CN110011223B - Multi-unmanned aerial vehicle cooperative inspection method and system suitable for regional power transmission line - Google Patents
Multi-unmanned aerial vehicle cooperative inspection method and system suitable for regional power transmission line Download PDFInfo
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- CN110011223B CN110011223B CN201910375597.0A CN201910375597A CN110011223B CN 110011223 B CN110011223 B CN 110011223B CN 201910375597 A CN201910375597 A CN 201910375597A CN 110011223 B CN110011223 B CN 110011223B
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- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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Abstract
The invention discloses a multi-unmanned aerial vehicle cooperative inspection method suitable for regional power transmission lines, which comprises the following steps: s1: acquiring a polling task, dividing a regional power transmission line to be polled into a plurality of polling regions, and distributing an unmanned aerial vehicle to each polling region; s2: generating a plurality of routing inspection routes which are not interfered with each other by combining the coordinate information and the altitude of the power transmission line of each routing inspection area according to each routing inspection area, and guiding the generated routing inspection routes into the unmanned aerial vehicle in a one-to-one correspondence manner; s3: and driving the unmanned aerial vehicle to take off, and executing the inspection task according to the imported inspection route corresponding to the unmanned aerial vehicle. According to the invention, multiple unmanned aerial vehicles can be adopted to carry out tower patrol and photo in parallel on the regional power transmission line, so that the multiple unmanned aerial vehicles can complete respective distributed patrol tasks with basically parallel efficiency, and the unmanned aerial vehicles are recovered in a centralized manner after the tasks are completed, thereby greatly reducing manual intervention operation, reducing error rate, saving patrol time and effectively improving patrol efficiency.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle power line inspection, in particular to a multi-unmanned aerial vehicle cooperative inspection method and system suitable for regional power transmission lines.
Background
An Unmanned Aerial Vehicle (UAV), which is an Unmanned Aerial Vehicle operated by using a radio remote control device and a self-contained program control device, is an Unmanned Aerial Vehicle that carries a camera system, conforms to the management specification of a power transmission line system, can be operated by a human flight hand, and can also execute an automatic tower patrol task under software control by recording a prerecorded patrol point.
In the task is patrolled and examined to present unmanned aerial vehicle, still use experienced control personnel to use equipment such as remote controller to carry out whole control to unmanned aerial vehicle, realize by the barrier, reach appointed position and angle of adjustment and take a series of actions such as shoot, it is higher to operating personnel's requirement, when patrolling and examining the target numerous, patrol and examine inefficiency, operating personnel pressure is big, take place easily such as omit patrol and examine the error of patrolling and examining such as place, lead to repeatedly patrolling and examining.
Disclosure of Invention
The invention aims to provide a multi-unmanned aerial vehicle cooperative inspection method and a multi-unmanned aerial vehicle cooperative inspection system suitable for regional power transmission lines, wherein the regional power transmission lines to be inspected are divided into a plurality of inspection regions, each inspection region is distributed with one unmanned aerial vehicle, and the plurality of unmanned aerial vehicles are adopted to perform tower inspection and photographing on the regional power transmission lines in parallel, so that the plurality of unmanned aerial vehicles finish respective distributed inspection tasks with basically parallel efficiency, and the unmanned aerial vehicles are recovered in a centralized manner after the tasks are finished, thereby greatly reducing manual intervention operation, reducing error rate, saving inspection time and effectively improving inspection efficiency; in addition, the routing inspection route is transmitted to the unmanned aerial vehicle before the unmanned aerial vehicle takes off, so that the unmanned aerial vehicle can still independently execute and complete the routing inspection task even if the unmanned aerial vehicle flies out for a certain distance to cause the problems of unstable network communication with an unmanned aerial vehicle cooperative control system or certain delay and the like.
In order to achieve the above purpose, with reference to fig. 1, the present invention provides a cooperative inspection method for multiple unmanned aerial vehicles for regional power transmission lines, where the method includes:
s1: the method comprises the steps of obtaining a polling task, wherein the polling task comprises a regional power transmission line to be polled, analyzing the polling task, dividing the regional power transmission line to be polled into a plurality of polling areas, and distributing an unmanned aerial vehicle to each polling area.
S2: aiming at each routing inspection area, coordinate information and altitude of a power transmission line of each routing inspection area are combined to generate a plurality of routing inspection lines which are not interfered with each other, the generated routing inspection lines are led into the unmanned aerial vehicle in a one-to-one correspondence mode, and the routing inspection lines comprise routing inspection starting paths, routing inspection tracks and routing inspection return paths.
S3: order to drive unmanned aerial vehicle to take off to according to leading-in route of patrolling and examining that corresponds with it and carrying out this task of patrolling and examining, it is specific:
and flying to the inspection area along the inspection starting path, and returning to the falling point along the inspection return path after the power transmission line in the inspection area is inspected and photographed according to the inspection track.
Based on the method, the invention also provides a multi-unmanned aerial vehicle cooperative inspection system suitable for regional power transmission lines, the system comprises a plurality of unmanned aerial vehicles, an unmanned aerial vehicle cooperative control system and a communication device, and the unmanned aerial vehicle cooperative control system performs data interaction with the unmanned aerial vehicles through the communication device.
The unmanned aerial vehicle cooperative control system comprises the following modules:
1) the module is used for receiving the polling task, analyzing the polling task, dividing the regional power transmission line to be polled into a plurality of polling regions, and distributing an unmanned aerial vehicle in each polling region.
2) The unmanned aerial vehicle inspection system is used for generating a plurality of inspection routes which are not interfered with each other according to each inspection area by combining coordinate information and altitude of power transmission lines of each inspection area, and leading the generated inspection routes into modules of the unmanned aerial vehicle in a one-to-one correspondence mode, wherein the inspection routes comprise inspection starting routes, inspection tracks and inspection return routes.
3) A module for driving unmanned aerial vehicle takes off to patrol and examine the task this according to leading-in the route of patrolling and examining that corresponds with it, it is specific:
and flying to the inspection area along the inspection starting path, and returning to the falling point along the inspection return path after the power transmission line in the inspection area is inspected and photographed according to the inspection track.
The inspection task of the transmission tower has the following characteristics: the target of patrolling and examining belongs to fixed object to the position that is fit for carrying out unmanned aerial vehicle and patrols and examines above that is comparatively spacious, does not have the obstacle that complicated is difficult to judge. This just provides the optimization thinking for transmission tower's unmanned aerial vehicle patrols and examines:
the track formed by connecting a plurality of specific fixed coordinate positions defined by information such as the GPS position and the altitude of the power transmission line is used for defining the routing inspection route of the unmanned aerial vehicle, so that the unmanned aerial vehicle can automatically fly and take pictures, and the unmanned aerial vehicle can be reused for many times. In addition, according to the position distribution of the transmission towers in an inspection area, coordinates contained in the inspection route tracks are marked on a map to be point-gathered and then are often distributed in a gathering mode.
When the multi-unmanned-aerial-vehicle cooperative inspection method suitable for regional power transmission lines is applied to actual task deployment, multiple unmanned aerial vehicles can be uniformly conveyed to a place near an inspection region through a transport tool, and a small amount of field personnel can be equipped to carry out tasks. The unmanned aerial vehicle can be produced by the flight information recorded in advance to the specific routing inspection route and the photographing angle of the self routing inspection target, and can also be imported from a safe and effective data source, and the back-and-forth flight route which is flown to the routing inspection place from the departure point, navigated back after completing the routing inspection and recycled is scheduled and generated by the unmanned aerial vehicle cooperative control system. On-site personnel only need pay close attention to the take-off and recovery process of the unmanned aerial vehicle in the task, and deal with the manual takeover under a few emergency situations.
In order to realize state information transmission and instruction receiving between the unmanned aerial vehicles and the unmanned aerial vehicle cooperative control system, each unmanned aerial vehicle is provided with a corresponding software and hardware communication system, and the communication and data format is based on http and a protocol of a message queue. The unmanned aerial vehicle cooperative control system can be deployed on a PC server under the condition of ensuring stable communication with the unmanned aerial vehicle and a take-off and landing platform, and schedules and completes routing inspection tasks under the described scene through customized browser front-end operation or web service commands.
Compared with the prior art, the technical scheme of the invention has the following remarkable beneficial effects:
1) according to the invention, the unmanned aerial vehicle automatic inspection technology is applied to inspect the regional power transmission line, and the multiple unmanned aerial vehicles perform tower inspection and photo shooting on the regional power transmission line in parallel, so that the multiple unmanned aerial vehicles can complete inspection tasks distributed by the multiple unmanned aerial vehicles with basically parallel efficiency and can be recovered in a centralized manner after the tasks are completed, thereby greatly reducing manual intervention operation, saving inspection time, effectively improving inspection efficiency and facilitating rapid popularization and application.
2) The routing inspection route is transmitted to the unmanned aerial vehicle before the unmanned aerial vehicle takes off, so that the unmanned aerial vehicle can still independently execute and complete routing inspection tasks even if the unmanned aerial vehicle flies out for a certain distance to cause unstable network communication with an unmanned aerial vehicle cooperative control system or generate certain delay and other problems when the unmanned aerial vehicle is in routing inspection.
It should be understood that all combinations of the foregoing concepts and additional concepts described in greater detail below can be considered as part of the inventive subject matter of this disclosure unless such concepts are mutually inconsistent. In addition, all combinations of claimed subject matter are considered a part of the presently disclosed subject matter.
The foregoing and other aspects, embodiments and features of the present teachings can be more fully understood from the following description taken in conjunction with the accompanying drawings. Additional aspects of the present invention, such as features and/or advantages of exemplary embodiments, will be apparent from the description which follows, or may be learned by practice of specific embodiments in accordance with the teachings of the present invention.
Drawings
The drawings are not intended to be drawn to scale. In the drawings, each identical or nearly identical component that is illustrated in various figures may be represented by a like numeral. For purposes of clarity, not every component may be labeled in every drawing. Embodiments of various aspects of the present invention will now be described, by way of example, with reference to the accompanying drawings, in which:
fig. 1 is a flow chart of the multi-unmanned aerial vehicle cooperative inspection method suitable for regional power transmission lines.
Fig. 2 is a flow chart of the inspection photographing method of the invention.
Fig. 3 is a schematic diagram of a routing inspection route according to one example of the present invention.
Detailed Description
In order to better understand the technical content of the present invention, specific embodiments are described below with reference to the accompanying drawings.
Detailed description of the preferred embodiment
With reference to fig. 1, the present invention provides a cooperative inspection method for multiple unmanned aerial vehicles for regional power transmission lines, where the method includes:
s1: the method comprises the steps of obtaining a polling task, wherein the polling task comprises a regional power transmission line to be polled, analyzing the polling task, dividing the regional power transmission line to be polled into a plurality of polling areas, and distributing an unmanned aerial vehicle to each polling area.
S2: aiming at each routing inspection area, coordinate information and altitude of a power transmission line of each routing inspection area are combined to generate a plurality of routing inspection lines which are not interfered with each other, the generated routing inspection lines are led into the unmanned aerial vehicle in a one-to-one correspondence mode, and the routing inspection lines comprise routing inspection starting paths, routing inspection tracks and routing inspection return paths.
Preferably, the inspection track is generated by adopting an unmanned aerial vehicle to fly and record in advance and/or measuring and calculating the power transmission line of an inspection area.
S3: order to drive unmanned aerial vehicle to take off to according to leading-in route of patrolling and examining that corresponds with it and carrying out this task of patrolling and examining, it is specific:
and flying to the inspection area along the inspection starting path, and returning to the falling point along the inspection return path after the power transmission line in the inspection area is inspected and photographed according to the inspection track.
Fig. 3 is a schematic diagram of an inspection route of one example, and a multi-unmanned aerial vehicle cooperative inspection method suitable for regional power transmission lines, which is provided by the invention, is explained in detail with reference to fig. 3.
Suppose this task of patrolling and examining includes four transmission tower (transmission tower 1, transmission tower 2, transmission tower 3, transmission tower 4) that wait to patrol and examine, 4 unmanned aerial vehicle unified transports the place near the region of patrolling and examining through the transport means, in this example, set up unmanned aerial vehicle's departure point between four transmission tower, in fact, in practical application, consider to patrol and examine the route setting, set up unmanned aerial vehicle's departure point and can effectively reduce the interference that unmanned aerial vehicle patrolled and examined between the route between the transmission tower that waits to patrol and examine, simultaneously, do benefit to and shorten the difference between the unmanned aerial vehicle execution task total length, the staff of being convenient for is unified the dispatch to unmanned aerial vehicle.
In some examples, the arrangement mode of the transmission towers to be inspected is a long row, and for the situation, the flying point of the unmanned aerial vehicle can be arranged in the central position area of the long row, so that the total flight time of the unmanned aerial vehicle executing the inspection tasks at two ends is close.
Further, if the number of the polling targets is larger than that of the unmanned aerial vehicles executing polling tasks, the total flight time of each unmanned aerial vehicle is balanced by setting the number of the polling targets of each unmanned aerial vehicle and the distance between the polling targets and the departure point.
In fig. 3, 4 unmanned aerial vehicles correspond to 4 transmission towers one by one, fly to the vicinity of the corresponding transmission tower from the flying point along the routing inspection departure path, fly around the transmission tower according to the routing inspection trajectory to acquire images of the transmission tower, and return to the flying point along the routing inspection return path after completing the image acquisition. As can be seen from fig. 3, since the start point and the end point of the routing inspection track are usually not located at the same position, the routing inspection start path and the routing inspection return path are not necessarily set to coincide with each other, and actually, in some occasions, the start point and the return point may be different from each other, so as to implement dynamic scheduling of the routing inspection task.
The invention provides a multi-unmanned-aerial-vehicle cooperative inspection method suitable for regional power transmission lines, which comprises the following four parts:
first, acquiring and analyzing inspection task
Unmanned aerial vehicle cooperative control system can also set up a task of patrolling and examining generation module in order to obtain the leading-in task of patrolling and examining of outside through communication device, is operated in order to automatically generate by the staff and patrols and examines the task.
After the routing inspection task is obtained or generated, the routing inspection task is analyzed, the regional power transmission line to be routed is divided into a plurality of routing inspection regions, and each routing inspection region is allocated with one unmanned aerial vehicle. It should be understood that the number of the inspection targets is not limited to the inspection area, and the inspection area may be set according to the inspection task amount.
Secondly, generating a routing inspection route and leading in the unmanned aerial vehicle
In step S2, generating a plurality of routing inspection routes that are not interfered with each other by combining the coordinate information and the altitude of the power transmission line of each routing inspection area for each routing inspection area includes the following steps:
s21: the method comprises the steps of obtaining an inspection route of the unmanned aerial vehicle executing the task and obstacle information of each inspection area, and generating a flight-allowable area by combining the flight-forbidden height.
S22: the coordinate information and the altitude of the power transmission line of each inspection area are obtained, a plurality of flight track points are set by taking the coordinate information of the power transmission line as a reference, and a plurality of inspection routes which are not interfered with each other are generated in the range of the allowed flight area.
S23: and selecting a plurality of shooting positions on each routing inspection route, and setting a shooting angle and shooting parameters at each shooting position.
In this embodiment, the inspection trajectory includes coordinate information of the power transmission line, an altitude thereof, a photographing position, a photographing angle, and a photographing parameter.
(1) Round-trip route (round-trip departure route, round-trip return route): a plurality of unmanned aerial vehicles can take off and land in an open place, and certain distances exist between the respective routing inspection tracks; the unmanned aerial vehicle cooperative control system can try to calculate a proper routing inspection round-trip path for each unmanned aerial vehicle to take off, the unmanned aerial vehicle flies to the initial position of the corresponding routing inspection track through the path after taking off, and the unmanned aerial vehicle returns to the vicinity of the take-off place along the routing inspection round-trip path from the end position of the routing inspection track after finishing the access of the whole routing inspection track to execute landing recovery. The unmanned aerial vehicle cooperative control system ensures that the designed round-trip route of the inspection does not conflict with the positions of the transmission tower, the line, other known obstacles and other unmanned aerial vehicles in the inspection in the operation. The routing inspection round-trip path is also used as an input parameter to be input into the unmanned aerial vehicle equipment control system when the unmanned aerial vehicle is ready to take off.
In one example, the generated plurality of routing inspection routes satisfy the following conditions:
the method is characterized in that the length of each routing inspection route is smaller than a set length threshold, the minimum distance between every two routing inspection routes is larger than a set distance threshold, and the generated routing inspection route has the shortest total length so as to reduce the risk of conflict between unmanned aerial vehicles, reduce the power consumption of the unmanned aerial vehicles and shorten the execution time of routing inspection tasks.
(2) And (3) routing inspection track: the unmanned aerial vehicle patrol inspection process in the transmission tower and transmission line patrol inspection is determined by a track formed by a series of coordinate information (GPS position information) and information such as altitude, wherein the track comprises a specific shooting position, a shooting angle, a shooting parameter and the like, and the unmanned aerial vehicle can traverse the track and then hover and shoot at the corresponding position when patrolling the unmanned aerial vehicle. The inspection track is generated by means of pre-flying recording of the unmanned aerial vehicle or measurement calculation of the power transmission line; will be entered into the drone as an input parameter when it is ready to take off as one of the parameters for this mission to be executed by it.
Thirdly, executing the polling task
With reference to fig. 2, in step S3, the photographing of the power transmission line in the inspection area according to the inspection trajectory includes the following steps:
s31: flying to the patrol and examine area along patrolling and examining the starting path in response to unmanned aerial vehicle, order about unmanned aerial vehicle and patrol and examine transmission line according to patrolling and examining the orbit to and acquire unmanned aerial vehicle's positional information in real time.
S32: compare unmanned aerial vehicle's real-time position information and the shooting position of prestoring, if compare successfully, order about unmanned aerial vehicle and hover and acquire present shooting angle, shooting parameter, with the shooting angle that will acquire, shooting parameter and prestore with the shooting position corresponds, shooting parameter do the comparison.
1) And if the comparison is successful, photographing the power transmission line at the current position.
2) And if the comparison fails, adjusting the shooting angle and the shooting parameters to be consistent with the prestored shooting angle and shooting parameters corresponding to the shooting position, and shooting the power transmission line at the current position.
S33: and driving the unmanned aerial vehicle to continuously fly along the inspection track, repeating the step S32, and continuously inspecting the power transmission line in the inspection area until the unmanned aerial vehicle flies to the initial point of the inspection return path.
Fourthly, recovering the unmanned aerial vehicle and storing the collected data
After the unmanned aerial vehicle finishes the polling task, the unmanned aerial vehicle is driven to send the images of the transmission tower and the transmission line to the unmanned aerial vehicle cooperative control system. Meanwhile, the staff moves to the return point to collect the unmanned aerial vehicle which successfully returns to the return point and goes to the next inspection place.
In other examples, the method further comprises:
responding to any unmanned aerial vehicle to send an abnormal signal, generating alarm information, and/or switching the unmanned aerial vehicle into manual control or semi-automatic control.
The unmanned aerial vehicle automatic inspection technology is applied to the power transmission line inspection, the multiple unmanned aerial vehicles perform tower inspection and photo shooting on the regional power transmission lines in parallel, the multiple unmanned aerial vehicles can complete inspection tasks distributed by the multiple unmanned aerial vehicles with basically parallel efficiency, and the multiple unmanned aerial vehicles are recovered in a centralized manner after completing the tasks, so that manual intervention operation is greatly reduced, inspection time is saved, inspection efficiency is effectively improved, and the unmanned aerial vehicle automatic inspection technology is convenient to popularize and apply quickly.
The method comprises the steps of defining the normal inspection task flow of each unmanned aerial vehicle as 5 stages, namely a takeoff stage, a flying to inspection target stage, an inspection photographing stage, a return flight stage and a landing stage; each stage has corresponding operation rules, and the operation rules are sequentially executed under the condition that the process safety can be guaranteed, and the alarm and the notification of manual intervention recovery can be timely given when the abnormality occurs. The transmission tower inspection route is transmitted to the unmanned aerial vehicle before the unmanned aerial vehicle takes off, so that the unmanned aerial vehicle can still independently execute and complete inspection tasks when the unmanned aerial vehicle is in inspection due to unstable network communication with a cooperative control system of the unmanned aerial vehicle or certain delay caused by the fact that the unmanned aerial vehicle flies out for a certain distance. Before an unmanned aerial vehicle is about to take off and start to patrol, the unmanned aerial vehicle cooperative control system can calculate the suitable unmanned aerial vehicle cooperative control system of 5 stages adapting to the unmanned aerial vehicle to take off by integrating the number and the state of the unmanned aerial vehicles which are currently executing tasks in the air, and the collision and collision danger which are possibly generated between the unmanned aerial vehicle cooperative control system and a power transmission line, a power transmission tower and other unmanned aerial vehicles are avoided in the process of patrol.
The invention discloses a multi-unmanned aerial vehicle cooperative inspection method for regional power transmission lines, which comprises the following specific processes:
(1) takeoff phase
The unmanned aerial vehicle cooperative control system inquires corresponding inspection tracks and generates inspection round-trip paths, sends the inspection round-trip paths to the unmanned aerial vehicle equipment control system, and then the unmanned aerial vehicle equipment control system controls the unmanned aerial vehicle to vertically take off.
(2) Flying to inspection target stage
The drone should maintain and fly along a path in the round trip path to the start of the round trip trajectory until reaching the target location.
(3) Inspection photographing stage
The unmanned aerial vehicle flies along the routing inspection track, sequentially visits and hovers at the shooting position on the way, and adjusts the flying and camera angles to shoot.
(4) Return flight phase
After the unmanned aerial vehicle finishes the specific routing inspection process, the unmanned aerial vehicle returns to the position near the starting point along the return route in the routing inspection return route to hover and wait for landing.
(5) Landing stage
The unmanned aerial vehicle to be landed hovers, and the unmanned aerial vehicle equipment control system flies to an appointed place according to the prompt after receiving the landing command and automatically landes or takes over the landing manually according to the requirement.
When the multiple unmanned aerial vehicles are used for inspection operation, the takeoff phase and the landing phase can be manually scheduled according to the field or automatically and semi-automatically scheduled by matching with adaptive auxiliary devices and software, and other steps can be finished in a parallel and non-interfering mode.
Planning a transmission tower inspection route: the unmanned aerial vehicle cooperative control system provides an algorithm planning function for a flight inspection route to be set when the unmanned aerial vehicle flies, and the algorithm planning function comprises the following steps: selecting a proper power transmission line tower which is not repeated with the targets of other unmanned aerial vehicles which execute tasks and a corresponding routing inspection track for the unmanned aerial vehicle which is ready to start to execute the tasks but does not take off; according to the routing inspection track selected by the unmanned aerial vehicle, planning a proper routing inspection round-trip path and connecting the routing inspection round-trip path into a planned transmission tower routing inspection route; the safety of the airplanes for executing the inspection tasks in the same batch is guaranteed through route planning in the known information, the unmanned aerial vehicle is prevented from driving into the no-fly height, and the minimum distance between the unmanned aerial vehicles of different numbers of times when the unmanned aerial vehicles execute the tasks is staggered as far as possible on the basis of considering GPS errors.
In this embodiment, the environmental requirements and emergency before the transmission tower inspection are handled: the inspection target of the unmanned aerial vehicle must ensure that the weather condition is good and the unmanned aerial vehicle can be seen by naked eyes in a straight line, and also ensures that no unknown or moving type obstacles exist on the possible flight path of the unmanned aerial vehicle. The communication signals should be stable and reliable, when two groups of unmanned aerial vehicles inspect the transmission tower in the similar areas through the system, the areas should be ensured to be separated by a certain distance, and the inspected tower and the inspected line are not repeated.
The executive staff should evaluate the current weather conditions and the maintenance state of the unmanned aerial vehicle and the state of the unmanned aerial vehicle equipment control system when using the system to execute tasks. Every unmanned aerial vehicle all must be equipped with corresponding remote control unit, in case abnormal conditions takes place, can handle the accident through the mode of manual access operation very first time.
Detailed description of the invention
Based on the method, the invention also provides a multi-unmanned aerial vehicle cooperative inspection system suitable for regional power transmission lines, the system comprises a plurality of unmanned aerial vehicles, an unmanned aerial vehicle cooperative control system and a communication device, and the unmanned aerial vehicle cooperative control system performs data interaction with the unmanned aerial vehicles through the communication device.
The unmanned aerial vehicle cooperative control system comprises the following modules:
1) the module is used for receiving the polling task, analyzing the polling task, dividing the regional power transmission line to be polled into a plurality of polling regions, and distributing an unmanned aerial vehicle in each polling region.
2) The unmanned aerial vehicle inspection system is used for generating a plurality of inspection routes which are not interfered with each other according to each inspection area by combining coordinate information and altitude of power transmission lines of each inspection area, and leading the generated inspection routes into modules of the unmanned aerial vehicle in a one-to-one correspondence mode, wherein the inspection routes comprise inspection starting routes, inspection tracks and inspection return routes.
3) A module for driving unmanned aerial vehicle takes off to patrol and examine the task this according to leading-in the route of patrolling and examining that corresponds with it, it is specific:
and flying to the inspection area along the inspection starting path, and returning to the falling point along the inspection return path after the power transmission line in the inspection area is inspected and photographed according to the inspection track.
The invention also provides an embodiment of a multi-unmanned aerial vehicle cooperative inspection system of the regional power transmission line, which comprises a plurality of unmanned aerial vehicles and an unmanned aerial vehicle cooperative control system which is in communication control with the plurality of unmanned aerial vehicles; the unmanned aerial vehicle cooperative control system controls a plurality of unmanned aerial vehicles to carry out polling and photographing on the regional power transmission lines to be polled; specifically, the unmanned aerial vehicle and the unmanned aerial vehicle cooperative control system are both used for executing the multi-unmanned aerial vehicle cooperative inspection method for the regional power transmission line in the first embodiment.
The unmanned aerial vehicle of the invention has an unmanned aerial vehicle equipment control system: the unmanned aerial vehicle equipment control system continuously sends updated self state to a server background of the unmanned aerial vehicle cooperative control system according to a certain time interval, the updated self state comprises information such as current coordinates and flight conditions, a latest operation command is obtained from the unmanned aerial vehicle cooperative control system background, when the unmanned aerial vehicle equipment control system obtains a takeoff starting command, a round-trip inspection path and an inspection track for inspecting an inspection target are obtained from the command at the same time, an integral transmission tower inspection route is synthesized, and a transmission tower inspection task is started to be executed according to the route under the condition that equipment is normal and manual intervention does not exist.
The unmanned aerial vehicle cooperative control system can be deployed in a server, is connected with a plurality of unmanned aerial vehicles through a network to communicate, forms a star-shaped topological structure, continuously acquires real-time state parameters of the unmanned aerial vehicles by using a set of well-defined communication protocol and sends commands to the unmanned aerial vehicles as required, and the purposes of overall planning and orderly control are achieved. By calculating and scheduling in real time through a software algorithm, the unmanned aerial vehicles can safely and orderly finish the polling and photographing of a plurality of transmission towers and transmission lines in one area.
The operation mode of the unmanned aerial vehicle cooperative control system is established on the basis of software, mathematical algorithm and communication principle, a plurality of unmanned aerial vehicles are provided with corresponding small unmanned aerial vehicle cooperative control systems for communicating with the unmanned aerial vehicle cooperative control system, state data transmission and latest command acquisition are carried out on a background of the unmanned aerial vehicle cooperative control system through defining a protocol data format based on Http, and the unmanned aerial vehicles are controlled to execute specific routing inspection tasks transmitted after calculation of the unmanned aerial vehicle cooperative control system. When various detectable abnormalities occur, such as insufficient electric quantity, return flight, loss of positioning coordinates and the like, the unmanned aerial vehicle equipment control system returns information to a background server deployed by the unmanned aerial vehicle cooperative control system, so that the unmanned aerial vehicle cooperative control system can make corresponding notification or prompt field workers to take over according to the emergency degree of the situation. When the unmanned aerial vehicle control system guides the unmanned aerial vehicle to smoothly complete the transmission tower inspection task distributed by the unmanned aerial vehicle control system, the photo set shot by the task is sent to the unmanned aerial vehicle cooperative control system or stored in a designated position.
The unmanned aerial vehicle cooperative control system can operate in a server provided with most mainstream operating systems such as windows, linux, macox and the like, a set of communication and data exchange protocols with the unmanned aerial vehicle system based on message queue design are realized, software and hardware communication can be simply realized only by defining a necessary data format, and an encryption communication protocol can be conveniently defined on the basis.
In this disclosure, aspects of the present invention are described with reference to the accompanying drawings, in which a number of illustrative embodiments are shown. Embodiments of the present disclosure are not necessarily defined to include all aspects of the invention. It should be appreciated that the various concepts and embodiments described above, as well as those described in greater detail below, may be implemented in any of numerous ways, as the disclosed concepts and embodiments are not limited to any one implementation. In addition, some aspects of the present disclosure may be used alone, or in any suitable combination with other aspects of the present disclosure.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention. Therefore, the protection scope of the present invention should be determined by the appended claims.
Claims (9)
1. The utility model provides a be suitable for regional transmission line's many unmanned aerial vehicle cooperation method of patrolling and examining, its characterized in that, the method includes:
s1: acquiring a polling task, wherein the polling task comprises a regional power transmission line to be polled, analyzing the polling task, dividing the regional power transmission line to be polled into a plurality of polling areas, and allocating an unmanned aerial vehicle to each polling area;
s2: generating a plurality of inspection routes which are not interfered with each other by combining coordinate information and altitude of the power transmission line of each inspection area according to each inspection area, and leading the generated inspection routes into the unmanned aerial vehicle in a one-to-one correspondence manner, wherein the inspection routes comprise inspection starting routes, inspection tracks and inspection return routes;
s3: order to drive unmanned aerial vehicle to take off to according to leading-in route of patrolling and examining that corresponds with it and carrying out this task of patrolling and examining, it is specific:
flying to a polling area along a polling departure path, polling and photographing the power transmission lines in the polling area according to a polling track, and returning to a drop point along a polling return path;
in step S2, generating a plurality of routing inspection routes that are not interfered with each other by combining the coordinate information and the altitude of the power transmission line of each routing inspection area for each routing inspection area includes the following steps:
s21: acquiring a routing inspection route of the unmanned aerial vehicle executing the task and obstacle information of each routing inspection area, and generating a flight-allowable area by combining the flight-forbidden height;
s22: acquiring coordinate information and altitude of the power transmission line of each inspection area, setting a plurality of flight track points by taking the coordinate information of the power transmission line as a reference, and generating a plurality of inspection routes which are not interfered with each other in the range of the allowable flight area;
s23: and selecting a plurality of shooting positions on each routing inspection route, and setting a shooting angle and shooting parameters at each shooting position.
2. The cooperative multi-unmanned aerial vehicle inspection method suitable for regional power transmission lines, according to claim 1, further comprising:
and sending the shot images of the transmission tower and the transmission line to an unmanned aerial vehicle cooperative control system.
3. The cooperative multi-unmanned aerial vehicle inspection method suitable for regional power transmission lines according to claim 1, wherein the inspection track is generated by adopting unmanned aerial vehicle pre-flying recording and/or measurement calculation on power transmission lines of an inspection region.
4. The cooperative multi-unmanned aerial vehicle inspection method suitable for regional power transmission lines according to claim 1, wherein in the step S22, the generated inspection routes satisfy the following conditions:
and on the premise that the length of each routing inspection route is smaller than a set length threshold value, and the minimum distance between every two routing inspection routes is larger than a set distance threshold value, the generated routing inspection route has the shortest total length.
5. The cooperative inspection method by multiple unmanned aerial vehicles for the regional power transmission line according to claim 1, wherein in step S23, the inspection route, the shooting position, the shooting angle and the shooting parameters are obtained by pre-flying and recording by the unmanned aerial vehicle and/or calculation by combining actual parameters of the power transmission line and the power transmission tower.
6. The cooperative multi-unmanned-aerial-vehicle inspection method suitable for regional power transmission lines according to claim 1, wherein in the step S3, the photographing of the inspection of the power transmission lines in the inspection region according to the inspection track comprises the following steps:
s31: responding to the fact that the unmanned aerial vehicle flies to a patrol area along a patrol starting path, driving the unmanned aerial vehicle to patrol the power transmission line according to a patrol track, and acquiring position information of the unmanned aerial vehicle in real time;
s32: compare unmanned aerial vehicle's real-time position information and the shooting position of prestoring, if compare successfully, order about unmanned aerial vehicle and hover and acquire present shooting angle, shooting parameter, with the shooting angle that will acquire, shooting parameter and prestore with the shooting angle that the shooting position corresponds, shooting parameter do and compare:
if the comparison is successful, photographing the power transmission line at the current position;
2) if the comparison fails, adjusting the shooting angle and the shooting parameters to be consistent with the prestored shooting angle and shooting parameters corresponding to the shooting position, and shooting the power transmission line at the current position;
s33: and driving the unmanned aerial vehicle to continuously fly along the inspection track, repeating the step S32, and continuously inspecting the power transmission line in the inspection area until the unmanned aerial vehicle flies to the initial point of the inspection return path.
7. The cooperative multi-unmanned aerial vehicle inspection method suitable for regional power transmission lines, according to claim 1, further comprising:
responding to any unmanned aerial vehicle to send an abnormal signal, generating alarm information, and/or switching the unmanned aerial vehicle into manual control or semi-automatic control.
8. The cooperative multi-unmanned aerial vehicle inspection method suitable for regional power transmission lines, according to claim 1, further comprising:
the total flight time of each unmanned aerial vehicle is balanced by setting the number of targets patrolled by each unmanned aerial vehicle frame in combination with the distance between the patrolling target and the flying starting point and the type of the patrolling target.
9. The inspection method according to claim 1, wherein the system comprises a plurality of unmanned aerial vehicles, an unmanned aerial vehicle cooperative control system and a communication device, and the unmanned aerial vehicle cooperative control system performs data interaction with the unmanned aerial vehicles through the communication device;
the unmanned aerial vehicle cooperative control system comprises the following modules:
the module is used for receiving the polling tasks, analyzing the polling tasks, dividing the regional power transmission line to be polled into a plurality of polling regions, and distributing an unmanned aerial vehicle to each polling region;
the module is used for generating a plurality of inspection routes which are not interfered with each other by aiming at each inspection area and combining the coordinate information and the altitude of the power transmission line of each inspection area, and guiding the generated inspection routes into the unmanned aerial vehicle in a one-to-one correspondence manner, wherein the inspection routes comprise inspection starting routes, inspection tracks and inspection return routes;
a module for driving unmanned aerial vehicle takes off to patrol and examine the task this according to leading-in the route of patrolling and examining that corresponds with it, it is specific:
and flying to the inspection area along the inspection starting path, and returning to the falling point along the inspection return path after the power transmission line in the inspection area is inspected and photographed according to the inspection track.
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