CN110011223A - Multiple no-manned plane cooperation method for inspecting and system suitable for region transmission line of electricity - Google Patents
Multiple no-manned plane cooperation method for inspecting and system suitable for region transmission line of electricity Download PDFInfo
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- CN110011223A CN110011223A CN201910375597.0A CN201910375597A CN110011223A CN 110011223 A CN110011223 A CN 110011223A CN 201910375597 A CN201910375597 A CN 201910375597A CN 110011223 A CN110011223 A CN 110011223A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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Abstract
The invention discloses a kind of multiple no-manned plane cooperation method for inspecting suitable for region transmission line of electricity, comprising: S1: obtaining patrol task, region transmission line of electricity to be inspected is divided into several region of patrolling and examining, each region of patrolling and examining distributes a frame unmanned plane；S2: being directed to each region of patrolling and examining, in conjunction with the coordinate information and height above sea level of the transmission line of electricity of each region of patrolling and examining, generates non-interfering several inspection routes, the inspection route of generation is imported unmanned plane correspondingly；S3: driving unmanned plane to take off, and executes this patrol task according to the corresponding inspection route of importing.The present invention can simultaneously execute region transmission line of electricity using multiple UAVs parallel to patrol tower and takes pictures, multiple UAVs are made to complete the patrol task respectively distributed with substantially parallel efficiency, the centralized recovery unmanned plane after completion task, manual intervention operation is greatly decreased, reduce fault rate, monitoring time is saved, routing inspection efficiency is effectively improved.
Description
Technical field
The present invention relates to unmanned plane electric power line inspection technical field, in particular to a kind of suitable for region transmission line of electricity
Multiple no-manned plane cooperation method for inspecting and system.
Background technique
Unmanned plane (Unmanned Aerial Vehicle, UAV) is to utilize radio robot and the program provided for oneself
The non-manned vehicle of control device manipulation, refers to and carries photographic system, meet the management regulation of transmission line of electricity system, both may be used
To fly hand manipulation by people, tower task is patrolled in the automation that can also be executed by the inspection point of typing prerecording under software control
Unmanned plane.
In current unmanned plane patrol task, still use the equipment such as remote controler to nobody using experienced operator
Machine carries out whole-process control, realizes cut-through object, reaches specified position and adjustment angle carries out a series of actions such as take pictures, right
Operator's is more demanding, and when inspection target is numerous, routing inspection efficiency is low, and operator's pressure is big, is easy to happen and such as loses
The inspections such as inspection place fault is leaked, causes to repeat inspection.
Summary of the invention
It is an object of that present invention to provide a kind of multiple no-manned plane cooperation method for inspecting and system suitable for region transmission line of electricity, will
Region transmission line of electricity to be inspected is divided into several region of patrolling and examining, and each region of patrolling and examining is distributed a frame unmanned plane, used simultaneously
Multiple UAVs execute region transmission line of electricity parallel to patrol tower and takes pictures, and completes multiple UAVs with substantially parallel efficiency each
From the patrol task distributed, the centralized recovery unmanned plane after completion task is greatly decreased manual intervention operation, reduces fault
Rate saves monitoring time, effectively improves routing inspection efficiency；In addition, inspection route is transferred to unmanned plane before unmanned plane takes off, guarantee
Unmanned plane is in inspection, even if causing outside the certain distance that flies out unstable with the network communication of unmanned plane cooperative control system
Or when the problems such as generating certain delay, it still can independently go to execute and complete patrol task.
To reach above-mentioned purpose, in conjunction with Fig. 1, the present invention proposes that a kind of multiple no-manned plane cooperation suitable for region transmission line of electricity is patrolled
Detecting method, which comprises
S1: patrol task is obtained, includes region transmission line of electricity to be inspected in patrol task, patrol task is solved
Region transmission line of electricity to be inspected is divided into several region of patrolling and examining by analysis, and each region of patrolling and examining distributes a frame unmanned plane.
S2: being directed to each region of patrolling and examining, raw in conjunction with the coordinate information and height above sea level of the transmission line of electricity of each region of patrolling and examining
At non-interfering several inspection routes, the inspection route of generation is imported into unmanned plane, the inspection route correspondingly
It makes a return voyage path including set out path, patrolled and examined track, inspection of inspection.
S3: driving unmanned plane to take off, and executes this patrol task according to the corresponding inspection route of importing, tool
Body:
Fly along inspection path of setting out to region of patrolling and examining, inspection is carried out to the transmission line of electricity in region of patrolling and examining according to patrolled and examined track
After taking pictures, along inspection make a return voyage path return level point.
Based on preceding method, the present invention further mentions a kind of multiple no-manned plane cooperation cruising inspection system suitable for region transmission line of electricity,
If the system comprises unmanned plane, unmanned plane cooperative control system, communication device is quarreled, the unmanned plane cooperative control system is logical
It crosses communication device and unmanned plane carries out data interaction.
The unmanned plane cooperative control system comprises the following modules:
1) for receiving patrol task, patrol task is parsed, if region transmission line of electricity to be inspected is divided into
Dry region of patrolling and examining, each region of patrolling and examining distribute the module of a frame unmanned plane.
2) for being directed to each region of patrolling and examining, in conjunction with the coordinate information and height above sea level of the transmission line of electricity of each region of patrolling and examining
Degree generates non-interfering several inspection routes, the inspection route of generation is imported to the module of unmanned plane, institute correspondingly
Stating inspection route includes that set out path, patrolled and examined track, inspection of inspection is maked a return voyage path.
3) for driving unmanned plane to take off, and this patrol task is executed according to the corresponding inspection route of importing
Module, it is specific:
Fly along inspection path of setting out to region of patrolling and examining, inspection is carried out to the transmission line of electricity in region of patrolling and examining according to patrolled and examined track
After taking pictures, along inspection make a return voyage path return level point.
Transmission tower patrol task has the following characteristics that inspection target belongs to fixed object, and is appropriate on it
The position of unmanned plane inspection is more open, and there is no the complicated barriers for being difficult to determine.This is just the unmanned plane of transmission tower
Inspection provides optimum ideals:
Several are connected by transmission line of electricity GPS location with the specific fixed coordinates position that the information such as height above sea level define
The track to be formed get up for defining the inspection route of unmanned plane, realizes the automation flight of unmanned plane, take pictures, and is repeatedly multiple
With.In addition, the coordinate that these inspection route tracks are included is on ground according to the position distribution of transmission tower in a region of patrolling and examining
At being often distributed in settlement after point set, the present invention proposes chart display, concentrates in one of them open region of region of patrolling and examining
Multiple UAVs are launched, they fly to different nearby " settlement " automatic dispatching, and adjust after respectively having executed patrol task
It spends its starting point that flies back nearby to recycle, the transmission tower patrol task of batch in region can be completed in the short period, and mentioning
While having risen the efficiency of transmission tower inspection and ensure that stability, the investment of manpower and material resources has been greatly saved.
It is practical being applied to task suitable for the multiple no-manned plane cooperation method for inspecting of region transmission line of electricity mentioned by the present invention
When in deployment, multiple UAVs can uniformly be transported to the place near region of patrolling and examining by means of transport, be equipped with a small amount of show
Field personnel can carry out task.Unmanned plane both can be with for information such as the specific inspection route of itself inspection target and photo angles
It is generated, can also be imported from safely and effectively data source by the flight information prerecorded, and unmanned plane flies from starting point
The round-trip flight route for making a return voyage and recycling toward inspection place and after completing inspection will be gone scheduling to give birth to by unmanned plane cooperation control system
At.Field Force in task only need to pay close attention to unmanned plane take off and recovery process, and a small amount of emergency case of reply under
Artificial adapter tube.
In order to realize the transmitting of the status information between unmanned plane and unmanned plane cooperation control system and command reception, each
Unmanned plane is deployed with corresponding software and hardware communication system, communication and agreement of the data format based on http and message queue.Nobody
Machine cooperation control system can be deployed in PC service in the case where the communication for guaranteeing itself and unmanned plane and landing platform is stablized
On device, and go to dispatch and complete under described scene by the browser front-end operations of customization or web service order
Patrol task.
The above technical solution of the present invention, compared with existing, significant beneficial effect is:
1) present invention carries out inspection to region transmission line of electricity using unmanned plane automation inspection technology, and multiple UAVs are to area
Domain transmission line of electricity executes parallel and patrols tower and take pictures, and multiple UAVs can be made respectively to be distributed with substantially parallel efficiency completion
Patrol task, and the centralized recovery after completion task is greatly decreased manual intervention operation, saves monitoring time, effectively improve
Routing inspection efficiency is convenient for Rapid Popularization application.
2) inspection route is transferred to unmanned plane before unmanned plane takes off, and guarantees unmanned plane in inspection, even if flying out
Lead to problems such as outside certain distance it is unstable or when generating certain delay with the network communication of unmanned plane cooperative control system, still
It so can independently go to execute and complete patrol task.
It should be appreciated that as long as aforementioned concepts and all combinations additionally conceived described in greater detail below are at this
It can be viewed as a part of the subject matter of the disclosure in the case that the design of sample is not conflicting.In addition, required guarantor
All combinations of the theme of shield are considered as a part of the subject matter of the disclosure.
Can be more fully appreciated from the following description in conjunction with attached drawing present invention teach that the foregoing and other aspects, reality
Apply example and feature.The features and/or benefits of other additional aspects such as illustrative embodiments of the invention will be below
Description in it is obvious, or learnt in practice by the specific embodiment instructed according to the present invention.
Detailed description of the invention
Attached drawing is not intended to drawn to scale.In the accompanying drawings, identical or nearly identical group each of is shown in each figure
It can be indicated by the same numeral at part.For clarity, in each figure, not each component part is labeled.
Now, example will be passed through and the embodiments of various aspects of the invention is described in reference to the drawings, in which:
Fig. 1 is the flow chart of the multiple no-manned plane cooperation method for inspecting suitable for region transmission line of electricity of the invention.
Fig. 2 is inspection photographic method flow chart of the invention.
Fig. 3 is the inspection route schematic diagram of one of example of the invention.
Specific embodiment
In order to better understand the technical content of the present invention, special to lift specific embodiment and institute's accompanying drawings is cooperated to be described as follows.
Specific embodiment one
In conjunction with Fig. 1, the present invention refers to a kind of multiple no-manned plane cooperation method for inspecting suitable for region transmission line of electricity, the method
Include:
S1: patrol task is obtained, includes region transmission line of electricity to be inspected in patrol task, patrol task is solved
Region transmission line of electricity to be inspected is divided into several region of patrolling and examining by analysis, and each region of patrolling and examining distributes a frame unmanned plane.
S2: being directed to each region of patrolling and examining, raw in conjunction with the coordinate information and height above sea level of the transmission line of electricity of each region of patrolling and examining
At non-interfering several inspection routes, the inspection route of generation is imported into unmanned plane, the inspection route correspondingly
It makes a return voyage path including set out path, patrolled and examined track, inspection of inspection.
Preferably, the patrolled and examined track, flown recording, and/or the transmission line of electricity to region of patrolling and examining in advance using unmanned plane
Calculating is measured to generate.
S3: driving unmanned plane to take off, and executes this patrol task according to the corresponding inspection route of importing, tool
Body:
Fly along inspection path of setting out to region of patrolling and examining, inspection is carried out to the transmission line of electricity in region of patrolling and examining according to patrolled and examined track
After taking pictures, along inspection make a return voyage path return level point.
Fig. 3 is the schematic diagram of the inspection route of one of example, in conjunction with Fig. 3, is referred to the present invention defeated suitable for region
The multiple no-manned plane cooperation method for inspecting of electric line is described in detail.
Assuming that this patrol task includes four transmission tower (transmission towers 1, transmission tower 2, transmission tower to be inspected
3, transmission tower 4), 4 frame unmanned planes are uniformly transported to the place near region of patrolling and examining by means of transport, in this example, by nothing
Man-machine takeoff point is arranged between four transmission towers, in fact, in practical applications, it is contemplated that the setting of inspection route, it will
The interference that can be effectively reduced between unmanned plane inspection route is arranged between transmission tower to be inspected in the takeoff point of unmanned plane,
Meanwhile conducive to the difference shortened between unmanned plane execution task total duration, convenient for staff to unmanned plane United Dispatching.
In some instances, the arrangement mode of transmission tower to be inspected is in a queue of, can be by nothing for this kind of situation
Man-machine takeoff point setting is in long line center position area, appearance when making to execute total flight of the unmanned plane of both ends patrol task
Closely.
Further, if the quantity of inspection target is greater than the quantity for executing the unmanned plane of patrol task, in conjunction with inspection mesh
The distance between mark and takeoff point, by the way that the number of targets of every unmanned frame inspection of frame is arranged, when balancing total flight of every frame unmanned plane
It is long.
In Fig. 3,4 frame unmanned planes and 4 transmission towers are corresponded, and are flown from takeoff point along inspection path to corresponding
Near transmission tower, flies according to patrolled and examined track around transmission tower to carry out Image Acquisition to transmission tower, adopted completing image
After collection along inspection make a return voyage road return takeoff point.From the figure 3, it may be seen that since the starting point and terminal of patrolled and examined track be not usually a position
It sets, therefore path is set out in inspection and inspection path of making a return voyage also not necessarily while being not necessarily to be arranged to be overlapped, in fact,
Under certain occasions, starting point and make a return voyage a little can not also be identical, to realize the dynamic dispatching of patrol task.
A kind of multiple no-manned plane cooperation method for inspecting suitable for region transmission line of electricity that the present invention refers to includes following four portion
Point:
One, it obtains and parses patrol task
Unmanned plane cooperative control system can obtain the patrol task of external importing by communication device, also can be set
One patrol task generation module, is operated by staff to automatically generate patrol task.
After obtaining or generating patrol task, patrol task is parsed, region transmission line of electricity to be inspected is drawn
It is divided into several region of patrolling and examining, each region of patrolling and examining distributes a frame unmanned plane.It should be appreciated that region of patrolling and examining does not limit inspection target
Region of patrolling and examining can be arranged according to patrol task amount in quantity.
Two, inspection route is generated, unmanned plane is imported
In step S2, it is described be directed to each region of patrolling and examining, in conjunction with each region of patrolling and examining transmission line of electricity coordinate information and
Height above sea level, generate non-interfering several inspection routes the following steps are included:
S21: obtaining the inspection route of the unmanned plane for the task that is carrying out, the obstacle information of each region of patrolling and examining, in conjunction with
No-fly height, generating allows flight range.
S22: obtaining the coordinate information and height above sea level of the transmission line of electricity of each region of patrolling and examining, is believed with the coordinate of transmission line of electricity
Several flight path points are arranged for reference in breath, are allowing to generate non-interfering several inspection roads within the scope of flight range
Line.
S23: choosing several camera sites in every inspection route, and the shooting angle of each shot location is arranged, claps
Take the photograph parameter.
In the present embodiment, patrolled and examined track includes the coordinate information of transmission line of electricity and its height above sea level, picture-taking position, takes pictures
Angle and camera parameters.
(1) inspection trip path (inspection set out path, inspection make a return voyage path): multiple UAVs can take off in open ground point
And landing, it will there are a certain distance from respective patrolled and examined track；Unmanned plane cooperative control system in the present invention can be every
A unmanned plane trial to be taken off calculates suitable inspection trip path, and unmanned plane will be flown after take off by this path
Toward the initial position of its correspondence patrolled and examined track, and from the end position of patrolled and examined track after the access for completing entire patrolled and examined track
Along inspection trip path make a return voyage departure location nearby execute landing recycling.Unmanned plane cooperative control system in the present invention will be true
Protect the inspection trip path that provides of design will not with transmission tower, route, barrier known to other, in this subjob other inspections
The position of unmanned plane clash.Inspection trip path will also be inputted as input parameter in unmanned plane standby for takeoff
Into unmanned machine equipment control system.
In one of example, several inspection routes of generation meet following conditions:
It is less than the minimum range between setting length threshold, every two inspection routes with the length of every inspection route to be greater than
The total length of condition premised on set distance threshold value, the inspection route of generation is most short, is clashed between unmanned plane with reducing
Risk, and reduce unmanned plane power consumption, shorten the patrol task execution time.
(2) patrolled and examined track: the inspection process of unmanned plane is believed by a series of coordinate in transmission tower and polling transmission line
It ceases the track that the information such as (GPS position information) and height above sea level are formed to determine, wherein containing specific camera site and shooting
Angle, acquisition parameters etc., when unmanned plane inspection, which can traverse track and then carry out hovering in the corresponding position, takes pictures.Wherein, inspection
Track is flown in advance by unmanned plane to be recorded or is generated by measuring calculating to transmission line of electricity；It can exist as input parameter
It is input to when unmanned plane standby for takeoff in unmanned plane and is executed by it as one of parameter of the subtask.
Three, patrol task is executed
It is described inspection is carried out to the transmission line of electricity in region of patrolling and examining according to patrolled and examined track to take pictures packet in step S3 in conjunction with Fig. 2
Include following steps:
S31: fly along inspection path of setting out to region of patrolling and examining in response to unmanned plane, drive unmanned plane according to patrolled and examined track to defeated
Electric line carries out inspection, and obtains the location information of unmanned plane in real time.
S32: the real-time position information of unmanned plane is compared with the camera site prestored, if compared successfully, drives nothing
Man-machine hovering simultaneously obtains current shooting angle, acquisition parameters, the shooting angle that will acquire, acquisition parameters and prestoring with the bat
It acts as regent and sets corresponding shooting angle, acquisition parameters compare.
If 1) compared successfully, take pictures to the transmission line of electricity of current location.
If 2) compare failure, shooting angle, acquisition parameters are adjusted, makes it and prestores corresponding with the camera site
Shooting angle, acquisition parameters are consistent, take pictures to the transmission line of electricity of current location.
S33: driving unmanned plane to continue to fly along patrolled and examined track, above mentioned step S3 2 is repeated, to the power transmission line in region of patrolling and examining
Inspection is continued on road, until the starting point in the path that flies to inspection to make a return voyage.
Four, unmanned plane, storage acquisition data are recycled
After unmanned plane completes patrol task, unmanned plane is driven to send the image of the transmission tower of shooting and transmission line of electricity
To unmanned plane cooperative control system.Meanwhile staff's row collects the successful unmanned plane that makes a return voyage to making a return voyage, goes to next patrol
Examine place.
In other examples, the method also includes:
Abnormal signal is sent in response to any one frame unmanned plane, generating warning information, and/or switching this unmanned plane is hand
Dynamic control or semiautomatic control.
The present invention is applied to the unmanned plane in polling transmission line and automates inspection technology, and multiple UAVs will be defeated to region
Electric line executes parallel and patrols tower and take pictures, and multiple UAVs can be made to patrol with what substantially parallel efficiency was completed respectively to be distributed
Inspection task, and the centralized recovery after completion task are greatly decreased manual intervention operation, save monitoring time, effectively improve inspection
Efficiency is convenient for Rapid Popularization application.
The normal patrol task process of every frame unmanned plane is set to 5 stages, takeoff phase, inspection target of flying to by the present invention
Stage, the inspection stage of taking pictures, the stage of making a return voyage, landing phases；Each stage has corresponding operation rule, can ensure process peace
It is sequentially carried out in the case where complete, and energy and alarm and notice manual intervention recycling when occurring abnormal.Transmission tower inspection road
Line is transferred to unmanned plane before unmanned plane takes off, guarantee unmanned plane in inspection, due to cause outside the certain distance that flies out and nobody
It still can independently go to execute when the network communication of machine cooperative control system is unstable or generates certain delay and completion inspection is appointed
Business.Before a frame unmanned plane will take off and start inspection, unmanned plane cooperative control system can currently be held in the air by synthesis
The quantity and state of the unmanned plane of row task calculate the unmanned plane for being adapted to suitable 5 stages of this unmanned plane to be taken off
Cooperative control system avoids rushing for the possibility of itself and transmission line of electricity, transmission tower, other unmanned planes generation during inspection
Prominent and collision is dangerous.
The detailed process of the multiple no-manned plane cooperation method for inspecting of region transmission line of electricity of the present invention are as follows:
(1) takeoff phase
Field personnel selectes a frame unmanned plane, confirms unmanned plane and unmanned machine equipment control system state, passes through
Operation interface specifies the specific inspection target of unmanned plane and request to take off, and unmanned plane cooperative control system of the invention is then inquired
Corresponding patrolled and examined track and generation inspection trip path, are sent to unmanned machine equipment control system, later unmanned machine equipment manipulation
System manipulates unmanned plane vertical takeoff.
(2) it flies to the inspection target phase
Unmanned plane should be kept and the flight of the path for patrolled and examined track initial position of flying in the inspection trip path is straight
To arrival target location.
(3) inspection is taken pictures the stage
Unmanned plane will fly along patrolled and examined track, successively access and on the way camera site hovering, and adjust flight with
Camera angle is taken pictures.
(4) it makes a return voyage the stage
It is attached to return to departure place along the return route in inspection trip path after terminating specific inspection process for unmanned plane
Nearly hovering, waits landing.
(5) landing phases
Unmanned plane to be landed will hover, and unmanned machine equipment control system receives and prompts the finger that flies to according to it after landing is ordered
Determine place landing or artificial adapter tube landing automatically according to demand.
When multiple UAVs inspection operation of the present invention, takeoff phase and landing phases can be manually performed according to place election
The auxiliary device of scheduling or cooperation adaptation, software carry out automatic, semi-automatic scheduling, and other steps all can parallel mutually not
The mode of interference is completed.
The planning of transmission tower inspection route: the unmanned plane cooperative control system in the present invention is for above-mentioned unmanned plane during flying
When the flight inspection route to be arranged, provide algorithmic rule function, comprising: for prepare start execution task but not yet take off
Unmanned plane selection it is suitable not with other execute tasks the duplicate electric power line pole tower of unmanned plane target and corresponding inspection
Track；According to the patrolled and examined track that unmanned plane is selected, plans that suitable inspection trip path is connected and planned as one
Transmission tower inspection route；Pass course is planned in Given information, guarantees to execute the aircraft of patrol task in same batch
Safety, avoids unmanned plane from driving into no-fly height, and the different sortie unmanned planes that are staggered as far as possible on the basis of considering GPS error execute
Minimum distance when task.
In the present embodiment, the environmental requirement before transmission tower inspection and emergency are handled: the inspection target of unmanned plane
It must assure that weather conditions well descend naked eyes straight line as it can be seen that also to guarantee not having on the possible flight path of unmanned plane unknown
Or the barrier of mobile type.Signal of communication should be reliable and stable, two groups of unmanned aerial vehicle groups in proximate region through the invention
When system carries out transmission tower inspection, it should be ensured that region remains to spaced apart, and there is no weights for the shaft tower of inspection and route
It is multiple.
Operational staff should assess the maintenance of current weather conditions and unmanned plane when executing task using this system
The state of state, unmanned machine equipment control system.Every frame unmanned plane all must be equipped with corresponding remote control device, once abnormal conditions
Occur, can go processing unexpected in such a way that first time is by artificial access operation.
Specific embodiment two
Based on preceding method, the present invention further mentions a kind of multiple no-manned plane cooperation cruising inspection system suitable for region transmission line of electricity,
If the system comprises unmanned plane, unmanned plane cooperative control system, communication device is quarreled, the unmanned plane cooperative control system is logical
It crosses communication device and unmanned plane carries out data interaction.
The unmanned plane cooperative control system comprises the following modules:
1) for receiving patrol task, patrol task is parsed, if region transmission line of electricity to be inspected is divided into
Dry region of patrolling and examining, each region of patrolling and examining distribute the module of a frame unmanned plane.
2) for being directed to each region of patrolling and examining, in conjunction with the coordinate information and height above sea level of the transmission line of electricity of each region of patrolling and examining
Degree generates non-interfering several inspection routes, the inspection route of generation is imported to the module of unmanned plane, institute correspondingly
Stating inspection route includes that set out path, patrolled and examined track, inspection of inspection is maked a return voyage path.
3) for driving unmanned plane to take off, and this patrol task is executed according to the corresponding inspection route of importing
Module, it is specific:
Fly along inspection path of setting out to region of patrolling and examining, inspection is carried out to the transmission line of electricity in region of patrolling and examining according to patrolled and examined track
After taking pictures, along inspection make a return voyage path return level point.
The present invention also provides a kind of multiple no-manned plane of region transmission line of electricity cooperate cruising inspection system embodiment, including multi rack nobody
Machine, the unmanned plane cooperative control system that communication control is carried out with multiple UAVs；Unmanned plane cooperative control system control multi rack without
It is man-machine to take pictures to transmission line of electricity progress inspection in region to be inspected；Specifically, unmanned plane and unmanned plane cooperative control system are used
In the multiple no-manned plane cooperation method for inspecting for executing region transmission line of electricity described in embodiment one.
Unmanned plane of the invention has unmanned machine equipment control system: unmanned machine equipment control system will be according to certain time
Interval, which is constantly sent to the server background of unmanned plane cooperative control system, updates oneself state, includes changing coordinates and flight
The information such as situation, and newest operational order is obtained from unmanned plane cooperative control system backstage, it is manipulated in unmanned machine equipment
When system gets beginning takeoff order, the round-trip road of inspection for carrying out inspection to inspection target can be obtained from order simultaneously
Diameter and patrolled and examined track, and synthesize the transmission tower inspection route of an entirety, in the case where and no manual intervention normal in equipment,
Start to execute transmission tower patrol task according to route.
Unmanned plane cooperative control system can be deployed in server, which connect progress with multiple UAVs by network
Communication forms a star-shaped topological structure, and the real-time shape of unmanned plane is constantly obtained using a set of communication protocol defined
State parameter and on demand to unmanned plane send order, the purpose reaching integrated planning and orderly manipulating.It is real-time by software algorithm
Calculation scheduling realizes that multiple UAVs complete the inspection bat of several transmission towers and transmission line of electricity in a region safe and orderlyly
According to.
The unmanned plane cooperative control system method of operation of the invention is established in software, mathematical algorithm and Principle of Communication base
On plinth, multiple UAVs will be equipped with corresponding small drone cooperative control system, for cooperateing with unmanned plane of the invention
After control system is communicated, and the data format by defining the agreement based on Http is to unmanned plane cooperative control system
Platform carries out status data transfers and obtains newest order, and manipulation unmanned plane executes unmanned plane cooperative control system in the present invention
The specific patrol task transmitted after calculating.When various detectable exceptions occur, lost as not enough power supply needs make a return voyage, position coordinate
Lose etc., unmanned machine equipment control system can take information back to the backstage that unmanned plane cooperative control system of the invention is disposed
Be engaged in device, thus unmanned plane cooperative control system can be made according to situation urgency level accordingly notify or prompt staff on the scene into
Row adapter tube.When unmanned plane control system guidance unmanned plane smoothly completes the transmission tower patrol task that it is distributed, it will will
Collection of photographs captured by this subtask sends unmanned plane cooperative control system, or is saved in designated position.
Unmanned plane cooperative control system in the present invention, which can operate on, is mounted with the big portion such as windows, linux, macox
In the server of point mainstream operation system, and included realize a set of communication with UAV system based on message queue design
And data exchange agreement, it is only necessary to define necessary data format can simple realization software and hardware communication, can also be on this basis
It is convenient to define coded communication agreement.
Various aspects with reference to the accompanying drawings to describe the present invention in the disclosure, shown in the drawings of the embodiment of many explanations.
Embodiment of the disclosure need not be defined on including all aspects of the invention.It should be appreciated that a variety of designs and reality presented hereinbefore
Those of apply example, and describe in more detail below design and embodiment can in many ways in any one come it is real
It applies, this is because conception and embodiment disclosed in this invention are not limited to any embodiment.In addition, disclosed by the invention one
A little aspects can be used alone, or otherwise any appropriately combined use with disclosed by the invention.
Although the present invention has been disclosed as a preferred embodiment, however, it is not to limit the invention.Skill belonging to the present invention
Has usually intellectual in art field, without departing from the spirit and scope of the present invention, when can be used for a variety of modifications and variations.Cause
This, the scope of protection of the present invention is defined by those of the claims.
Claims (10)
- The method for inspecting 1. a kind of multiple no-manned plane suitable for region transmission line of electricity cooperates, which is characterized in that the described method includes:S1: obtaining patrol task, include region transmission line of electricity to be inspected in patrol task, parse to patrol task, Region transmission line of electricity to be inspected is divided into several region of patrolling and examining, each region of patrolling and examining distributes a frame unmanned plane；S2: being directed to each region of patrolling and examining, in conjunction with the coordinate information and height above sea level of the transmission line of electricity of each region of patrolling and examining, generates mutual The inspection route of generation is imported unmanned plane by several inspection routes not interfered correspondingly, and the inspection route includes Set out path, patrolled and examined track, inspection of inspection is maked a return voyage path；S3: driving unmanned plane to take off, and executes this patrol task according to the corresponding inspection route of importing, specifically :Fly along inspection path of setting out to region of patrolling and examining, inspection is carried out to the transmission line of electricity in region of patrolling and examining according to patrolled and examined track and is taken pictures Afterwards, along inspection make a return voyage path return level point.
- The method for inspecting 2. multiple no-manned plane according to claim 1 suitable for region transmission line of electricity cooperates, which is characterized in that institute State method further include:The image of the transmission tower of shooting and transmission line of electricity is sent to unmanned plane cooperative control system.
- The method for inspecting 3. multiple no-manned plane according to claim 1 suitable for region transmission line of electricity cooperates, which is characterized in that institute Patrolled and examined track is stated, uses unmanned plane to fly in advance and records, and/or calculating is measured with life to the transmission line of electricity of region of patrolling and examining At.
- The method for inspecting 4. multiple no-manned plane according to claim 1 suitable for region transmission line of electricity cooperates, which is characterized in that step It is described to be directed to each region of patrolling and examining in rapid S2, it is raw in conjunction with the coordinate information and height above sea level of the transmission line of electricity of each region of patrolling and examining At non-interfering several inspection routes the following steps are included:S21: the inspection route of the unmanned plane for the task that is carrying out, the obstacle information of each region of patrolling and examining are obtained, in conjunction with no-fly Highly, generating allows flight range；S22: obtaining the coordinate information and height above sea level of the transmission line of electricity of each region of patrolling and examining, is with the coordinate information of transmission line of electricity With reference to several flight path points are arranged, allowing to generate non-interfering several inspection routes within the scope of flight range；S23: choosing several camera sites in every inspection route, and shooting angle, the shooting ginseng of each shot location is arranged Number.
- The method for inspecting 5. multiple no-manned plane according to claim 4 suitable for region transmission line of electricity cooperates, which is characterized in that step In rapid S22, several inspection routes of generation meet following conditions:It is less than the minimum range between setting length threshold, every two inspection routes with the length of every inspection route and is greater than setting The total length of condition premised on distance threshold, the inspection route of generation is most short.
- The method for inspecting 6. multiple no-manned plane according to claim 4 suitable for region transmission line of electricity cooperates, which is characterized in that step In rapid S23, the inspection route, camera site, shooting angle, acquisition parameters are flown in advance using unmanned plane to be recorded, and/or ties Close transmission line of electricity, the actual parameter of transmission tower is calculated.
- The method for inspecting 7. multiple no-manned plane according to claim 1 suitable for region transmission line of electricity cooperates, which is characterized in that step In rapid S3, it is described according to patrolled and examined track to the transmission line of electricity in region of patrolling and examining carry out inspection take pictures the following steps are included:S31: fly along inspection path of setting out to region of patrolling and examining in response to unmanned plane, drive unmanned plane according to patrolled and examined track to power transmission line Road carries out inspection, and obtains the location information of unmanned plane in real time；S32: the real-time position information of unmanned plane is compared with the camera site prestored, if compared successfully, drives unmanned plane It hovers and obtains current shooting angle, acquisition parameters, the shooting angle that will acquire, acquisition parameters and prestoring with the shooting position Set corresponding shooting angle, acquisition parameters compare:If 1) compared successfully, take pictures to the transmission line of electricity of current location；If 2) compare failure, shooting angle, acquisition parameters, the shooting corresponding with the camera site for making it and prestoring are adjusted Angle, acquisition parameters are consistent, take pictures to the transmission line of electricity of current location；S33: driving unmanned plane to continue to fly along patrolled and examined track, repeat above mentioned step S3 2, to the transmission line of electricity in region of patrolling and examining after Continuous inspection, until the starting point in the path that flies to inspection to make a return voyage.
- The method for inspecting 8. multiple no-manned plane according to claim 1 suitable for region transmission line of electricity cooperates, which is characterized in that institute State method further include:Abnormal signal is sent in response to any one frame unmanned plane, generating warning information, and/or switching this unmanned plane is control manually System or semiautomatic control.
- The method for inspecting 9. multiple no-manned plane according to claim 1 suitable for region transmission line of electricity cooperates, which is characterized in that institute State method further include:In conjunction with the distance between inspection target and takeoff point, inspection target type, by the target that every unmanned frame inspection of frame is arranged Number, balances total flight duration of every frame unmanned plane.
- The cruising inspection system 10. a kind of multiple no-manned plane suitable for region transmission line of electricity cooperates, which is characterized in that the system comprises several Frame unmanned plane, unmanned plane cooperative control system, communication device, the unmanned plane cooperative control system pass through communication device and nobody Machine carries out data interaction；The unmanned plane cooperative control system comprises the following modules:For receiving patrol task, patrol task is parsed, region transmission line of electricity to be inspected is divided into several and is patrolled Region is examined, each region of patrolling and examining distributes the module of a frame unmanned plane；For being directed to each region of patrolling and examining, in conjunction with the coordinate information and height above sea level of the transmission line of electricity of each region of patrolling and examining, generate The inspection route of generation, is imported the module of unmanned plane, the inspection by non-interfering several inspection routes correspondingly Route includes that set out path, patrolled and examined track, inspection of inspection is maked a return voyage path；For driving unmanned plane to take off, and execute according to the corresponding inspection route of importing the mould of this patrol task Block, specific:Fly along inspection path of setting out to region of patrolling and examining, inspection is carried out to the transmission line of electricity in region of patrolling and examining according to patrolled and examined track and is taken pictures Afterwards, along inspection make a return voyage path return level point.
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| CN117876624B (en) * | 2024-03-13 | 2024-05-07 | 纵古(江苏)智能科技有限公司 | Complex environment track planning method based on unmanned aerial vehicle remote sensing image |
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