for autonomously flying the in-process at many rotor unmanned aerial vehicle, can independently keep away the barrier when meetting the barrier to guarantee unmanned aerial vehicle's normal flight. The camera module 303 is used for acquiring the image information of the overhead high-voltage line in real time in the process of routing inspection of the overhead high-voltage line of the unmanned aerial vehicle. The stability augmentation cloud deck 302 is used for ensuring the stability of the camera module 303 in the flight process, so that the stability of the overhead high-voltage line information shot in the flight process is ensured. The image transmission module is used for transmitting the overhead high-voltage line information acquired by the camera module 303 to the ground station, so that the ground station can analyze the image information of the overhead high-voltage line. The wireless communication module 305 is used for realizing wireless communication between the unmanned aerial vehicle and the ground station. And the ground station can calculate the related control quantity of the unmanned aerial vehicle according to the received GPS signal of the unmanned aerial vehicle and the data sent by the laser radar data processing module. The control data of the drone is sent by the ground station to the drone through the wireless communication module 305.
In this embodiment, the ground station is used for planning each unmanned aerial vehicle's course information and unmanned aerial vehicle's relevant controlled quantity, and carry out real-time processing to the sensor that returns to unmanned aerial vehicle transmission and image information and laser scanning processing data of laser data processing module, obtain unmanned aerial vehicle on the overhead line that patrols and examines and the horizontal distance and the vertical distance of high-voltage line, unmanned aerial vehicle is at the concrete position between the tower section, state parameters such as the shortest distance between high-voltage line and peripheral tree obstacle, can judge whether have the overhead high-voltage line on have the broken stock according to the image information that transmits back simultaneously, the thunderbolt point, tree obstacle distance is too near relevant hidden danger information such as, in time take relevant measures when the relevant problem appears.
Referring to fig. 4, the system is applied to patrol the overhead high-voltage line, and the steps are as follows:
s1: and respectively acquiring the GPS positions of two towers, the distance between the two towers and azimuth information on the overhead high-voltage line tower section to be inspected.
The small tower of the overhead high-voltage line tower section to be inspected is taken as an inspection starting end, and the large tower is taken as an inspection finishing end. The unmanned aerial vehicle takes off to the position right above the small-size tower through manual control, and triggers a button for recording GPS information through a ground control end to obtain the longitude Aj and the latitude Aw of the small-size tower. Then, the unmanned aerial vehicle flies to the position right above the large tower through manual control, and the ground control end triggers a button for recording GPS information to obtain longitude Bj and latitude Bw of the large tower. North latitude is positive, south latitude is negative; the east meridian is positive and the west meridian is negative. Longitude and latitude use degree, ddd.dddddd °, non-degree or degree in seconds. The degrees are not explained, and an angle system is adopted. R represents the earth mean radius. Azimuth represents an Azimuth angle, starting from true north at 0 degrees, and rotating 360 degrees clockwise from south to south. A, B, C represent three points on the sphere and the angle subtended by the "arc" at that point on the sphere. and a, B and C represent angles between two end points of the pair 'arc' of the three points A, B and C and a connecting line of the center of the earth (actually, the radian of the pair 'arc' of the three points ABC is explained here more conveniently). O is the center of the sphere. L is the spherical distance between two points AB.
The following steps are taken for calculating the distance L between the large tower B and the small tower A:
the spherical distance between the two points AB is calculated by using a formula (1), the degree of c is calculated by using an inverse cosine function, the degree is converted into radian by using a formula (2), and the spherical distance between the two points is obtained by multiplying the formula (3) by the radius of the earth.
The formula is c ═ arccos (cos (90-Bw). times.cos (90-Aw) + sin (90-Bw). times.sin (90-Aw). times. cso (Bj-Aj)) (1)
L ═ R × c (arc) (3)
Calculating Azimuth of the Azimuth angle of the large tower B relative to the small tower A by the following steps:
substituting the longitude and latitude of the AB point into a formula (4),
cos(c)＝cos(a)×cos(b)+sin(a)×sin(b)×cos(A～OC～B) (4)
wherein, A-OC-B refers to dihedral angles of the AOC and BOC, and known data are substituted to obtain the following formula:
cos(c)＝cos(90-Bw)xcos(90-Aw)+sin(90-Bw)xsin(90-Aw)xcos(Bj-Aj) (5)
the degrees of the dihedral angles A-OC-B are the difference between the longitudes of the two points.
And (3) obtaining the cosine value of the angle c and substituting the cosine value into the formula (6):
after finding the sine, the following is to use the spherical sine formula (7):
substituting and slightly deforming the known data, the formula is written as:
the angle is calculated using an arcsine function, so the above equation can be written directly as:
it should be noted that, initially, it is assumed that the azimuth angle of B point with respect to a point a is obtained, so that Bj-Aj is discussed on two axes of four quadrants according to the position of B with respect to a, and the calculation results are processed differently according to different situations. Assuming that point a is fixed to the origin, then:
point B is in the first quadrant, Azimuth is A;
b is in the second quadrant, Azimuth is 360+ A;
b in the third quadrant, Azimuth 180-a.
The distance L between the starting end and the ending end of the overhead high-voltage line is calculated by the following steps: let the speed of the drone be V, in units: m/s, the single cruising time of the unmanned aerial vehicle is t, and the unit is as follows: and s. Because unmanned aerial vehicle direction of flight and overhead high-voltage line trend are unanimous, consequently guarantee that the high-voltage line state information of full tower section is gathered entirely, need to make unmanned aerial vehicle's electric quantity can satisfy the requirement of cruising and returning a journey of this tower section, can not be too fast simultaneously, keep validity and stability of laser radar scanning tree obstacle distance and high-voltage line distance. Because the maximum distance of one tower section can reach 1000m, and the maximum distance sag angle can reach 60 degrees, the following steps are required: the horizontal heading moving inspection speed V1 of the unmanned aerial vehicle is 0.5m/s to 1m/s, and the maximum speed V2 in the vertical direction is V1 x 2.
The unmanned aerial vehicle reads the tower section information of patrolling and examining this time earlier before starting to patrol and examine the operation task, including the tower type data of tower section size tower, the height of tower, the GPS coordinate position of tower etc.. The unmanned aerial vehicle can fly to 10 meters directly over the small-size tower from the top of the tower in a full-automatic manner, and then the azimuth angle of the high-voltage line between the unmanned aerial vehicle and the tower section is kept orthogonal and vertical by rotating the head orientation of the unmanned aerial vehicle. Then the accurate moving distance of the airplane within a certain range can be realized through the speed integral of the airplane by the IMU inside the unmanned aerial vehicle. The unmanned aerial vehicle top of the tower full-automatic one side of the lower high-voltage line that waits to patrol and examine then starts to patrol and examine the task of flight to the large-size tower promptly.
S2, locking the cruise angle: the unmanned aerial vehicle adjusts the aircraft nose orientation of unmanned aerial vehicle according to the GPS coordinate position of two towers for it keeps the orthogonal perpendicular with the azimuth angle of tower intersegmental high-voltage line.
The self-positioning of each unmanned aerial vehicle adopts a method of combining GPS positioning and an IMU module: the method specifically comprises the following steps:
the GPS module is used for positioning to obtain the actual position of the unmanned aerial vehicle, and the GPS positioning module carried by the unmanned aerial vehicle can obtain the distances from the unmanned aerial vehicle to a small tower and a large tower respectively by combining the preplanned air route information of the unmanned aerial vehicle and the previously obtained distance and azimuth angle of the two towers, so that the flying moving speed is adjusted;
simultaneously, the IMU module can acquire the angle of the unmanned aerial vehicle, and the orientation adjustment of the unmanned aerial vehicle can be realized by adjusting the speed of a propeller motor of the unmanned aerial vehicle, so that the angle of the unmanned aerial vehicle is perpendicular to the azimuth angle of two towers by 90 degrees.
S3, confirming the position of the high-voltage wire: and acquiring the relative position of the high-voltage wire relative to the unmanned aerial vehicle by using a two-dimensional laser radar, calculating to obtain the horizontal distance and the vertical distance between the unmanned aerial vehicle and the high-voltage wire, and calculating the offsets e1 and e2 of the unmanned aerial vehicle and the high-voltage wire from the set distance. The process is as follows:
a. the machine head of the unmanned aerial vehicle is perpendicular to the overhead high-voltage line, and the two-dimensional laser radar is vertically arranged on the unmanned aerial vehicle;
b. the laser radar carries out space ranging scanning at a fixed rotating speed and a fixed scanning frequency;
c. laser radar uses the unmanned aerial vehicle aircraft nose direction as initial zero degree direction, upwards 20 degrees, 30 downwards, and the fan-shaped region apart from 6 meters is regarded as the overhead high-voltage line point cloud data acquisition region, obtains effectual high-voltage line and uses unmanned aerial vehicle as the angle and the distance information of coordinate origin in polar coordinate system through data filtering.
d. And c, obtaining the horizontal distance and the vertical distance of the high-voltage line relative to the unmanned aerial vehicle through the angle and distance information extracted in the step c through a calculation formula of a trigonometric function.
S4, adjusting the position of the unmanned aerial vehicle.
Referring to fig. 5, the pitching and yawing of the unmanned aerial vehicle are subjected to closed-loop control by using a PID control algorithm, so that the unmanned aerial vehicle and the overhead high-voltage line keep a fixed vertical distance and a fixed horizontal distance, and stable and complete image information of the overhead high-voltage line is obtained by shooting. In this embodiment, an incremental PID controller is used for controlling the vertical and horizontal directions of the unmanned aerial vehicle, and the output of the incremental PID algorithm is designed as follows:
△u(k)＝Kp*[e(k)-e(k-1)]+(T/Ti)*e(k)+(Td/T)*[e(k)-2e(k-1)+e(k-2)](10)
wherein e (k), e (k-1), e (k-2) are deviation values between measured values of k, k-1 and k-2 times and set values, respectively, Kp, Ti, Td are proportional, integral and differential coefficients, respectively, and T is a sampling period, △ u (k) is an output of the controller, 1ast _ yaw is an output of the yaw controller last time, an initial value is 0, Kp is a proportional coefficient, K d is Td/T is a differential coefficient, K p and Kd are obtained by specific experimental calibration in such a way that Kd is first made o, K p is increased one by one, Kp is taken as a proportional coefficient when the unmanned aerial vehicle is about to oscillate soon, K d is then increased one by one, Kd is taken as a differential coefficient when the unmanned aerial vehicle is kept at a certain distance from the high-pressure line, E1 between the horizontal distance and the set distance, and E (2) between the vertical distance and the high-pressure line are obtained, and the deviation values of the horizontal distance and the unmanned aerial vehicle are input to the PID controller to control the horizontal direction.
S5, after the inspection work result, the unmanned aerial vehicle retreats backward for a certain distance, then rises to a height 20 m higher than the tower top of the large tower, and then the GPS return point obtained when the unmanned aerial vehicle is started is obtained to carry out full-automatic return.
The front side and the rear side of the unmanned aerial vehicle are provided with binocular vision obstacle avoidance, and the left side and the right side of the unmanned aerial vehicle are provided with FOV infrared obstacle avoidance. The principle of binocular vision obstacle avoidance is an important form of machine vision based on the parallax principle, two images of a measured object are obtained from different positions by using imaging equipment, and three-dimensional geometric information of the object and the distance between a camera and the measured object are obtained by calculating the position deviation between corresponding points of the images. The FOV infrared obstacle avoidance module can effectively detect obstacles in a cone region with a distance of 7 meters and a sensing range of 70 degrees in the horizontal direction and 20 degrees in the vertical direction through one-transmitting and one-receiving of infrared laser and long-strip transmission. When the unmanned aerial vehicle patrols and examines the line, can set for corresponding safe distance threshold value. Once unmanned aerial vehicle detects that distance all around is less than this threshold value, unmanned aerial vehicle can realize promptly stopping, ensures unmanned aerial vehicle equipment's safety.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (8)
1. The inspection method is based on an overhead high-voltage line intelligent autonomous wire flying inspection system, the system comprises a ground control station, a laser radar data processing module and a multi-rotor unmanned aerial vehicle, the laser radar and the laser radar data processing module are arranged on the multi-rotor unmanned aerial vehicle, the laser radar is used for acquiring angle and distance information of the high-voltage line relative to the multi-rotor unmanned aerial vehicle, and the laser radar data processing module transmits the information to the ground control station in a wireless mode; the multi-rotor unmanned aerial vehicle comprises a camera module, a map transmission module, a motor driving module and an unmanned aerial vehicle control center, wherein a ground control station is wirelessly connected with the unmanned aerial vehicle control center, the motor driving module is used for controlling the rotating speed of each propeller motor in the multi-rotor unmanned aerial vehicle under the control of the unmanned aerial vehicle control center, so that the unmanned aerial vehicle and an overhead high-voltage line keep a fixed distance and fly in a cruising way along the overhead high-voltage line, the camera module acquires information of the overhead high-voltage line in real time, and the map transmission module transmits the information of the overhead high-voltage line acquired by;
the method comprises the following steps:
s1, reading the inspection task information: before starting an inspection task, an unmanned aerial vehicle reads the information of the inspected tower section, including the tower type data of the tower section, the height of the tower and the GPS coordinate position of the tower;
s2, locking the cruise angle: the unmanned aerial vehicle adjusts the head orientation of the unmanned aerial vehicle according to the GPS coordinate positions of the two towers, so that the unmanned aerial vehicle is orthogonal and vertical to the azimuth angle of the high-voltage line between the tower sections;
s3, confirming the position of the high-voltage wire: obtaining the distance and the angle of a section point of a high-voltage line relative to the unmanned aerial vehicle by using the unmanned aerial vehicle as a coordinate center through a laser radar carried by the unmanned aerial vehicle, calculating the horizontal distance and the vertical distance between the unmanned aerial vehicle and the high-voltage line, and calculating the offsets e1 and e2 of the unmanned aerial vehicle and the high-voltage line from a set distance;
s4, unmanned aerial vehicle position adjustment: acquiring the relative position of the high-voltage line and the unmanned aerial vehicle according to the parameters, judging whether the relative position exceeds a preset range, applying a PID control algorithm to perform closed-loop control on pitching and yawing of the unmanned aerial vehicle, keeping the unmanned aerial vehicle and the overhead high-voltage line at a fixed vertical distance and a fixed horizontal distance, and shooting to obtain image information of the overhead high-voltage line;
s5, after the inspection work result, the unmanned aerial vehicle retreats backward for a certain distance, then rises to a height A meters higher than the tower top height of the large tower, and then the GPS return point obtained when the unmanned aerial vehicle is started is obtained to carry out full-automatic return.
2. The inspection method according to claim 1, wherein the horizontal distance and the vertical distance between the unmanned aerial vehicle and the high-voltage line are calculated by using a laser radar, and the steps are as follows:
a. the machine head of the unmanned aerial vehicle is perpendicular to the overhead high-voltage line, and the laser radar is vertically arranged on the unmanned aerial vehicle;
b. the laser radar carries out space ranging scanning at a fixed rotating speed and a fixed scanning frequency;
c. the laser radar takes the nose direction of an unmanned aerial vehicle as the initial zero direction, takes a sector area with the upward M degrees, the downward N degrees and the distance of P meters as an overhead high-voltage line point cloud data acquisition area, and obtains the effective angle and distance information of the high-voltage line in a polar coordinate system by taking the unmanned aerial vehicle as the origin of coordinates through data filtering;
d. and c, obtaining the horizontal distance and the vertical distance between the unmanned aerial vehicle and the high-voltage line through the angle and distance information extracted in the step c through a calculation formula of a trigonometric function.
3. The inspection method according to claim 1, wherein the unmanned aerial vehicle self-positioning adopts a method of combining GPS positioning and IMU module, specifically:
the GPS module is used for positioning to obtain the actual position of the unmanned aerial vehicle, and the distances from the unmanned aerial vehicle to the two towers are obtained by combining with pre-planned unmanned aerial vehicle route information, so that the flying moving speed is adjusted;
simultaneously IMU module acquires unmanned aerial vehicle's angle, can realize unmanned aerial vehicle's orientation adjustment through adjusting unmanned aerial vehicle's screw motor speed to make the unmanned aerial vehicle angle realize 90 degrees quadrature verticality with the azimuth of two towers.
4. The inspection method according to claim 1, wherein a barrier distance threshold is preset before inspection is started, the unmanned aerial vehicle automatically records relevant information of the barrier point if the distance between the high-voltage line and the tree is detected to be lower than the set threshold in the inspection process, an inspection report is generated on site after the cruise is finished, and the distance between the high-voltage line and the tree in the barrier point, the barrier point position and the site picture information are recorded in the inspection report.
5. The inspection method according to claim 1, wherein the multi-rotor unmanned aerial vehicle autonomously photographs the high-voltage line at regular intervals during the inspection process.
6. The inspection method according to claim 1, wherein in the overhead high-voltage line intelligent autonomous flight inspection system along the conductor, the lidar data processing module comprises a lidar processor, a wireless data transceiver module and a power supply voltage stabilizing module, wherein the power supply voltage stabilizing module stabilizes the power supply voltage of the unmanned aerial vehicle for use by the lidar processor, the wireless data transceiver module and the lidar; the laser radar processor generates a constant PWM signal to drive the laser radar to rotate at a constant rotating speed, and obtains the angle and the distance of a relevant high-voltage line relative to the unmanned aerial vehicle; the angle and the distance data of the high-voltage line relative to the unmanned aerial vehicle are sent to the ground control station through the wireless data transceiver module.
7. The inspection method according to claim 6, wherein the data processing center employs an ARM embedded processor; the wireless data receiving and transmitting module adopts 2.4G wireless data receiving and transmitting.
8. The inspection method according to claim 6, wherein the multi-rotor unmanned aerial vehicle is provided with an AHRs module;
the multi-rotor unmanned aerial vehicle is provided with a GPS module;
be equipped with distance detection sensor on the many rotor unmanned aerial vehicle.
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