CN110799924A - Control method and device for unmanned aerial vehicle, unmanned aerial vehicle and computer readable storage medium - Google Patents
Control method and device for unmanned aerial vehicle, unmanned aerial vehicle and computer readable storage medium Download PDFInfo
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- CN110799924A CN110799924A CN201880042200.XA CN201880042200A CN110799924A CN 110799924 A CN110799924 A CN 110799924A CN 201880042200 A CN201880042200 A CN 201880042200A CN 110799924 A CN110799924 A CN 110799924A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/08—Locating faults in cables, transmission lines, or networks
- G01R31/081—Locating faults in cables, transmission lines, or networks according to type of conductors
- G01R31/085—Locating faults in cables, transmission lines, or networks according to type of conductors in power transmission or distribution lines, e.g. overhead
Abstract
A control method and device for an unmanned aerial vehicle, the unmanned aerial vehicle and a computer readable storage medium are provided, and the method comprises the following steps: acquiring distance information between a power line and the unmanned aerial vehicle in real time through a sensing device arranged on the unmanned aerial vehicle; controlling the unmanned aerial vehicle to fly along the power line according to the distance information; carry out fault detection to power line through setting up the fault detection device on unmanned aerial vehicle. The distance information of the power line and the unmanned aerial vehicle is acquired in real time through the sensing device arranged on the unmanned aerial vehicle, then the unmanned aerial vehicle is controlled to fly according to the distance information, the interference of the power resource line on the unmanned aerial vehicle is avoided, the unmanned aerial vehicle can be controlled in real time, the timeliness and the reliability of the unmanned aerial vehicle are improved, and the safety and the reliability of the operation of the unmanned aerial vehicle are guaranteed.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a control method and device of an unmanned aerial vehicle, the unmanned aerial vehicle and a computer readable storage medium.
Background
With the rapid development of scientific technology, the development of power resources is rapid, and with the rapid development of the scientific technology, more and more infrastructure devices of the power resources are built. At this time, in the process of the operation or the operation of the unmanned aerial vehicle, the unmanned aerial vehicle is likely to encounter power resources (such as a power line and the like), which is likely to cause the unmanned aerial vehicle to malfunction, and affect the operation and the operation quality.
Therefore, in order to avoid the interference of the power resource circuit on the unmanned aerial vehicle and ensure the safety and reliability of the operation of the unmanned aerial vehicle, the timeliness and reliability of the control of the unmanned aerial vehicle need to be improved.
Disclosure of Invention
The invention provides a control method and device for an unmanned aerial vehicle, the unmanned aerial vehicle and a computer readable storage medium, which can control the unmanned aerial vehicle in real time and ensure the safety and reliability of the operation of the unmanned aerial vehicle.
The first aspect of the present invention is to provide a method for controlling an unmanned aerial vehicle, including:
acquiring distance information between a power line and the unmanned aerial vehicle in real time through a sensing device arranged on the unmanned aerial vehicle;
controlling the unmanned aerial vehicle to fly along the power line according to the distance information;
through set up in fault detection device on the unmanned aerial vehicle is right power line carries out fault detection.
A second aspect of the present invention is to provide a control apparatus for an unmanned aerial vehicle, including:
a memory for storing a computer program;
a processor for executing the computer program stored in the memory to implement: acquiring distance information between a power line and the unmanned aerial vehicle in real time through a sensing device arranged on the unmanned aerial vehicle; controlling the unmanned aerial vehicle to fly along the power line according to the distance information; through set up in fault detection device on the unmanned aerial vehicle is right power line carries out fault detection.
A third aspect of the present invention is to provide a control apparatus for an unmanned aerial vehicle, including:
the acquisition module is used for acquiring distance information between the power line and the unmanned aerial vehicle in real time through a sensing device arranged on the unmanned aerial vehicle;
the control module is used for controlling the unmanned aerial vehicle to fly along the power line according to the distance information;
the detection module is used for detecting faults of the power line through a fault detection device arranged on the unmanned aerial vehicle.
A fourth aspect of the present invention is to provide an unmanned aerial vehicle, including:
a body;
the above-mentioned second aspect unmanned aerial vehicle's controlling means, unmanned aerial vehicle's controlling means set up in on the fuselage.
A fifth aspect of the present invention is to provide a computer-readable storage medium, in which program instructions are stored, the program instructions being used for implementing the control method for the unmanned aerial vehicle according to the first aspect.
According to the control method and device for the unmanned aerial vehicle, the unmanned aerial vehicle and the computer readable storage medium, the distance information between the power line and the unmanned aerial vehicle is acquired in real time through the sensing device arranged on the unmanned aerial vehicle, and then the unmanned aerial vehicle is controlled to fly along the power line according to the distance information, so that the interference of the unmanned aerial vehicle on the power resource line is avoided, the real-time control on the unmanned aerial vehicle is realized, the timeliness and the reliability of the control on the unmanned aerial vehicle are improved, and the safety and the reliability of the operation of the unmanned aerial vehicle are ensured; in addition, through set up in fault detection device on the unmanned aerial vehicle is right power line carries out fault detection, has improved power line detection's quality and efficiency effectively, has further guaranteed the safe and stable reliable of electric wire netting operation, has created good environment for economic society development.
Drawings
Fig. 1 is a schematic flow chart of a control method for an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 1a is a schematic position diagram of an unmanned aerial vehicle and an electric power line according to an embodiment of the present invention;
fig. 1b is a schematic position diagram of an unmanned aerial vehicle and an electric power line according to an embodiment of the present invention;
fig. 1c is a schematic position diagram of an unmanned aerial vehicle and an electric power line according to an embodiment of the present invention;
fig. 2 is a schematic flow chart illustrating fault detection of the power line by a fault detection device disposed on the unmanned aerial vehicle according to the embodiment of the present invention;
fig. 3 is a schematic flowchart of a control method for an unmanned aerial vehicle according to another embodiment of the present invention;
fig. 4 is a first schematic structural diagram of a control device of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a control device of an unmanned aerial vehicle according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The features of the embodiments and examples described below may be combined with each other without conflict between the embodiments.
Fig. 1 is a schematic flow chart of a control method for an unmanned aerial vehicle according to an embodiment of the present invention; referring to fig. 1, the present embodiment provides a method for controlling an unmanned aerial vehicle, including:
s101: acquiring distance information between a power line and the unmanned aerial vehicle in real time through a sensing device arranged on the unmanned aerial vehicle;
in this embodiment, the specific shape and structure of the sensing device are not limited, and those skilled in the art can arbitrarily set the sensing device according to the function implemented by the sensing device, for example: the sensing device may be an ultrasonic distance sensor, or the sensing device may be an infrared distance measuring sensor, or the sensing device may be a radar device or the like. In addition, this embodiment does not limit to the specific position that sensing device set up on unmanned aerial vehicle, and technical personnel in the art can set up according to specific design demand, for example: the sensing device can be arranged at the top end, the side end or the lower end of the unmanned aerial vehicle, and the like; comparatively preferred, when setting up sensing device, and when acquireing the distance information between power line and the unmanned aerial vehicle in real time through sensing device, in order to guarantee the timely accuracy that distance information acquireed between power line and the unmanned aerial vehicle, it does not receive the sheltering from to guarantee sensing device's detection angle of vision.
Further, in order to guarantee the reliable and stable nature who acquires power line and unmanned aerial vehicle's distance information in real time, set up sensing device as radar installations in this embodiment, wherein, radar installations is microwave radar or laser radar, and based on focus and angle of view FOV's consideration, this radar installations can set up in unmanned aerial vehicle's top, bottom or side etc.. For example, when detecting distance information between the top end of the unmanned aerial vehicle and the power line, the radar device may be disposed at the top end of the unmanned aerial vehicle; when detecting distance information between the bottom end of the unmanned aerial vehicle and the power line, the radar device may be disposed at the bottom end of the unmanned aerial vehicle; when detecting the distance information between unmanned aerial vehicle side and the power line, radar apparatus can set up in unmanned aerial vehicle's side. It is understood that the present embodiment is merely an exemplary illustration, and the radar apparatus may be disposed at other suitable positions as long as the detection view angle of the radar apparatus is not blocked.
Specifically, as shown in fig. 1b, taking a laser radar as an example, when the distance information between the power line and the unmanned aerial vehicle is obtained in real time through a sensing device disposed on the unmanned aerial vehicle, the distance information between the power line and the unmanned aerial vehicle here may refer to the distance information between the top of the power line and the unmanned aerial vehicle, the distance between the center of the power line and the unmanned aerial vehicle, the distance between the bottom of the power line and the unmanned aerial vehicle, or the distance between the side end of the power line and the unmanned aerial vehicle, and a specific calculation manner may be obtained as needed; one way in which this can be achieved is:
s1011: a first real-time distance between the unmanned aerial vehicle and the top of the power line is obtained through the radar device.
In this embodiment, power line sets up in unmanned aerial vehicle's bottom. In one embodiment, the power line includes a plurality of wires spaced apart in a vertical direction. Further, the radar device can set up in unmanned aerial vehicle's bottom, can acquire through the radar device that the first real-time distance between unmanned aerial vehicle and the power line top is h1, wherein, because the radar device sets up in unmanned aerial vehicle's bottom, consequently, the first real-time distance between unmanned aerial vehicle's bottom and the power line top can be the distance between radar device's bottom and the power line top. Of course, technical personnel in the field can also obtain the real-time distance between unmanned aerial vehicle's organism bottom and the power line top through radar installations, and specific acquisition mode is similar with above-mentioned acquisition mode, and no longer redundantly is described here.
As shown in fig. 1c, for the sensing device disposed on the drone to obtain the distance information between the power line and the drone in real time, another way to implement is:
s1012: and acquiring a second real-time distance between the unmanned aerial vehicle and the side end of the power line through the radar device.
In this embodiment, the power line is disposed at a side end (left side end and/or right side end) of the unmanned aerial vehicle, and the second real-time distance between the unmanned aerial vehicle and the power line side end can be obtained through the radar device. Likewise, the radar device can set up the suitable position on unmanned aerial vehicle, as long as guarantee that radar device's detection field of vision is not sheltered from.
In another embodiment, the radar device is a microwave radar, which can be fixed at, for example, the side end of the drone, and it can be understood that, based on specific design requirements and situations, those skilled in the art can also set the microwave radar at other suitable positions, for example: any suitable position where the detection field angle of the radar device is not blocked. Specifically, the microwave radar may be a millimeter wave radar or a centimeter wave radar.
Further, the microwave radar may be mounted on the drone by a shaft, and the microwave radar may perform a rotational movement around the shaft. The microwave radar can perform horizontal rotation motion around the rotating shaft (the rotating shaft can be regarded as being vertical to the ground), or can perform vertical rotation motion (the rotating shaft can be regarded as being parallel to the ground). Further, in the continuous rotating process of the microwave radar, the microwave radar can acquire the distance information of the power line relative to the unmanned aerial vehicle in real time, generate corresponding point cloud information and feed back the point cloud information to the control end. In another embodiment, the information of the distance, the speed, the direction, the height and the like of the unmanned aerial vehicle relative to other target objects can be detected through a microwave radar.
Obtain the distance information between unmanned aerial vehicle and the power line through the radar device, measure the accuracy height, the processing speed is fast, can send the distance information that the radar device acquireed to unmanned aerial vehicle's flight control system in real time, has further improved the security of flight. In addition, the microwave radar can not be influenced by environmental conditions such as rain, dust, smoke, fog or frost and the like, can work in complete darkness or in direct sunlight, and has high reliability and stability.
S102: controlling the unmanned aerial vehicle to fly along the power line according to the distance information;
after the real-time distance information between the power line and the unmanned aerial vehicle is acquired, the unmanned aerial vehicle can be controlled to fly along the power line in real time according to the distance information, and therefore the safety and reliability of the unmanned aerial vehicle flying are guaranteed. Specifically, controlling the drone to fly along the power line according to the distance information may include:
s1021: controlling the unmanned aerial vehicle to keep a preset distance from the power line to fly according to the distance information; alternatively, the first and second electrodes may be,
the preset distance is preset distance information, the specific numerical value of the preset distance is not limited in this embodiment, and a person skilled in the art can set the preset distance according to specific setting requirements, as shown in fig. 1a, the unmanned aerial vehicle flies at a preset distance h meters from the power line, for example, the preset distance h meters can be 1m, 2m, 3m or 5m, and the like, it needs to be described that when the unmanned aerial vehicle is controlled to fly at the preset distance from the power line, the stability of the distance between the unmanned aerial vehicle and the power line is ensured, specifically, when the unmanned aerial vehicle is controlled to fly, the unmanned aerial vehicle can be controlled to fly along the tangential direction of the power line and at the preset distance from the power line; or, the unmanned aerial vehicle can be controlled to fly along other directions (a preset flying direction, a direction around the power line, and the like) and keep a preset distance from the power line; like this, both can avoid unmanned aerial vehicle to receive power line's interference, can also guarantee the security of unmanned aerial vehicle flight.
S1022: and controlling the unmanned aerial vehicle to fly along the tangential direction of the power line according to the distance information.
The tangential direction of the power line in this embodiment is a tangential direction parallel to the power line, and as shown in fig. 1a, the installation direction of the power line is a horizontal direction, and at this time, the tangential direction of the power line includes a tangential direction parallel to the transmission direction of the power line, a tangential direction perpendicular to the transmission direction of the power line, a tangential direction forming a preset acute angle with the transmission direction of the power line, and a tangential direction forming a preset obtuse angle with the transmission direction of the power line; specifically, taking the power line as a cylinder structure for illustration, a characteristic line segment of the power line at the bottom end of the cylinder is obtained, all tangents passing through the characteristic line segment are obtained, all tangents form a tangent plane, and a first tangent, a second tangent, a third tangent and the like tangent to the characteristic line segment are included in the tangent plane, wherein the extending direction of the first tangent may be parallel to the extending direction of the characteristic line segment, and the extending direction of the second tangent may form a preset acute angle or an obtuse angle with the extending direction of the characteristic line segment; the extension direction of the third tangent may be perpendicular to the extension direction of the characteristic line segment. At this time, in order to implement fault detection on the power line, it is preferable that the unmanned aerial vehicle is controlled to fly along a tangential direction parallel to the transmission direction of the power line, that is, the unmanned aerial vehicle is controlled to fly along a first tangential direction, which is shown in fig. 1a with continued reference, and at this time, the first tangential direction may be a direction f; therefore, the problems of danger, time and labor waste and low inspection quality and accuracy in manual inspection of the power line in the prior art can be solved, and the practicability of the method is further improved.
Furthermore, when the unmanned aerial vehicle is controlled to fly, the unmanned aerial vehicle can be controlled to fly along the tangential direction of the power line and keep a preset distance from the power line; or, the unmanned aerial vehicle can be controlled to fly along the tangential direction of the power line and at a variable distance from the power line; for example, in a preset time period, the unmanned aerial vehicle may be controlled to fly along a tangential direction of the power line and at a first distance from the power line in a first time period; and controlling the unmanned aerial vehicle to fly for a second distance between the unmanned aerial vehicle and the power line in the tangential direction of the power line in a second time period, wherein the first distance is different from the second distance. It can be understood that, those skilled in the art may set the first time period, the second time period, the first distance, and the second distance according to specific design requirements, and details are not described herein.
In an embodiment, power line including the power line of many intervals settings, can control unmanned aerial vehicle in advance along the power line flight that is located the topmost, or also can adjust in real time according to the distance between unmanned aerial vehicle and many power lines, for example can control unmanned aerial vehicle and follow the power line that is closest and fly. Further, adjust unmanned aerial vehicle's flight direction in real time according to unmanned aerial vehicle's flight direction and the coincidence rate of the tangential direction of the electric power circuit who follows to ensure that unmanned aerial vehicle can realize accurate flight along the line.
According to the control method of the unmanned aerial vehicle, the distance information between the power line and the unmanned aerial vehicle is acquired in real time through the sensing device arranged on the unmanned aerial vehicle, then the unmanned aerial vehicle is controlled to fly along the power line according to the distance information, the unmanned aerial vehicle is prevented from being interfered by the power resource line, the unmanned aerial vehicle can be controlled in real time, the timeliness and the reliability of the control of the unmanned aerial vehicle are improved, and the safety and the reliability of the operation of the unmanned aerial vehicle are guaranteed.
Further, controlling the unmanned aerial vehicle to fly along the power line according to the distance information in this embodiment may further include:
s1023: and controlling the flight state of the unmanned aerial vehicle according to the distance information and the preset distance.
Wherein, it is preset for the user to predetermine the distance, and technical personnel in the field can set up according to specific design demand, for example, it can be 1m to predetermine the distance, 1.5m, 2m or 2.5m and so on, after obtaining the distance information of power line and unmanned aerial vehicle in real time, send to the control end, the control end can control unmanned aerial vehicle according to predetermineeing distance and distance information, and is specific, control the flight status of unmanned aerial vehicle according to real-time distance and predetermineeing the distance and can include:
s10231: when the distance information is inconsistent with the preset distance, the flight state of the unmanned aerial vehicle is adjusted based on the preset distance, so that the distance information is consistent with the preset distance.
For example, when the preset distance is 1m, the distance information between the power line and the unmanned aerial vehicle obtained in real time includes: when the distance information is 0.5m, 1.2m and 1m, for the distance information of 0.5m, because the distance information is less than the preset distance, at this time, the unmanned aerial vehicle is closer to the power line, so that the distance between the unmanned aerial vehicle and the power line needs to be increased in order to avoid the interference of the power line on the unmanned aerial vehicle, and further, the distance between the unmanned aerial vehicle and the power line can be adjusted according to the preset distance, so that the distance between the unmanned aerial vehicle and the power line is kept about 1 m; for the distance information of 1.2m, because the distance information is greater than the preset distance, at this time, it indicates that the unmanned aerial vehicle is far away from the power line, so that in order to realize accurate detection of the power line by the unmanned aerial vehicle, the distance between the unmanned aerial vehicle and the power line needs to be reduced, and further, the distance between the unmanned aerial vehicle and the power line can be adjusted according to the preset distance, so that the distance between the unmanned aerial vehicle and the power line is kept about 1 m; to 1 m's distance information, because this distance information equals to predetermine the distance, this moment, it is moderate to explain unmanned aerial vehicle apart from the power line, and then need not adjust unmanned aerial vehicle.
The flight state of the unmanned aerial vehicle is controlled through the acquired distance information and the preset distance, so that the flight state of the unmanned aerial vehicle is effectively adjusted in time, and the distance between the unmanned aerial vehicle and the power line can be increased when the unmanned aerial vehicle is closer to the power line; when unmanned aerial vehicle is far away from power line, can turn down the distance between unmanned aerial vehicle and the power line to guaranteed that moderate keeping is in suitable distance between unmanned aerial vehicle and the power line, and then improved the fail safe nature that unmanned aerial vehicle flies.
S103: through set up in fault detection device on the unmanned aerial vehicle is right power line carries out fault detection.
The fault detection device may be a camera, that is, the fault detection of the power line is realized by the camera, and it is understood that the fault detection of the power line may also be realized by other methods, for example, by detecting an electromagnetic wave interference signal to determine whether an electric wire is faulty.
The method realizes the fault detection of the power line, effectively improves the quality and efficiency of the power line detection, further ensures the safe, stable and reliable operation of the power grid, and creates a good environment for the development of the economic society.
Fig. 2 is a schematic flow chart illustrating fault detection of the power line by a fault detection device disposed on the unmanned aerial vehicle according to the embodiment of the present invention; on the basis of the above embodiment, referring to fig. 2, it can be known that the fault detection device may be a shooting device, and then the fault detection of the power line through the fault detection device arranged on the unmanned aerial vehicle in this embodiment may include:
s1031: acquiring image information of a power line through a shooting device arranged on an unmanned aerial vehicle;
the unmanned aerial vehicle can be provided with the shooting device, and wherein, the shooting device can be any one of following: camera, terminal equipment (cell-phone, panel computer etc.) etc. that have the function of making a video recording when setting up the shooting device on unmanned aerial vehicle, this shooting device is preferred to be set up towards the power line direction to can realize the testing process to the power line through the shooting device that sets up on unmanned aerial vehicle, it is concrete, acquire the image information of power line through the shooting device. In an embodiment, unmanned aerial vehicle still is provided with the cloud platform, and the shooting device passes through the cloud platform and is connected with unmanned aerial vehicle, and further, is provided with motor and inertial measurement sensor on the cloud platform, and through the computational analysis to unmanned aerial vehicle gesture and cloud platform gesture, unmanned aerial vehicle can be through the motor of control cloud platform for the shooting device is towards the power line direction all the time.
In one embodiment, the camera may be adjusted so that the camera may simultaneously capture a plurality of parallel power lines to simultaneously acquire image information of the plurality of power lines.
S1032: and carrying out fault detection on the power line according to the image information.
After the image information of the power line is acquired, the image information can be analyzed to realize fault detection of the power line. The embodiment does not limit the specific implementation process of analyzing and processing the image information, and a person skilled in the art can set the process according to specific design requirements, for example: the image information and preset standard image information can be analyzed and processed, such as neural network training and the like, wherein the standard image information is the preset image information of a normal power line; therefore, whether the power line is in fault can be determined according to the standard image information and the image information, for example, when the image information is matched with the standard image information, the power line is not in fault; when the image information is not matched with the standard image information, it is indicated that the power line has a fault, and further, different areas between the image information and the standard image information may be acquired, and a specific position of the fault in the power line may be determined based on the different areas. Of course, those skilled in the art may also implement fault detection on the power line according to the image information in other manners, for example, manually analyze and identify the image information, and perform fault detection on the power line according to the analysis and identification result.
Also, in another embodiment, the photographing device is adjusted so that the photographing device simultaneously acquires image information of a plurality of power lines to simultaneously perform fault detection on the plurality of power lines.
Specifically, when fault detection is performed on the power line according to the image information, the unmanned aerial vehicle can be connected with the control end; at this time, the fault detection of the power line according to the image information may include:
s10321: and sending the image information to the control end so that the control end carries out fault detection on the power line based on the image information.
After the unmanned aerial vehicle acquires the image information, the image information can be sent to the control end, and the control end can carry out fault detection on the power line based on the received image information, that is, the main body for carrying out fault detection on the power line based on the image information is the control end.
Another way to implement the method is that the main body executing fault detection on the power line based on the image information is an unmanned aerial vehicle, specifically, the unmanned aerial vehicle may be further connected to the control end, and at this time, after fault detection is performed on the power line according to the image information, the method further includes:
s1033: and sending a result of fault detection on the power line to the control end.
When the unmanned aerial vehicle carries out fault detection on the power line according to the image information, after a result of carrying out fault detection on the power line is obtained, the result of carrying out fault detection can be sent to the control end, so that a user can directly check and obtain the result of carrying out fault detection through the control end, and the use convenience degree of the method is further improved.
The image information of the power line is acquired through the shooting device arranged on the unmanned aerial vehicle, then fault detection is carried out on the power line according to the image information, so that the fault detection process of the power line is effectively realized, the problems that in the prior art, the power line is manually patrolled and examined, the danger is avoided, time and labor are wasted, the patrolling and examining quality and the accuracy are not high are solved, and the practicability of the method is further improved.
Further, when controlling the unmanned aerial vehicle to fly along the power line according to the distance information, the method in this embodiment further includes:
s300: detecting whether an obstacle is present.
Wherein, the barrier can include shaft tower and other building materials or the building that bears power line, when control unmanned aerial vehicle flies along power line, there may be the barrier on the flight path at unmanned aerial vehicle place, for example shaft tower etc. consequently, in order to guarantee the safety degree that unmanned aerial vehicle flies, can real-time detection whether there is the barrier, and this embodiment does not do the restriction to the implementation that the barrier detected, and technical staff in the art can set up according to specific design demand, for example: acquiring image information of the unmanned aerial vehicle flying along the power line, detecting whether an obstacle exists or not based on the image information, and detecting whether the obstacle exists or not by analyzing and identifying the image information; alternatively, the radar device may transmit a radio signal, and the presence or absence of an obstacle may be detected from information fed back by the radio signal.
For example, a tower is taken as an obstacle for explanation, and when the tower is identified, an achievable way is that image information of the tower can be acquired; the image information according to the shaft tower is discerned the shaft tower, and is concrete, and unmanned aerial vehicle can utilize the shaft tower in the shooting device discernment place ahead power line. Generally, the tower comprises a rod-shaped structure and a tower-shaped structure, and the tower with the rod-shaped structure can be identified by adopting a line segment detection method, or the tower with the tower-shaped structure can be identified by adopting a learning algorithm, wherein the learning algorithm is used for extracting the characteristics of the tower to identify through learning a large number of pictures of the tower. Alternatively, in another embodiment, the drone may identify the tower in the forward power line using an infrared sensing camera. The principle of the mode is that a certain amount of heat is generated due to the existence of current in the power line, so that the temperature of the tower is high, and the infrared induction camera can be used for identification.
It is understood that a person skilled in the art may also use other manners to detect and identify the obstacle, and the embodiment is not limited to the specific implementation manner.
Fig. 3 is a schematic flowchart of a control method for an unmanned aerial vehicle according to another embodiment of the present invention; on the basis of the foregoing embodiment, with reference to fig. 3, it can be seen that the method in this embodiment further includes:
s301: when the detection result shows that the obstacle exists, acquiring obstacle position information of the obstacle;
after the existence of the obstacle is determined, the obstacle position information of the obstacle can be acquired, and specifically, the obstacle position information can be determined through image information; alternatively, the obstacle position information may be determined from a wireless signal fed back from the radar device.
S302: when the unmanned aerial vehicle is located at the position information of the obstacle, controlling the unmanned aerial vehicle to carry out obstacle avoidance flight; or controlling the unmanned aerial vehicle to hover and avoid the obstacle, or controlling the unmanned aerial vehicle to return to the original point.
Specifically, after the obstacle position information is acquired, a flight path bypassing the obstacle position information can be generated, and the unmanned aerial vehicle is controlled to fly according to the flight path, so that the unmanned aerial vehicle effectively avoids the obstacle. Or when the unmanned aerial vehicle is located at the obstacle position information, the heading of the unmanned aerial vehicle can be adjusted according to a preset strategy to avoid the obstacle, for example, when the obstacle position information is located right ahead of the unmanned aerial vehicle in flight, the heading of the unmanned aerial vehicle can be adjusted leftwards or rightwards according to the preset strategy to enable the flight direction of the unmanned aerial vehicle to bypass the obstacle at the obstacle position information; and then guaranteed the fail safe nature of unmanned aerial vehicle flight. So, unmanned aerial vehicle can independently carry out flight along the line to the power line between a plurality of shaft towers to power line between a plurality of shaft towers carries out fault detection.
In another embodiment, the unmanned aerial vehicle may also fly along the power line between the two towers according to a preset mode, and hover to avoid the obstacle after encountering obstacles such as the towers, or may also control the unmanned aerial vehicle to return to the original point or land according to the preset mode, which is not limited herein.
By means of the method, the flight state of the unmanned aerial vehicle is controlled, the flight safety and reliability of the unmanned aerial vehicle are guaranteed, the using stability and reliability of the method are improved, and the method is beneficial to popularization and application in the market.
During specific application, take the microwave radar as sensing device for the example explanation, based on the consideration of focus and FOV, the microwave radar can be fixed at unmanned aerial vehicle's top, and it can be understood that technical personnel in the art can also set up the microwave radar in other suitable positions based on specific design demand and condition.
Further, after the microwave radar detects the distance information of the power line, the control end CAN be fed back through the CAN bus, the flight state of the unmanned aerial vehicle is controlled through the control end, and therefore the unmanned aerial vehicle CAN be guaranteed to use the power line as a reference, the preset distance between the unmanned aerial vehicle and the power line is always kept, and when an obstacle is encountered, the unmanned aerial vehicle CAN also fly in a way of avoiding the obstacle.
Wherein, when control unmanned aerial vehicle and fly with power line as the reference, unmanned aerial vehicle can fly at power line's top, perhaps, unmanned aerial vehicle can also fly in power line's both sides, this moment, the microwave radar can carry in the predetermined load district on unmanned aerial vehicle, for example unmanned aerial vehicle's the place ahead, scan out the distance information between power line and the unmanned aerial vehicle through the microwave radar, feed back the control end in real time, handle through the algorithm, let unmanned aerial vehicle remain throughout with power line's relative position, fly along the line.
After the unmanned aerial vehicle is controlled to fly along the line based on the mode, the fault detection can be carried out on the power line through the picture transmission picture, and the autonomous identification detection of the fault can also be realized through machine training; through the control to unmanned aerial vehicle, the fail safe nature of unmanned aerial vehicle flight has not only been guaranteed to still realized effectively and to have accomplished the work of patrolling and examining with higher efficiency, avoided having a power failure and need go up the tower and overhaul the condition, make power line detect safer, better assurance transmission line's reliability.
Fig. 4 is a first schematic structural diagram of a control device of an unmanned aerial vehicle according to an embodiment of the present invention; as can be seen from fig. 4, the present embodiment provides a control device of a drone, which can execute the control method described above, and specifically, the control device may include:
the acquisition module 101 is used for acquiring distance information between the power line and the unmanned aerial vehicle in real time through a sensing device arranged on the unmanned aerial vehicle;
and the control module 102 is used for controlling the unmanned aerial vehicle to fly along the power line according to the distance information.
The detection module 103 is used for detecting faults of the power line through a fault detection device arranged on the unmanned aerial vehicle.
The obtaining module 101, the control module 102, and the detection module 103 in the control apparatus for an unmanned aerial vehicle provided in this embodiment can be used to execute the control method for an unmanned aerial vehicle corresponding to the embodiments in fig. 1 to fig. 3, and specific execution modes and beneficial effects thereof are similar and will not be described herein again.
Fig. 5 is a schematic structural diagram of a control device of an unmanned aerial vehicle according to an embodiment of the present invention, and it can be seen with reference to fig. 5 that, in this embodiment, another control device of an unmanned aerial vehicle is provided, and the control device of an unmanned aerial vehicle can execute the control method, specifically, the control device may include:
a memory 301 for storing a computer program;
a processor 302 for executing the computer program stored in the memory 301 to implement: acquiring distance information between a power line and the unmanned aerial vehicle in real time through a sensing device arranged on the unmanned aerial vehicle; controlling the unmanned aerial vehicle to fly along the power line according to the distance information; through set up in fault detection device on the unmanned aerial vehicle is right power line carries out fault detection.
One way in which this can be achieved is: when the processor 302 controls the drone to fly along the power line according to the distance information, the processor 302 is configured to:
controlling the unmanned aerial vehicle to keep a preset distance from the power line to fly according to the distance information; alternatively, the first and second electrodes may be,
and controlling the unmanned aerial vehicle to fly along the tangential direction of the power line according to the distance information.
Another way that can be achieved is: when the processor 302 controls the drone to fly along the power line according to the distance information, the processor 302 is configured to: and controlling the flight state of the unmanned aerial vehicle according to the distance information and the preset distance.
Specifically, when the processor 302 controls the flight state of the unmanned aerial vehicle according to the real-time distance and the preset distance, the processor 302 is configured to:
when the distance information is inconsistent with the preset distance, the flight state of the unmanned aerial vehicle is adjusted based on the preset distance, so that the distance information is consistent with the preset distance.
Further, on the basis of the foregoing embodiment, in this embodiment, when the processor 302 performs fault detection on the power line through a fault detection device disposed on the unmanned aerial vehicle, the processor 302 is further configured to: acquiring image information of a power line through a shooting device arranged on an unmanned aerial vehicle; and carrying out fault detection on the power line according to the image information. Wherein the photographing device is disposed toward the power line direction.
In addition, unmanned aerial vehicle is connected with the control end, and at this moment, processor 302 is also used for:
and after the fault detection is carried out on the power line according to the image information, the result of the fault detection carried out on the power line is sent to the control end.
Or the unmanned aerial vehicle is connected with the control end; when the processor 302 detects a fault of the power line according to the image information, the processor 302 is further configured to:
and sending the image information to the control end so that the control end carries out fault detection on the power line based on the image information.
Further, the sensing device is a radar device; the radar device is a microwave radar or a laser radar. Radar device sets up in unmanned aerial vehicle's top. Furthermore, when processor 302 acquires the distance information between the power line and the unmanned aerial vehicle in real time through the sensing device arranged on the unmanned aerial vehicle, processor 302 is further configured to:
a first real-time distance between the unmanned aerial vehicle and the top of the power line is obtained through the radar device.
Or the sensing device is a radar device; when processor 302 is through setting up the distance information of acquireing power line and unmanned aerial vehicle in real time on the unmanned aerial vehicle, processor 302 still is used for:
and acquiring a second real-time distance between the unmanned aerial vehicle and the side end of the power line through the radar device.
Further, when the processor 302 controls the drone to fly along the power line according to the distance information, the processor 302 is further configured to:
detecting whether an obstacle is present.
In particular applications, the processor 302 is further configured to:
when the detection result shows that the obstacle exists, acquiring obstacle position information of the obstacle;
when the unmanned aerial vehicle is located at the position information of the obstacle, controlling the unmanned aerial vehicle to carry out obstacle avoidance flight; or controlling the unmanned aerial vehicle to hover and avoid the obstacle, or controlling the unmanned aerial vehicle to return to the original point.
The control device of the unmanned aerial vehicle provided by this embodiment can be used for executing the control method of the unmanned aerial vehicle corresponding to the embodiments of fig. 1 to 3, and the specific execution mode and the beneficial effect thereof are similar and are not described herein again.
Another aspect of this embodiment provides a drone, includes:
a body;
foretell unmanned aerial vehicle's controlling means, unmanned aerial vehicle's controlling means sets up on the fuselage.
The unmanned aerial vehicle provided by this embodiment can execute the control method of the unmanned aerial vehicle corresponding to the embodiments of fig. 1 to 3 through the control device of the unmanned aerial vehicle, and the specific execution mode and the beneficial effect thereof are similar and are not repeated here.
A further aspect of the present embodiment provides a computer-readable storage medium, in which program instructions are stored, where the program instructions are used to implement a control method for a drone corresponding to the embodiments in fig. 1 to 3.
The technical solutions and the technical features in the above embodiments may be used alone or in combination in case of conflict with the present disclosure, and all embodiments that fall within the scope of protection of the present disclosure are intended to be equivalent embodiments as long as they do not exceed the scope of recognition of those skilled in the art.
In the embodiments provided in the present invention, it should be understood that the disclosed related remote control device and method can be implemented in other ways. For example, the above-described remote control device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, remote control devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. With this understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer processor 101(processor) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (30)
1. A control method of an unmanned aerial vehicle is characterized by comprising the following steps:
acquiring distance information between a power line and the unmanned aerial vehicle in real time through a sensing device arranged on the unmanned aerial vehicle;
controlling the unmanned aerial vehicle to fly along the power line according to the distance information;
through set up in fault detection device on the unmanned aerial vehicle is right power line carries out fault detection.
2. The method of claim 1, wherein controlling the drone to fly along the power line according to the distance information comprises:
controlling the unmanned aerial vehicle to keep a preset distance from the power line to fly according to the distance information; alternatively, the first and second electrodes may be,
and controlling the unmanned aerial vehicle to fly along the tangential direction of the power line according to the distance information.
3. The method of claim 1, wherein controlling the drone to fly along the power line according to the distance information comprises:
and controlling the flight state of the unmanned aerial vehicle according to the distance information and a preset distance.
4. The method of claim 3, wherein controlling the flight status of the drone according to the real-time distance and the preset distance comprises:
when the distance information is inconsistent with the preset distance, the flight state of the unmanned aerial vehicle is adjusted based on the preset distance, so that the distance information is consistent with the preset distance.
5. The method of claim 1, wherein the fault detecting the power line via a fault detection device disposed on the drone comprises:
acquiring image information of the power line through a shooting device arranged on the unmanned aerial vehicle;
and carrying out fault detection on the power line according to the image information.
6. The method of claim 5, wherein the drone is connected to a control terminal, and after fault detection of the power line from the image information, the method further comprises:
and sending a result of fault detection on the power line to the control end.
7. The method of claim 5, wherein the drone is connected to a control end; the fault detection of the power line according to the image information comprises the following steps:
and sending the image information to the control end so that the control end carries out fault detection on the power line based on the image information.
8. The method of claim 5, wherein the camera is positioned toward the power line.
9. The method of claim 1, wherein the sensing device is a radar device; obtain power line and unmanned aerial vehicle's distance information in real time through setting up the sensing device on unmanned aerial vehicle, include:
obtaining a first real-time distance between the unmanned aerial vehicle and the top of the power line through the radar device.
10. The method of claim 1, wherein the sensing device is a radar device; through setting up the distance information who acquires power line and unmanned aerial vehicle in real time on unmanned aerial vehicle, include:
and acquiring a second real-time distance between the unmanned aerial vehicle and the side end of the power line through the radar device.
11. Method according to claim 9 or 10, characterized in that the radar means are microwave radars or lidar.
12. The method of claim 11, wherein the radar device is disposed on a top end of the drone.
13. The method of any of claims 2-10, wherein, in controlling the drone to fly along the power line according to the distance information, the method further comprises:
detecting whether an obstacle is present.
14. The method of claim 13, further comprising:
when the detection result shows that the obstacle exists, acquiring obstacle position information of the obstacle;
when the unmanned aerial vehicle is located the obstacle position information, control unmanned aerial vehicle keeps away the barrier flight, perhaps, control unmanned aerial vehicle hovers, perhaps, control unmanned aerial vehicle returns the initial point.
15. A control device of an unmanned aerial vehicle, comprising:
a memory for storing a computer program;
a processor for executing the computer program stored in the memory to implement: acquiring distance information between a power line and the unmanned aerial vehicle in real time through a sensing device arranged on the unmanned aerial vehicle; controlling the unmanned aerial vehicle to fly along the power line according to the distance information; through set up in fault detection device on the unmanned aerial vehicle is right power line carries out fault detection.
16. The apparatus of claim 15, wherein when the processor controls the drone to fly along the power line according to the distance information, the processor is configured to:
controlling the unmanned aerial vehicle to keep a preset distance from the power line to fly according to the distance information; alternatively, the first and second electrodes may be,
and controlling the unmanned aerial vehicle to fly along the tangential direction of the power line according to the distance information.
17. The apparatus of claim 15, wherein when the processor controls the drone to fly along the power line according to the distance information, the processor is configured to:
and controlling the flight state of the unmanned aerial vehicle according to the distance information and a preset distance.
18. The apparatus of claim 17, wherein when the processor controls the flight status of the drone according to the real-time distance and a preset distance, the processor is configured to:
when the distance information is inconsistent with the preset distance, the flight state of the unmanned aerial vehicle is adjusted based on the preset distance, so that the distance information is consistent with the preset distance.
19. The apparatus of claim 15, wherein when the processor detects a fault in the power line via a fault detection device disposed on the drone, the processor is further configured to:
acquiring image information of the power line through a shooting device arranged on the unmanned aerial vehicle;
and carrying out fault detection on the power line according to the image information.
20. The apparatus of claim 19, wherein the drone is connected to a control end, the processor further configured to:
and after the fault detection is carried out on the power line according to the image information, the result of the fault detection carried out on the power line is sent to the control end.
21. The apparatus of claim 19, wherein the drone is connected to a control end; when the processor detects the fault of the power line according to the image information, the processor is further configured to:
and sending the image information to the control end so that the control end carries out fault detection on the power line based on the image information.
22. The device of claim 19, wherein the camera is disposed toward the power line.
23. The apparatus of claim 15, wherein the sensing device is a radar device; the treater is through setting up when setting up the sensing device on unmanned aerial vehicle and acquireing power line and unmanned aerial vehicle's distance information in real time, the treater still is used for:
obtaining a first real-time distance between the unmanned aerial vehicle and the top of the power line through the radar device.
24. The apparatus of claim 15, wherein the sensing device is a radar device; the treater is through setting up when acquireing electric power line and unmanned aerial vehicle's distance information in real time on unmanned aerial vehicle, the treater still is used for:
and acquiring a second real-time distance between the unmanned aerial vehicle and the side end of the power line through the radar device.
25. An arrangement according to claim 23 or 24, characterized in that the radar means is a microwave radar or a lidar.
26. The apparatus of claim 25, wherein the radar device is disposed on a top end of the drone.
27. The apparatus of any of claims 16-24, wherein when the processor controls the drone to fly along the power line according to the distance information, the processor is further configured to:
detecting whether an obstacle is present.
28. The apparatus of claim 27, wherein the processor is further configured to:
when the detection result shows that the obstacle exists, acquiring obstacle position information of the obstacle;
when the unmanned aerial vehicle is located the obstacle position information, control unmanned aerial vehicle keeps away the barrier flight, perhaps, control unmanned aerial vehicle hovers, perhaps, control unmanned aerial vehicle returns the initial point.
29. An unmanned aerial vehicle, comprising:
a body;
the control device of a drone of any one of claims 15 to 28, being provided on the fuselage.
30. A computer-readable storage medium, characterized in that program instructions are stored therein for implementing the method of controlling a drone according to any one of claims 1 to 14.
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| PCT/CN2018/112201 WO2020082364A1 (en) | 2018-10-26 | 2018-10-26 | Unmanned aerial vehicle control method and device, unmanned aerial vehicle, and computer readable storage medium |
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