CN108334104A - A kind of autonomous cruising inspection system of unmanned plane and method based on RTK positioning - Google Patents
A kind of autonomous cruising inspection system of unmanned plane and method based on RTK positioning Download PDFInfo
- Publication number
- CN108334104A CN108334104A CN201711461735.4A CN201711461735A CN108334104A CN 108334104 A CN108334104 A CN 108334104A CN 201711461735 A CN201711461735 A CN 201711461735A CN 108334104 A CN108334104 A CN 108334104A
- Authority
- CN
- China
- Prior art keywords
- control
- unmanned plane
- module
- autonomous
- earth station
- 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.)
- Pending
Links
- 238000007689 inspection Methods 0.000 title claims abstract description 53
- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000004891 communication Methods 0.000 claims abstract description 31
- 230000005540 biological transmission Effects 0.000 claims description 12
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 9
- 238000004321 preservation Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 238000012216 screening Methods 0.000 claims description 3
- 238000007405 data analysis Methods 0.000 abstract description 5
- 230000005611 electricity Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006641 stabilisation Effects 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000012212 insulator Substances 0.000 description 1
- 239000000463 material Substances 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)
Abstract
The invention discloses a kind of autonomous cruising inspection systems of unmanned plane and method based on RTK positioning, including ground end system and UAV system；The UAV system includes multi-rotor unmanned aerial vehicle, flies control subsystem, airborne wireless communication module and carry in the mission payload subsystem in multi-rotor unmanned aerial vehicle, and the ground end system includes remote controler and earth station；The winged control subsystem includes flying control module and RTK locating modules, flies control module and is connect respectively with airborne wireless communication module, multi-rotor unmanned aerial vehicle, RTK locating modules and mission payload subsystem；The mission payload subsystem includes holder and the camera that is set on holder, holder is used for the shooting angle according to the instruction control camera from winged control module, camera is connect with airborne wireless communication module, and airborne wireless communication module is connect with remote controler and earth station respectively.The present invention can ensure that each tower bar is taken pictures the consistency at position, is reduced security risk, is provided convenience for the data analysis in later stage.
Description
Technical field
The present invention relates to unmanned plane inspection, more particularly to a kind of autonomous cruising inspection system of unmanned plane based on RTK positioning and
Method.
Background technology
With the construction of power grid and the development of unmanned air vehicle technique, carries out electric inspection process using unmanned plane and have become a big heat
Point, there are mainly two types of existing routine inspection modes：It takes pictures around shaft tower flight first, flying hand control unmanned plane by unmanned plane, but this side
Formula extremely relies on the technology for flying hand, or even additional holder hand is needed to carry out auxiliary photo-taking, if to determine same shaft tower
Phase inspection, can undoubtedly increase security risk, and by flying hand control flight it is difficult to ensure that shaft tower is taken pictures the consistency at position every time,
Increase the workload of later data analysis；Second is that according to the GPS information of shaft tower and detail parameters such as shaft tower type, voltage etc.
Grade, shaft tower height, insulator material etc. generate destination path, to guiding the autonomous inspection of unmanned plane.This mode must need
Want relevant departments' cooperation to provide accurately data, it is relatively cumbersome, there is certain limitation, and if the data that provide occur it is inclined
Difference may make aircraft hit tower, dangerous.
Invention content
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of unmanned planes based on RTK positioning independently to patrol
Check system and method record the operation information of the flight path and holder camera that fly the lower unmanned plane of hand control, are sent to earth station
Destination task is generated after being screened, and as the foundation of the autonomous inspection of unmanned plane, solves unmanned plane regular visit to flying hand mistake
The problem of degree relies on, without knowing that shaft tower information can generate the destination path of autonomous inspection in advance, guiding unmanned plane carries out certainly
Main flight and holder camera operation, and can ensure that each tower bar is taken pictures the consistency at position, is reduced security risk, is the later stage
Data analysis provide convenience.
The purpose of the present invention is achieved through the following technical solutions：It is a kind of based on RTK positioning unmanned plane independently patrol
Check system, including ground end system and UAV system；The UAV system include multi-rotor unmanned aerial vehicle, fly control subsystem,
In the mission payload subsystem in multi-rotor unmanned aerial vehicle, the ground end system includes remote control for airborne wireless communication module and carry
Device and earth station；
The winged control subsystem includes flying control module and RTK locating modules, fly control module respectively with airborne wireless communication module, more
Rotor wing unmanned aerial vehicle, RTK locating modules are connected with mission payload subsystem；The mission payload subsystem includes holder and is set to
Camera on holder, holder are used for the shooting angle according to the instruction control camera from winged control module, camera and airborne wireless
Communication module connects, and airborne wireless communication module is connect with remote controler and earth station respectively；
The remote controler, for carrying out remote control operation to unmanned plane for flying hand, generation control data, which are transferred to, flies control module；
The winged control module, the data for being sent according to the lower remote controler of hand control is flown, control multi-rotor unmanned aerial vehicle flight and
The rotation of holder, and preserve the operation information of the track and holder camera of unmanned plane during flying, by these information issue earth station into
Row processing, or the destination mission bit stream control UAV system sended over according to earth station carry out autonomous inspection；
The earth station, for being screened to flying the lower track of unmanned plane during flying of hand control and the operation information of holder camera,
It generates destination task to be preserved, and destination task is sent to UAV system and carries out autonomous inspection.
The airborne wireless communication module includes：Data transmission unit flies control module and ground end system for establishing
Data transmission channel receives the data from remote controler and earth station, is transferred to and flies control module, or winged control module is preserved
Unmanned plane during flying track and holder camera operation information are transferred to earth station；Image transmitting unit, for establishing mission payload
The image information that camera takes is real-time transmitted to earth station by the image transmitting channel of system and ground end system.
The ground end system further includes the display screen being connect with earth station, the realtime graphic for being taken to camera into
Row display.
The remote controler includes：Flight control modules, for carrying out remote control operation to the flight of unmanned plane for flying hand,
Generate flight control data；Cradle head control module is generated for carrying out control operation to the orientation of taking pictures of holder camera for flying hand
It takes pictures azimuth control data；Order sending module by flight control data and is taken pictures for being interacted with airborne wireless communication module
Azimuth control data, which is transferred to, flies control module.
The winged control module includes：It is remotely controlled respond module, the data for being sent according to the lower remote controler of hand control is flown, control
The flight of multi-rotor unmanned aerial vehicle and the rotation of holder；Track preserving module, for according to the corresponding RTK positioning letter of each destination
Breath determines and preserves track and the corresponding holder camera operation information of each destination of unmanned plane during flying, these information are passed through
Airborne wireless communication module is sent to earth station；Autonomous cruise module, the destination task control for being sended over according to earth station
UAV system processed carries out autonomous inspection.
The earth station includes：Ground station communications module realizes data transmission for being interacted with airborne wireless communication module；
Screening module, for when winged hand is by remote control control unmanned plane inspection, to flying to control unmanned plane during flying that module is sent back
The operation information of track and holder camera is screened；Task generation module, for according to the selection result, generating destination task,
It is sent to after preservation and flies control module；Image shows module, the data for sending camera in UAV system are on a display screen
Carry out real-time display.
The destination task includes autonomous patrolled and examined track, and in autonomous patrolled and examined track, corresponding to each destination
Holder camera operation information.
Preferably, the UAV system and ground end system further include the system power supply for power supply, and the camera makes
With the integrated electrochemical cell for being integrated with camera control plate and power module, power module uses DC/DC voltage reduction modules, and size is small, defeated
It is big to enter range, output voltage stabilization, UAV system power supply can directly be that camera is supplied after power module is depressured
Electricity, without carrying out cumbersome battery altering operation.Preferably, the camera of going back may include the SD card with WiFi, on ground
When station is also equipped with corresponding WiFi module, directly the image taken can be passed back earth station.
A kind of autonomous method for inspecting of autonomous cruising inspection system of unmanned plane based on RTK positioning, includes the following steps：
S1. fly hand and utilize remote controler, control the flight of unmanned plane and the rotation of holder, complete an inspection；
S2. during the inspection under flying hand control, fly control module according to the corresponding RTK location informations of each destination, determine simultaneously
The track for preserving unmanned plane during flying and the holder camera operation information corresponding to each destination, and send such information to ground
It stands；
S3. the unmanned plane during flying track received and holder camera operation information are screened by earth station, generate destination task；
S4. it after earth station preserves destination task, is sent to and flies control module；
S5. fly control module according to destination task, control UAV system carries out autonomous inspection.
The autonomous method for inspecting further includes video image passback step：During unmanned plane carries out autonomous inspection, appoint
Camera in loading subsystem of being engaged in carries out video image shooting, and real-time Transmission goes back to earth station, is broadcast in real time on a display screen
It puts.
The beneficial effects of the invention are as follows：The present invention flies the flight path and holder camera of the lower unmanned plane of hand control by record
Operation information, be sent to after earth station is screened generate destination task solved as the foundation of the autonomous inspection of unmanned plane
Unmanned plane regular visit is to flying the problem of hand is depended on unduly, without knowing that shaft tower information can generate the destination of autonomous inspection in advance
Path, guiding unmanned plane carries out autonomous flight and holder camera operation, and the height of Centimeter Level can be carried out by RTK locating modules
Precision positions, and ensures that each tower bar is taken pictures the consistency at position, is reduced security risk, is provided just for the data analysis in later stage
Profit.
Description of the drawings
Fig. 1 is the system principle diagram of the present invention；
Fig. 2 is the flow chart of the present invention.
Specific implementation mode
Technical scheme of the present invention is described in further detail below in conjunction with the accompanying drawings, but protection scope of the present invention is not limited to
It is as described below.
As shown in Figure 1, a kind of autonomous cruising inspection system of unmanned plane based on RTK positioning, including ground end system and unmanned plane
System；The UAV system includes multi-rotor unmanned aerial vehicle, flies control subsystem, airborne wireless communication module and carry in more rotors
Mission payload subsystem on unmanned plane, the ground end system includes remote controler and earth station；
The winged control subsystem includes flying control module and RTK locating modules, fly control module respectively with airborne wireless communication module, more
Rotor wing unmanned aerial vehicle, RTK locating modules are connected with mission payload subsystem；The mission payload subsystem includes holder and is set to
Camera on holder, holder are used for the shooting angle according to the instruction control camera from winged control module, camera and airborne wireless
Communication module connects, and airborne wireless communication module is connect with remote controler and earth station respectively；
The remote controler, for carrying out remote control operation to unmanned plane for flying hand, generation control data, which are transferred to, flies control module；
The winged control module, the data for being sent according to the lower remote controler of hand control is flown, control multi-rotor unmanned aerial vehicle flight and
The rotation of holder, and preserve the operation information of the track and holder camera of unmanned plane during flying, by these information issue earth station into
Row processing, or the destination mission bit stream control UAV system sended over according to earth station carry out autonomous inspection；
The earth station, for being screened to flying the lower track of unmanned plane during flying of hand control and the operation information of holder camera,
It generates destination task to be preserved, and destination task is sent to UAV system and carries out autonomous inspection.
The airborne wireless communication module includes：Data transmission unit flies control module and ground end system for establishing
Data transmission channel receives the data from remote controler and earth station, is transferred to and flies control module, or winged control module is preserved
Unmanned plane during flying track and holder camera operation information are transferred to earth station；Image transmitting unit, for establishing mission payload
The image information that camera takes is real-time transmitted to earth station by the image transmitting channel of system and ground end system.
The ground end system further includes the display screen being connect with earth station, the realtime graphic for being taken to camera into
Row display.
The remote controler includes：Flight control modules, for carrying out remote control operation to the flight of unmanned plane for flying hand,
Generate flight control data；Cradle head control module is generated for carrying out control operation to the orientation of taking pictures of holder camera for flying hand
It takes pictures azimuth control data；Order sending module by flight control data and is taken pictures for being interacted with airborne wireless communication module
Azimuth control data, which is transferred to, flies control module.
The winged control module includes：It is remotely controlled respond module, the data for being sent according to the lower remote controler of hand control is flown, control
The flight of multi-rotor unmanned aerial vehicle and the rotation of holder；Track preserving module, for according to the corresponding RTK positioning letter of each destination
Breath determines and preserves track and the corresponding holder camera operation information of each destination of unmanned plane during flying, these information are passed through
Airborne wireless communication module is sent to earth station；Autonomous cruise module, the destination task control for being sended over according to earth station
UAV system processed carries out autonomous inspection.
The earth station includes：Ground station communications module realizes data transmission for being interacted with airborne wireless communication module；
Screening module, for when winged hand is by remote control control unmanned plane inspection, to flying to control unmanned plane during flying that module is sent back
The operation information of track and holder camera is screened；Task generation module, for according to the selection result, generating destination task,
It is sent to after preservation and flies control module；Image shows module, the data for sending camera in UAV system are on a display screen
Carry out real-time display.
The destination task includes autonomous patrolled and examined track, and in autonomous patrolled and examined track, corresponding to each destination
Holder camera operation information.
In embodiments herein, the UAV system and ground end system further include the system electricity for power supply
Source, the camera are depressured mould using the integrated electrochemical cell for being integrated with camera control plate and power module, power module using DC/DC
Block, size is small, and input range is big, output voltage stabilization, and UAV system power supply can directly be after power module is depressured
Camera is powered, and without carrying out cumbersome battery altering operation, is reduced system complexity, is improved operating efficiency；In the implementation
In example, the camera of going back may include the SD card with WiFi, when earth station is also equipped with corresponding WiFi module, Neng Gouzhi
It connects the image that will be taken and passes earth station back.
As shown in Fig. 2, a kind of autonomous method for inspecting of autonomous cruising inspection system of unmanned plane based on RTK positioning, packet
Include following steps：
S1. fly hand and utilize remote controler, control the flight of unmanned plane and the rotation of holder, complete an inspection；
S2. during the inspection under flying hand control, fly control module according to the corresponding RTK location informations of each destination, determine simultaneously
The track for preserving unmanned plane during flying and the holder camera operation information corresponding to each destination, and send such information to ground
It stands；
S3. the unmanned plane during flying track received and holder camera operation information are screened by earth station, generate destination task；
S4. it after earth station preserves destination task, is sent to and flies control module；
S5. fly control module according to destination task, control UAV system carries out autonomous inspection.
The autonomous method for inspecting further includes video image passback step：During unmanned plane carries out autonomous inspection, appoint
Camera in loading subsystem of being engaged in carries out video image shooting, and real-time Transmission goes back to earth station, is broadcast in real time on a display screen
It puts.
In conclusion the operation that the present invention flies the flight path and holder camera of the lower unmanned plane of hand control by record is believed
Breath is sent to generation destination task after earth station is screened, and as the foundation of the autonomous inspection of unmanned plane, it is fixed to solve unmanned plane
Phase inspection, without knowing that shaft tower information can generate the destination path of autonomous inspection in advance, is drawn to flying the problem of hand is depended on unduly
It leads unmanned plane and carries out autonomous flight and holder camera operation, and the high-precision fixed of Centimeter Level can be carried out by RTK locating modules
Position ensures that each tower bar is taken pictures the consistency at position, is reduced security risk, is provided convenience for the data analysis in later stage.
Claims (9)
1. a kind of autonomous cruising inspection system of unmanned plane based on RTK positioning, it is characterised in that：Including ground end system and unmanned plane system
System；The UAV system includes multi-rotor unmanned aerial vehicle, fly control subsystem, airborne wireless communication module and carry in more rotors without
Mission payload subsystem on man-machine, the ground end system includes remote controler and earth station；
The winged control subsystem includes flying control module and RTK locating modules, fly control module respectively with airborne wireless communication module, more
Rotor wing unmanned aerial vehicle, RTK locating modules are connected with mission payload subsystem；The mission payload subsystem includes holder and is set to
Camera on holder, holder are used for the shooting angle according to the instruction control camera from winged control module, camera and airborne wireless
Communication module connects, and airborne wireless communication module is connect with remote controler and earth station respectively；
The remote controler, for carrying out remote control operation to unmanned plane for flying hand, generation control data, which are transferred to, flies control module；
The winged control module, the data for being sent according to the lower remote controler of hand control is flown, control multi-rotor unmanned aerial vehicle flight and
The rotation of holder, and preserve the operation information of the track and holder camera of unmanned plane during flying, by these information issue earth station into
Row processing, or the destination mission bit stream control UAV system sended over according to earth station carry out autonomous inspection；
The earth station, for being screened to flying the lower track of unmanned plane during flying of hand control and the operation information of holder camera,
It generates destination task to be preserved, and destination task is sent to UAV system and carries out autonomous inspection.
2. a kind of autonomous cruising inspection system of unmanned plane based on RTK positioning according to claim 1, it is characterised in that：It is described
Airborne wireless communication module includes：
Data transmission unit, for establish fly control module and ground end system data transmission channel, receive from remote controler with
The data of earth station are transferred to and fly control module, or the unmanned plane during flying track that winged control module is preserved and holder camera operation
Information is transferred to earth station；
Image transmitting unit, the image transmitting channel for establishing mission payload subsystem and ground end system, camera is shot
To image information be real-time transmitted to earth station.
3. a kind of autonomous cruising inspection system of unmanned plane based on RTK positioning according to claim 1, it is characterised in that：It is described
Ground end system further includes the display screen being connect with earth station, for being shown to the realtime graphic that camera takes.
4. a kind of autonomous cruising inspection system of unmanned plane based on RTK positioning according to claim 1, it is characterised in that：It is described
Remote controler includes：
Flight control modules generate flight control data for carrying out remote control operation to the flight of unmanned plane for flying hand；
Cradle head control module generates orientation control of taking pictures for carrying out control operation to the orientation of taking pictures of holder camera for flying hand
Data；
Order sending module, for being interacted with airborne wireless communication module, by flight control data and azimuth control data of taking pictures
It is transferred to and flies control module.
5. a kind of autonomous cruising inspection system of unmanned plane based on RTK positioning according to claim 1, it is characterised in that：It is described
Flying control module includes：
Be remotely controlled respond module, the data for being sent according to the lower remote controler of hand control is flown, control multi-rotor unmanned aerial vehicle flight and
The rotation of holder；
Track preserving module, for according to the corresponding RTK location informations of each destination, determining and preserving the track of unmanned plane during flying
These information are sent to earth station by holder camera operation information corresponding with each destination by airborne wireless communication module；
Autonomous cruise module, the destination task control UAV system for being sended over according to earth station carry out autonomous inspection.
6. a kind of autonomous cruising inspection system of unmanned plane based on RTK positioning according to claim 1, it is characterised in that：It is described
Earth station includes：
Ground station communications module realizes data transmission for being interacted with airborne wireless communication module；
Screening module, for when winged hand is by remote control control unmanned plane inspection, flying to flying the unmanned plane that control module is sent back
The operation information of capable track and holder camera is screened；
Task generation module is sent to after preservation for according to the selection result, generating destination task and flies control module；
Image shows module, the data for sending camera in UAV system carry out real-time display on a display screen.
7. a kind of autonomous inspection system of autonomous cruising inspection system of unmanned plane based on RTK positioning according to claim 5 or 6
System, it is characterised in that：The destination task includes autonomous patrolled and examined track, and in autonomous patrolled and examined track, each destination institute
Corresponding holder camera operation information.
8. according to any one of claim 1 ~ 7 it is a kind of based on RTK positioning the autonomous cruising inspection system of unmanned plane from
Main method for inspecting, it is characterised in that：Include the following steps：
S1. fly hand and utilize remote controler, control the flight of unmanned plane and the rotation of holder, complete an inspection；
S2. during the inspection under flying hand control, fly control module according to the corresponding RTK location informations of each destination, determine simultaneously
The track for preserving unmanned plane during flying and the holder camera operation information corresponding to each destination, and send such information to ground
It stands；
S3. the unmanned plane during flying track received and holder camera operation information are screened by earth station, generate destination task；
S4. it after earth station preserves destination task, is sent to and flies control module；
S5. fly control module according to destination task, control UAV system carries out autonomous inspection.
9. a kind of autonomous method for inspecting of autonomous cruising inspection system of unmanned plane based on RTK positioning according to claim 8,
It is characterized in that：The autonomous method for inspecting further includes video image passback step：During unmanned plane carries out autonomous inspection, appoint
Camera in loading subsystem of being engaged in carries out video image shooting, and real-time Transmission goes back to earth station, is broadcast in real time on a display screen
It puts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711461735.4A CN108334104A (en) | 2017-12-28 | 2017-12-28 | A kind of autonomous cruising inspection system of unmanned plane and method based on RTK positioning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711461735.4A CN108334104A (en) | 2017-12-28 | 2017-12-28 | A kind of autonomous cruising inspection system of unmanned plane and method based on RTK positioning |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108334104A true CN108334104A (en) | 2018-07-27 |
Family
ID=62923765
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711461735.4A Pending CN108334104A (en) | 2017-12-28 | 2017-12-28 | A kind of autonomous cruising inspection system of unmanned plane and method based on RTK positioning |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108334104A (en) |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109116865A (en) * | 2018-09-19 | 2019-01-01 | 苏州傲特欣智能科技有限公司 | Large scale equipment unmanned plane cruising inspection system and its method based on machine vision |
| CN109460054A (en) * | 2018-09-11 | 2019-03-12 | 成都优艾维智能科技有限责任公司 | A kind of autonomous method for inspecting of unmanned plane for single time anchor support of direct current |
| CN109634305A (en) * | 2018-12-21 | 2019-04-16 | 国网安徽省电力有限公司淮南供电公司 | UAV position and orientation method of adjustment and system based on visual aids positioning |
| CN109782226A (en) * | 2019-01-24 | 2019-05-21 | 成都优艾维智能科技有限责任公司 | Unmanned aerial vehicle autonomous tracking positioning system and method based on network RTK |
| CN109839951A (en) * | 2019-01-24 | 2019-06-04 | 成都优艾维智能科技有限责任公司 | System and method for generating unmanned aerial vehicle autonomous tracking path model |
| CN109901124A (en) * | 2019-01-17 | 2019-06-18 | 上海民航华东空管工程技术有限公司 | A kind of on-air radio electrical signal detection and analysis system |
| CN109975621A (en) * | 2019-04-11 | 2019-07-05 | 西安电子科技大学 | A kind of multi-rotor unmanned aerial vehicle large-scale antenna scene pattern measurement system and method |
| CN109981730A (en) * | 2019-01-04 | 2019-07-05 | 哈瓦国际航空技术（深圳）有限公司 | Method, apparatus, equipment and the storage medium of ground station control unmanned plane carry |
| CN109991993A (en) * | 2019-04-19 | 2019-07-09 | 江苏荣耀天翃航空科技有限公司 | The double flight control systems in the world based on RTK Differential positioning and winged control |
| 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 |
| CN110244325A (en) * | 2019-04-29 | 2019-09-17 | 丰疆智能科技研究院(常州)有限公司 | The mobile base station RTK and flight system and its application |
| CN110362122A (en) * | 2019-07-26 | 2019-10-22 | 广西圣尧航空科技有限公司 | A kind of tripod head controlling device and its control method |
| CN110609569A (en) * | 2019-09-26 | 2019-12-24 | 温岭市非普电气有限公司 | Autonomous control unmanned aerial vehicle accurate inspection system and method applied to electric power tower |
| CN111781954A (en) * | 2020-08-26 | 2020-10-16 | 云南电网有限责任公司迪庆供电局 | Unmanned aerial vehicle inspection control method and device |
| CN112311872A (en) * | 2020-10-29 | 2021-02-02 | 山东翔迈智能科技有限公司 | Unmanned aerial vehicle nest autonomous cruise network system |
| CN112770272A (en) * | 2021-01-11 | 2021-05-07 | 四川泓宝润业工程技术有限公司 | Data transmission scheme of unmanned aerial vehicle and multiple platforms |
| CN113220002A (en) * | 2021-02-01 | 2021-08-06 | 苏州光之翼智能科技有限公司 | Remote management and control system for police unmanned aerial vehicle |
| CN113358660A (en) * | 2021-06-03 | 2021-09-07 | 河南科技大学 | Overhead transmission line bearing part damage detection system and detection method thereof |
| CN113687398A (en) * | 2021-08-26 | 2021-11-23 | 四川汇源光通信有限公司 | Unmanned aerial vehicle tracking and aiming communication system and method based on Beidou differential positioning |
| CN114261528A (en) * | 2021-12-03 | 2022-04-01 | 国网智能科技股份有限公司 | Unmanned aerial vehicle nest self-checking system and method |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105759837A (en) * | 2016-04-29 | 2016-07-13 | 广东能飞航空科技发展有限公司 | Power transmission line multi-rotor airship inspection system |
| CN105790155A (en) * | 2016-04-08 | 2016-07-20 | 四川桑莱特智能电气设备股份有限公司 | Differential-GPS-based unmanned-aerial-vehicle autonomous routing inspection system and method for power transmission line |
| CN107450587A (en) * | 2017-09-19 | 2017-12-08 | 广东电网有限责任公司佛山供电局 | A kind of unmanned plane becomes more meticulous the Intelligent flight control method and system of inspection |
-
2017
- 2017-12-28 CN CN201711461735.4A patent/CN108334104A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105790155A (en) * | 2016-04-08 | 2016-07-20 | 四川桑莱特智能电气设备股份有限公司 | Differential-GPS-based unmanned-aerial-vehicle autonomous routing inspection system and method for power transmission line |
| CN105759837A (en) * | 2016-04-29 | 2016-07-13 | 广东能飞航空科技发展有限公司 | Power transmission line multi-rotor airship inspection system |
| CN107450587A (en) * | 2017-09-19 | 2017-12-08 | 广东电网有限责任公司佛山供电局 | A kind of unmanned plane becomes more meticulous the Intelligent flight control method and system of inspection |
Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109460054A (en) * | 2018-09-11 | 2019-03-12 | 成都优艾维智能科技有限责任公司 | A kind of autonomous method for inspecting of unmanned plane for single time anchor support of direct current |
| CN109116865A (en) * | 2018-09-19 | 2019-01-01 | 苏州傲特欣智能科技有限公司 | Large scale equipment unmanned plane cruising inspection system and its method based on machine vision |
| CN109634305A (en) * | 2018-12-21 | 2019-04-16 | 国网安徽省电力有限公司淮南供电公司 | UAV position and orientation method of adjustment and system based on visual aids positioning |
| CN109981730A (en) * | 2019-01-04 | 2019-07-05 | 哈瓦国际航空技术（深圳）有限公司 | Method, apparatus, equipment and the storage medium of ground station control unmanned plane carry |
| CN109901124A (en) * | 2019-01-17 | 2019-06-18 | 上海民航华东空管工程技术有限公司 | A kind of on-air radio electrical signal detection and analysis system |
| CN109782226A (en) * | 2019-01-24 | 2019-05-21 | 成都优艾维智能科技有限责任公司 | Unmanned aerial vehicle autonomous tracking positioning system and method based on network RTK |
| CN109839951A (en) * | 2019-01-24 | 2019-06-04 | 成都优艾维智能科技有限责任公司 | System and method for generating unmanned aerial vehicle autonomous tracking path model |
| CN109839951B (en) * | 2019-01-24 | 2022-03-18 | 成都优艾维智能科技有限责任公司 | System and method for generating unmanned aerial vehicle autonomous tracking path model |
| CN109975621A (en) * | 2019-04-11 | 2019-07-05 | 西安电子科技大学 | A kind of multi-rotor unmanned aerial vehicle large-scale antenna scene pattern measurement system and method |
| CN109991993A (en) * | 2019-04-19 | 2019-07-09 | 江苏荣耀天翃航空科技有限公司 | The double flight control systems in the world based on RTK Differential positioning and winged control |
| CN110244325A (en) * | 2019-04-29 | 2019-09-17 | 丰疆智能科技研究院(常州)有限公司 | The mobile base station RTK and flight system and its application |
| 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 |
| CN110362122A (en) * | 2019-07-26 | 2019-10-22 | 广西圣尧航空科技有限公司 | A kind of tripod head controlling device and its control method |
| CN110609569A (en) * | 2019-09-26 | 2019-12-24 | 温岭市非普电气有限公司 | Autonomous control unmanned aerial vehicle accurate inspection system and method applied to electric power tower |
| CN110609569B (en) * | 2019-09-26 | 2022-07-15 | 温岭市非普电气有限公司 | Autonomous control unmanned aerial vehicle accurate inspection system and method applied to electric power tower |
| CN111781954A (en) * | 2020-08-26 | 2020-10-16 | 云南电网有限责任公司迪庆供电局 | Unmanned aerial vehicle inspection control method and device |
| CN111781954B (en) * | 2020-08-26 | 2023-02-21 | 云南电网有限责任公司迪庆供电局 | Unmanned aerial vehicle inspection control method and device |
| CN112311872A (en) * | 2020-10-29 | 2021-02-02 | 山东翔迈智能科技有限公司 | Unmanned aerial vehicle nest autonomous cruise network system |
| CN112770272A (en) * | 2021-01-11 | 2021-05-07 | 四川泓宝润业工程技术有限公司 | Data transmission scheme of unmanned aerial vehicle and multiple platforms |
| CN113220002A (en) * | 2021-02-01 | 2021-08-06 | 苏州光之翼智能科技有限公司 | Remote management and control system for police unmanned aerial vehicle |
| CN113358660A (en) * | 2021-06-03 | 2021-09-07 | 河南科技大学 | Overhead transmission line bearing part damage detection system and detection method thereof |
| CN113687398A (en) * | 2021-08-26 | 2021-11-23 | 四川汇源光通信有限公司 | Unmanned aerial vehicle tracking and aiming communication system and method based on Beidou differential positioning |
| CN114261528A (en) * | 2021-12-03 | 2022-04-01 | 国网智能科技股份有限公司 | Unmanned aerial vehicle nest self-checking system and method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108334104A (en) | A kind of autonomous cruising inspection system of unmanned plane and method based on RTK positioning | |
| US11205311B2 (en) | System and method for data recording and analysis | |
| CN105790155B (en) | A kind of autonomous cruising inspection system of power transmission line unmanned machine and method based on differential GPS | |
| CN102589524B (en) | Power line patrolling method | |
| CN105739512A (en) | Unmanned aerial vehicle automatic tour inspection system and method | |
| CN104076820A (en) | Unmanned aerial vehicle electric power line polling control system and method based on three-dimensional GIS | |
| CN105700544A (en) | UAV tour inspection system and implementation method for electrical equipment of photovoltaic power station | |
| CN102591350A (en) | Flight control method and system of four-rotor unmanned vehicle | |
| CN111123973A (en) | Unmanned aerial vehicle line tower patrol guiding system and guiding method | |
| CN102255259A (en) | Transmission line tour inspection device suitable for unmanned aerial vehicle | |
| US20210039781A1 (en) | Drone proximity charging | |
| CN107544531A (en) | Line data-logging method, apparatus and unmanned plane | |
| CN108803661A (en) | A kind of unmanned plane fast inspection system and method | |
| CN209744069U (en) | Be used for online inspection device of oil gas pipeline | |
| CN209480012U (en) | A kind of oblique photograph measuring system based on composite wing unmanned plane | |
| CN109460054A (en) | A kind of autonomous method for inspecting of unmanned plane for single time anchor support of direct current | |
| HrISToV et al. | A review of the characteristics of modern unmanned aerial vehicles | |
| CN111290417A (en) | Method and device for generating fan inspection route, computer equipment and storage medium | |
| CN107390699A (en) | The route planning system and its route planning method of a kind of sugarcane planting machine | |
| CN109656269A (en) | A kind of monitoring unmanned system | |
| CN206862937U (en) | Photovoltaic plant unmanned plane detector | |
| CN205809689U (en) | A kind of airframe checks system | |
| CN103473363A (en) | Base station high-altitude inspection system based on aircraft and inspection method of base station high-altitude inspection system | |
| CN205334240U (en) | Many rotors of infrared detection electric power patrols line unmanned aerial vehicle system | |
| CN208715485U (en) | A kind of agricultural remote sensing data acquisition equipment equipped with three smooth cameras |
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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180727 |
|
| RJ01 | Rejection of invention patent application after publication |