CN110880258A - Power line unmanned aerial vehicle intelligent inspection actual operation simulation training method and system - Google Patents

Power line unmanned aerial vehicle intelligent inspection actual operation simulation training method and system Download PDF

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Publication number
CN110880258A
CN110880258A CN201911247518.4A CN201911247518A CN110880258A CN 110880258 A CN110880258 A CN 110880258A CN 201911247518 A CN201911247518 A CN 201911247518A CN 110880258 A CN110880258 A CN 110880258A
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China
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aerial vehicle
unmanned aerial
inspection
control
line
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CN201911247518.4A
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Inventor
沈志
孙斌
李俊鹏
黄俊波
蔡澍雨
李维鹏
余艳稳
贾永祥
张继伟
徐真
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Charged Operation Branch of Yunnan Power Grid Co Ltd
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Charged Operation Branch of Yunnan Power Grid Co Ltd
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Priority to CN201911247518.4A priority Critical patent/CN110880258A/en
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    • GPHYSICS
    • G09EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09BEDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00Simulators for teaching or training purposes

Abstract

The invention relates to the field of simulation training methods, in particular to an intelligent inspection practical operation simulation training method for an unmanned aerial vehicle of a power line, which comprises the following steps: step 1, line patrol drawing; step 2, accurately adjusting the line patrol; step 3, generating an automatic line patrol; step 4, setting a level; and 5, processing the heavy fault. The system also comprises a control end, and an unmanned aerial vehicle and VR equipment which are in communication connection with the control end. The invention simulates a real environment, obtains a high-precision line patrol track by actually testing a line for patrol, establishes a model on the basis, arranges defect points in the system, trains the control and patrol requirements of a user unmanned aerial vehicle, and consolidates and improves the control and patrol level of the personnel. In the model process of establishing, unmanned aerial vehicle can shoot or obtain more accurate picture or hot feeling picture, improves the quality of examining the operation, and guarantees normal flying height to the track of patrolling and examining that obtains is comparatively accurate, can improve training authenticity and accuracy.

Description

Power line unmanned aerial vehicle intelligent inspection actual operation simulation training method and system
Technical Field
The invention relates to the technical field of simulation training methods, in particular to a power line unmanned aerial vehicle intelligent inspection practical operation simulation training method and system.
Background
At present, the main mode of inspection of overhead transmission lines is to manually walk along a line or use a telescope, a thermal infrared imager and the like to perform short-distance inspection and detection on line equipment and a channel environment by means of a vehicle. With the continuous increase of the line mileage, the operation and maintenance length per capita increases year by year, the existing inspection mode has low efficiency, and particularly, the defects that personnel are difficult to reach in complicated terrains such as mountains and marshes and disaster conditions such as rain, snow, freezing and earthquake, and the defects of equipment on the upper part of a tower are difficult to find are more prominent. Based on this, unmanned aerial vehicle patrols and examines and is responsible for its task of patrolling and examining gradually.
The unmanned aerial vehicle inspection and control in the prior art is a complex process, has higher requirements on operators, and therefore a simulation training system is developed, the operators can carry out simulation training, the cost can be saved, and the loss caused by unskilled operation can be avoided. However, the existing defects are that the unmanned aerial vehicle is generally manually controlled to patrol the overhead transmission line, so that information such as a patrolled line and a photo is obtained, and then the information is further analyzed and processed to obtain a specific patrolling line which is used as analog data of a simulation training system.
Disclosure of Invention
The invention aims to provide a power line unmanned aerial vehicle intelligent inspection actual operation simulation training method and system, and aims to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
an intelligent inspection practical operation simulation training method for an unmanned aerial vehicle of a power line comprises the following steps:
step 1, line patrol drawing: the unmanned aerial vehicle navigates the designated inspection area, acquires an inspection point and an inspection point by the cooperation of a GPS signal and an airborne inertial positioning system, obtains a primary track of a reverse inspection line, and simultaneously records an aerial photograph;
step 2, line patrol accurate adjustment: the unmanned aerial vehicle carries out repeated flight for a plurality of times according to a pre-planned preliminary flight path in a high-precision positioning mode, sequentially traverses each inspection tour point and updates aerial photos;
and 3, generating an automatic line patrol: analyzing the preliminary flight path, the aerial photo and the updated aerial photo through automatic patrol equipment to obtain a final flight path;
step 4, setting a level: according to the technical key points of the operation of the unmanned aerial vehicle in the flight inspection task process, the unmanned aerial vehicle relates to training checkpoints and examination tasks;
step 5, processing the heavy fault: on the basis of typical faults frequently occurring in the power transmission line, faults occurring in unmanned aerial vehicle flying inspection and natural environment, fault points are set in the virtual scene for an operator to exercise and process.
Preferably, in step 1, the appointed region of patrolling and examining includes overhead transmission line, and the unmanned aerial vehicle flight adopts the manual control mode to obtain in the overhead transmission line length of setting for and the unmanned aerial vehicle limit voyage and patrol the line mileage, unmanned aerial vehicle carries on high definition digtal camera and shoots.
Preferably, in the step 2, the unmanned aerial vehicle carries the RTK module and the magnetic field intensity detector to realize the high-precision positioning of carrier phase difference.
Preferably, in step 3, the unmanned aerial vehicle carries on the high definition digtal camera and shoots, carries on infrared imager and ultraviolet imager simultaneously and shoots visible light, infrared and ultraviolet video image information respectively.
Preferably, in the step 4, the level includes taking off, parking in the air, landing, fault shooting and manual control, and the level is set in a gradual and easy-to-difficult manner.
Preferably, in step 5, typical faults include that an insulator string is covered with ice, the string falls, the electric corrosion and a hardware clamp is buckled and falls off, faults occurring in the flying inspection of the unmanned aerial vehicle include unmanned aerial vehicle stalling, flying height descending, crash, runaway crash, natural environment includes wind environment and rain environment, and a virtual scene includes a control end and VR equipment.
In order to achieve the purpose, the invention provides the following technical scheme: an intelligent inspection practical operation simulation training system for an unmanned aerial vehicle of a power line comprises,
the unmanned aerial vehicle carries electronic equipment and navigates according to the specified inspection area to obtain an inspection line;
the control end is in communication connection with the unmanned aerial vehicle and is used for performing flight control on the unmanned aerial vehicle, receiving a flight path and a photo shot by the unmanned aerial vehicle, analyzing and processing the flight path to obtain a flight path, and feeding the flight path back to the unmanned aerial vehicle to implement closed-loop autonomous obstacle avoidance control;
and the VR equipment is connected with a serial port of the control end or in wireless communication and is used for handling major faults by an operator according to the set checkpoint exercise.
Preferably, the electronic equipment comprises a high-definition camera, an RTK module, a magnetic field intensity detector, an infrared imager and an ultraviolet imager which are all connected with a control system of the unmanned aerial vehicle.
Preferably, the control end comprises a PC and a video monitor connected with the PC, and the PC is internally provided with automatic tour software.
Preferably, the VR device comprises VR glasses and a handle for cooperating with the VR glasses.
Compared with the prior art, the invention has the beneficial effects that:
the invention simulates a real environment, establishes a model on the basis of a high-precision inspection route obtained by actually testing an inspection line, arranges defect points in the system, enables training personnel to master the control and inspection requirements of the unmanned aerial vehicle through repeated drilling, uses the real machine of the unmanned aerial vehicle to drill in an actual field on the basis, and further consolidates and improves the control and inspection levels of the personnel. Simultaneously, because realize carrier phase difference high accuracy location at the model in-process of establishing, can guarantee on the one hand that unmanned aerial vehicle can furthest be close to and detect power line or equipment, can shoot or acquire more accurate picture or hot sensing picture, improve the quality of examining the operation, can guarantee simultaneously again that unmanned aerial vehicle and the control end on ground can carry out normal communication, guarantee normal flying height and avoid unmanned aerial vehicle stall, the circumstances such as crash, thereby the tour-inspection flight track that obtains is comparatively accurate, can improve the authenticity and the accuracy of patrolling and examining the in-process like this.
Drawings
FIG. 1 is a flow chart of an electric power line unmanned aerial vehicle intelligent inspection actual operation simulation training method of the invention;
FIG. 2 is an unmanned aerial vehicle working diagram of the intelligent inspection actual operation simulation training method of the power line unmanned aerial vehicle of the invention;
fig. 3 is a schematic diagram of the power line unmanned aerial vehicle intelligent inspection actual operation simulation training system.
Detailed Description
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 only a part of the embodiments of the present invention, and not all of the embodiments. 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.
Referring to fig. 1 to 3, the present invention provides a technical solution:
an intelligent inspection practical operation simulation training method for an unmanned aerial vehicle of a power line comprises the following steps:
step 1, line patrol drawing: the unmanned aerial vehicle navigates the designated inspection area, acquires an inspection point and an inspection point by the cooperation of a GPS signal and an airborne inertial positioning system, obtains a primary track of a reverse inspection line, and simultaneously records an aerial photograph;
step 2, line patrol accurate adjustment: the unmanned aerial vehicle carries out repeated flight for a plurality of times according to a pre-planned preliminary flight path in a high-precision positioning mode, sequentially traverses each inspection tour point and updates aerial photos;
and 3, generating an automatic line patrol: analyzing the preliminary flight path, the aerial photo and the updated aerial photo through automatic patrol equipment to obtain a final flight path;
step 4, setting a level: according to the technical key points of the operation of the unmanned aerial vehicle in the flight inspection task process, the unmanned aerial vehicle relates to training checkpoints and examination tasks;
step 5, processing the heavy fault: on the basis of typical faults frequently occurring in the power transmission line, faults occurring in unmanned aerial vehicle flying inspection and natural environment, fault points are set in the virtual scene for an operator to exercise and process.
As a further improvement: in the step 1, the designated routing inspection area comprises an overhead transmission line, the unmanned aerial vehicle flies in a manual control mode to obtain routing inspection mileage within the set length of the overhead transmission line and the limit voyage of the unmanned aerial vehicle, and the unmanned aerial vehicle carries a high-definition camera to take pictures.
As a further improvement: in the step 2, the unmanned aerial vehicle carries the RTK module and the magnetic field intensity detector to realize high-precision positioning of carrier phase difference.
As a further improvement: in the step 3, the unmanned aerial vehicle carries a high-definition camera to take a picture, and simultaneously carries an infrared imager and an ultraviolet imager to respectively take visible light, infrared and ultraviolet video image information.
As a further improvement: in the step 4, the customs clearance comprises taking off, parking in the air, landing, fault shooting and manual control, and is set in a gradual and easy-to-difficult mode.
As a further improvement: in the step 5, typical faults comprise that an insulator string is covered with ice, the string falls, electric corrosion and a hardware fastener falls off, faults occurring in the flying inspection of the unmanned aerial vehicle comprise unmanned aerial vehicle stalling, flying height descending, collision and out-of-control crash, a natural environment comprises a wind environment and a rain environment, and a virtual scene comprises a control end and VR equipment.
An intelligent inspection practical operation simulation training system for an unmanned aerial vehicle of a power line comprises,
the unmanned aerial vehicle carries electronic equipment and navigates according to the specified inspection area to obtain an inspection line;
the control end is in communication connection with the unmanned aerial vehicle and is used for performing flight control on the unmanned aerial vehicle, receiving a flight path and a photo shot by the unmanned aerial vehicle, analyzing and processing the flight path to obtain a flight path, and feeding the flight path back to the unmanned aerial vehicle to implement closed-loop autonomous obstacle avoidance control;
and the VR equipment is connected with a serial port of the control end or in wireless communication and is used for handling major faults by an operator according to the set checkpoint exercise.
As a further improvement: the electronic equipment comprises a high-definition camera, an RTK module, a magnetic field intensity detector, an infrared imager and an ultraviolet imager, and is connected with a control system of the unmanned aerial vehicle.
As a further improvement: the control end comprises a PC and a video monitor connected with the PC, and automatic tour software is arranged in the PC.
As a further improvement: VR equipment includes VR glasses and the handle that uses with the cooperation of VR glasses.
In the invention, in the flying process of the unmanned aerial vehicle, the flight control file records the GPS, the airborne inertial positioning system, the driving system, the battery system and detailed flight control information at the frequency of 10 Hz. After the unmanned aerial vehicle patrols and examines the circuit, not only can draw the accurate flight path of patrolling the line according to flight control file record information, still can combine the moment information and the flight control record of high accuracy aerial photograph, confirm the accurate positional information of each point of taking a photo by plane and the setting information of camera when taking a photo by plane, get the preliminary flight path of the line of patrolling and examining. Then adopt another or professional many rotor unmanned aerial vehicle again, can set up the position of taking photo by plane along the track and as the control point, reuse Application Programming Interface (API) function that the unmanned aerial vehicle platform provided, control unmanned aerial vehicle and traverse each control point in order to carry out information adjustment setting according to the camera at the control point of taking photo by plane, realize the high accuracy and take photo by plane, the photo by plane is updated this moment. And then, the aerial photo, the initial track and the updated aerial photo are transmitted back to the control end through the unmanned aerial vehicle communication module, the control end comprises a PC (personal computer), automatic patrol software is arranged in the PC and serves as automatic patrol equipment, the transmitted information is analyzed and processed, the final track is obtained, and the final track information is stored.
As shown in fig. 2, the unmanned aerial vehicle patrols the flying near the overhead transmission line when patrolling line drawing and patrolling line accurate adjustment are performed. When line patrol accurate adjustment is carried out, the unmanned aerial vehicle carries an RTK module, high-precision positioning is carried out by a carrier phase differential technology, namely RTK modules are arranged on a ground base station of an unmanned aerial vehicle system and the unmanned aerial vehicle, based on a differential method for processing carrier phase observed quantities of 2 measuring stations in real time, a carrier phase acquired by a reference station is sent to a user receiver, a three-dimensional positioning result of the measuring station in a specified coordinate system is provided in real time, errors are corrected by utilizing differences, the positioning precision can reach centimeter level, under the support of the high-precision RTK differential positioning technology, the unmanned aerial vehicle can accurately reach a patrol target position to shoot a high-resolution image according to a pre-planned route, and technical support is provided for realizing full-automatic fine patrol of the unmanned aerial vehicle. Unmanned aerial vehicle is because the shell generally is plastics, and built-in or take electronic equipment outward, can resist 3 ~ 4 times magnetic field intensity's magnetic interference during the design, and china's earth induction intensity is 50 ~ 60 mu T, patrols and examines the operation in-process, and when 3.0m apart from transmission line, the magnetic induction intensity that line current produced is about 220 mu T, and unmanned aerial vehicle magnetometer will receive the interference, influences normal operation. According to the ampere rule, the magnetic field generated by the electrified straight wire is distributed into concentric circles surrounding the wire, and the magnetic field intensity is larger when the wire is closer to the wire. Therefore, the total magnetic field direction of the combination of the geomagnetic field and the current magnetic field points to the wire, and macroscopically, the unmanned aerial vehicle is adsorbed by the wire. According to the biot-savart law, a magnetic induction intensity formula generated in space by a current-carrying loop with current I is introduced:
in the formula: mu is the medium magnetic permeability; i is the current in the current carrying loop; x and y are the horizontal and vertical distances, respectively, of a point in space from the wire. According to the formula, the magnetic field intensity of a certain point in the space around the wire is proportional to the current in the wire and is inversely proportional to the distance between the point and the wire. According to simulation analysis, when the transmission capacity is 1500MW, namely the current is 3kA, the minimum safe distance of unmanned aerial vehicle routing inspection is 3.0 m. If the current is I (in kA), the minimum safe distance d (in m) is d ═ I. According to the invention, the magnetic field intensity can be detected in real time through the carried magnetic field intensity detector, and the 2% -5% allowance of magnetic interference of 4 times of the magnetic field intensity can be set to control the unmanned aerial vehicle to fly, so that on one hand, the unmanned aerial vehicle can be ensured to be close to a power line or equipment (H1 minimum) for detecting an overhead power transmission line to the maximum extent, the quality of detection operation is improved, and meanwhile, the unmanned aerial vehicle can be ensured to normally pass through a control end on the ground, the normal flying height (H2 minimum) is ensured, and the situations of unmanned aerial vehicle stalling, crash and the like.
According to the invention, after the final flight path is obtained through line patrol accurate adjustment, the aerial photo, the preliminary flight path and the updated aerial photo are returned to the control end through the unmanned aerial vehicle communication module, automatic patrol software is arranged in the PC as automatic patrol equipment, the returned information is analyzed and processed to obtain the final flight path, and the final flight path information is stored. When training the operator, download the information of saving to emulation system software, the operator dresses VR equipment simultaneously, like VR glasses, unmanned aerial vehicle and unmanned aerial vehicle control strategy among the simulation system match, then set up the checkpoint: according to the technical skill key in the unmanned aerial vehicle carries inspection task execution process, design training level and examination task, the level is including taking off, descending and shoot and apart from control etc to the level adopts progressive, by easy mode setting difficult, at last: typical trouble includes that insulator string crawler ice, fall the cluster, the electroerosion and the gold utensil buckle drops, and the trouble that appears in unmanned aerial vehicle flight patrols and examines includes unmanned aerial vehicle stall, flight altitude decline, hits the machine, crash out of control, and natural environment includes wind environment and rain environment, and simulation wind, rain environment in virtual scene, the wind and the rain environment that set up in virtual scene simulate real environment and are used for training unmanned aerial vehicle to control the ability.
The invention simulates a real environment, establishes a model on the basis of a high-precision inspection route obtained by actually testing an inspection line, arranges defect points in the system, enables training personnel to master the control and inspection requirements of the unmanned aerial vehicle through repeated drilling, uses the real machine of the unmanned aerial vehicle to drill in an actual field on the basis, and further consolidates and improves the control and inspection levels of the personnel. Simultaneously, because realize carrier phase difference high accuracy location at the model in-process of establishing, can guarantee on the one hand that unmanned aerial vehicle can furthest be close to and detect power line or line equipment, parts, can shoot or acquire more accurate picture or hot feeling picture, improve the quality of examining the operation, can guarantee simultaneously again that unmanned aerial vehicle and the control end on ground can carry out normal communication, guarantee normal flying height and avoid unmanned aerial vehicle stall, the circumstances such as crash, thereby the track of patrolling and examining that obtains is comparatively accurate, can improve the authenticity and the accuracy of simulation training in-process of patrolling and examining like this.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (10)

1. The intelligent inspection practical operation simulation training method for the power line unmanned aerial vehicle is characterized by comprising the following steps of:
step 1, line patrol drawing: the unmanned aerial vehicle navigates the designated inspection area, acquires an inspection point and an inspection point by the cooperation of a GPS signal and an airborne inertial positioning system, obtains a primary track of a reverse inspection line, and simultaneously records an aerial photograph;
step 2, line patrol accurate adjustment: the unmanned aerial vehicle carries out repeated flight for a plurality of times according to a pre-planned preliminary flight path in a high-precision positioning mode, sequentially traverses each inspection tour point and updates aerial photos;
and 3, generating an automatic line patrol: analyzing the preliminary flight path, the aerial photo and the updated aerial photo through automatic patrol equipment to obtain a final flight path;
step 4, setting a level: according to the technical key points of the operation of the unmanned aerial vehicle in the flight inspection task process, the unmanned aerial vehicle relates to training checkpoints and examination tasks;
step 5, processing the heavy fault: on the basis of typical faults frequently occurring in the power transmission line, faults occurring in unmanned aerial vehicle flying inspection and natural environment, fault points are set in the virtual scene for an operator to exercise and process.
2. The intelligent inspection practical operation simulation training method for the power line unmanned aerial vehicle according to claim 1, wherein in the step 1, the designated inspection area comprises an overhead power transmission line, the unmanned aerial vehicle flies in a manual control mode, the inspection mileage is obtained according to the set length of the overhead power transmission line and the limit range of the unmanned aerial vehicle, and the unmanned aerial vehicle carries a high-definition camera to take pictures.
3. The intelligent inspection practical operation simulation training method for the power line unmanned aerial vehicle according to claim 1, wherein in the step 2, the unmanned aerial vehicle carries an RTK module and a magnetic field intensity detector to realize carrier phase differential high-precision positioning.
4. The intelligent inspection practical operation simulation training method for the power line unmanned aerial vehicle according to claim 1, wherein in the step 3, the unmanned aerial vehicle carries a high-definition camera to take pictures, and simultaneously carries an infrared imager and an ultraviolet imager to respectively take visible light, infrared and ultraviolet video image information.
5. The intelligent inspection practical operation simulation training method for the power line unmanned aerial vehicle according to claim 1, wherein in the step 4, the level comprises taking-off, parking in the air, landing, fault shooting and manual control, and the level is set in a gradual and easy-to-go mode.
6. The intelligent inspection practical operation simulation training method for the power line unmanned aerial vehicle according to claim 1, wherein in the step 5, typical faults comprise that an insulator string is covered with ice, the string falls, electric erosion and a hardware clamp is buckled and falls off, faults occurring in the flying inspection of the unmanned aerial vehicle comprise that the unmanned aerial vehicle stalls, the flying height descends, crashes and crashes out of control, natural environments comprise a wind environment and a rain environment, and virtual scenes comprise a control end and VR equipment.
7. The utility model provides a power line unmanned aerial vehicle intelligence is patrolled and examined real behaviour simulation training system which characterized in that includes:
the unmanned aerial vehicle carries electronic equipment and navigates according to the specified inspection area to obtain an inspection line;
the control end is in communication connection with the unmanned aerial vehicle and is used for performing flight control on the unmanned aerial vehicle, receiving a flight path and a photo shot by the unmanned aerial vehicle, analyzing and processing the flight path to obtain a flight path, and feeding the flight path back to the unmanned aerial vehicle to implement closed-loop autonomous obstacle avoidance control;
and the VR equipment is connected with a serial port of the control end or in wireless communication and is used for handling major faults by an operator according to the set checkpoint exercise.
8. The intelligent inspection practical operation simulation training system for the power line unmanned aerial vehicle according to claim 7, wherein the electronic device comprises a high-definition camera, an RTK module, a magnetic field intensity detector, an infrared imager and an ultraviolet imager which are all connected with a control system of the unmanned aerial vehicle.
9. The system according to claim 7, wherein the control end comprises a PC and a video monitor connected with the PC, and automatic tour software is arranged in the PC.
10. The system of claim 7, wherein the VR device includes VR glasses and a handle for cooperating with the VR glasses.
CN201911247518.4A 2019-12-09 2019-12-09 Power line unmanned aerial vehicle intelligent inspection actual operation simulation training method and system Pending CN110880258A (en)

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