CN111452988A - Unmanned aerial vehicle multi-machine cooperative intelligent inspection system and method based on ubiquitous power Internet of things - Google Patents
Unmanned aerial vehicle multi-machine cooperative intelligent inspection system and method based on ubiquitous power Internet of things Download PDFInfo
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- CN111452988A CN111452988A CN202010021619.6A CN202010021619A CN111452988A CN 111452988 A CN111452988 A CN 111452988A CN 202010021619 A CN202010021619 A CN 202010021619A CN 111452988 A CN111452988 A CN 111452988A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/80—Exchanging energy storage elements, e.g. removable batteries
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plant in aircraft; Aircraft characterised thereby
- B64D27/02—Aircraft characterised by the type or position of power plant
- B64D27/24—Aircraft characterised by the type or position of power plant using steam, electricity, or spring force
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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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
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N3/00—Computing arrangements based on biological models
- G06N3/12—Computing arrangements based on biological models using genetic models
- G06N3/126—Evolutionary algorithms, e.g. genetic algorithms or genetic programming
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E40/00—Technologies for an efficient electrical power generation, transmission or distribution
- Y02E40/70—Smart grids as climate change mitigation technology in the energy generation sector
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S10/00—Systems supporting electrical power generation, transmission or distribution
- Y04S10/50—Systems or methods supporting the power network operation or management, involving a certain degree of interaction with the load-side end user applications
Abstract
The invention discloses an unmanned aerial vehicle multi-machine cooperative intelligent inspection system and method based on a ubiquitous power Internet of things, and the system comprises a plurality of movable cabins, a plurality of positioners and a server, wherein the plurality of movable cabins are respectively provided with a plurality of unmanned aerial vehicles, the plurality of positioners are respectively arranged on the unmanned aerial vehicles and the movable cabins, the plurality of positioners are respectively connected with the server, and the server is used for formulating an unmanned aerial vehicle inspection route and receiving positioning information sent by the positioners, and the method comprises the following steps: step S1: making a routing inspection route by combining a genetic algorithm with an inspection power grid scene; step S2: numbering the nodes; step S3: the method comprises the steps of carrying out appointed position dispatching on a mobile cabin; step S4: and simultaneously inspecting multiple machines according to the inspection line and drawing a connecting line between the position of the unmanned aerial vehicle and the position of the starting point according to the positioning information transmitted by the positioner. According to the invention, the routing inspection route is extracted and formulated, and a plurality of unmanned aerial vehicles operate simultaneously, so that the routing inspection efficiency of the power grid line is greatly improved.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle inspection, in particular to an unmanned aerial vehicle multi-machine cooperative intelligent inspection system and method based on ubiquitous power Internet of things.
Background
Aiming at the problems faced by the routing inspection of the overhead transmission line, the overhead transmission line runs in a passage corridor with wide regions, complex geographic environment and changeable climate, has multiple points and wide range and is easily influenced by the external complex environment; at present, the inspection of the body and the channel of the overhead transmission line mainly depends on traditional manpower, and the problems that the inspection is difficult under special terrain and meteorological conditions, the inspection efficiency is low, the inspection range of defects of parts above a plain end is not easy to find is not comprehensive and the like exist. The contradiction between the increase of the operation and maintenance workload of the overhead transmission line and the shortage of personnel is increasingly prominent, and the traditional manual operation and maintenance mode cannot meet the requirements of power grid construction and development.
The line is in coordination with the requirement of the construction working scheme of the three-dimensional inspection system, the intelligent inspection technology of the unmanned aerial vehicle needs to be promoted urgently, the intelligent operation inspection level of the power transmission specialty is continuously improved, the three-dimensional inspection system based on intelligent equipment is constructed, the technical innovation of the special operation inspection of the power transmission specialty is accelerated, the efficiency benefit is comprehensively improved, and the method is a necessary way for the development of the operation inspection specialty.
For example, an "intelligent inspection system and inspection method for unmanned aerial vehicle transmission lines" disclosed in chinese patent literature, whose publication number CN103824340B, whose publication date 2015, 12 months and 02 days, includes an inspection task planning system, a scheduling system, a monitoring system, an inspection result processing platform and a mobile substation; the inspection task planning system is respectively communicated with the inspection result processing platform and the scheduling system, the inspection result processing platform and the scheduling system are respectively communicated with the monitoring system, and the monitoring system is connected and communicated with the mobile substation in a one-to-many mode; the mobile substation: the system is used for planning and issuing a flight task, locally monitoring the inspection state information and the inspection data, preprocessing the inspection image data and pre-diagnosing defects of the inspection result data; the routing inspection task planning system comprises: the system is used for making a planned task and sending a task list to a scheduling system; the scheduling system: the system comprises a task list used for receiving an inspection task planning system, and realizing the distribution of inspection elements and the scheduling of inspection tasks of the unmanned aerial vehicle according to the state information of the inspection equipment of the unmanned aerial vehicle, so that the inspection equipment, personnel, lines and inspection time of the unmanned aerial vehicle are optimally configured; the monitoring system comprises: the system is used for monitoring the state information of the mobile substation and processing the inspection result data of the unmanned aerial vehicle; the inspection result processing platform comprises: processing the inspection result data, and retrieving a corresponding inspection image through the inspection result data to realize the matching of the inspection image; and performing defect diagnosis and defect identification on the inspection result data, editing and managing the defects diagnosed by the defects, and manually identifying and editing the inspection defects. The unmanned aerial vehicle system of patrolling and examining of this application carries out patrolling and examining of electric wire netting circuit through single unmanned aerial vehicle, patrols and examines inefficiency, and unmanned aerial vehicle patrols and examines the unable replenishment that obtains the electric quantity of in-process, and unmanned aerial vehicle patrols and examines the scope of patrolling and examining is little, can't once only accomplish whole electric wire netting and patrol and examine regional patrolling and examining, extravagant a large amount.
Disclosure of Invention
The invention mainly solves the problem of low routing inspection efficiency caused by single operation of the unmanned aerial vehicle in the power grid line routing inspection process in the prior art; the unmanned aerial vehicle multi-machine cooperative intelligent inspection system and method based on the ubiquitous power Internet of things are provided, an inspection route is made in advance, a plurality of unmanned aerial vehicles are adopted for simultaneous operation, inspection time and personnel are reduced, and power grid line inspection efficiency is improved.
The technical problem of the invention is mainly solved by the following technical scheme: the utility model provides an unmanned aerial vehicle multimachine intelligence system of patrolling and examining in coordination based on ubiquitous electric power thing networking, includes a plurality of portable cabin, a plurality of locator and server, a plurality of portable cabin all carries a plurality of unmanned aerial vehicle, a plurality of the locator is installed respectively on unmanned aerial vehicle and portable cabin, a plurality of the locator all is connected with the server, the server is used for formulating unmanned aerial vehicle and patrols and examines the route and receive the locating information that the locator sent. Formulate in advance through the server and patrol and examine the route, send out portable cabin again and arrive appointed place, make unmanned aerial vehicle patrol and examine the process more rationally, fix a position unmanned aerial vehicle position through the locator, make unmanned aerial vehicle can be by real-time recording at the position of patrolling and examining the in-process, carry out the dotted line with unmanned aerial vehicle's flight route and connect, patrol and examine route and place more surveyability, effectively improve the electric wire netting circuit and patrol and examine efficiency.
Preferably, the mobile cabin comprises a carrier, a cabin fixedly arranged on the carrier and a plurality of power supply modules arranged in the cabin, the engine room comprises a base body, a first lifting platform rotationally connected with the base body and a second lifting platform slidably connected with the base body, the first lifting platform is arranged on one side of the outer wall of the base body, the second lifting platform is arranged in the base body, the base body is provided with a plurality of battery cabins, an unmanned engine room and a storage cabin, the unmanned engine room is positioned below the base body, the battery cabins are positioned at two sides of the unmanned engine room, the storage cabin is positioned at one side of the second lifting platform, a plurality of power supply modules are all arranged in the battery cabin, the unmanned aerial vehicle cabin bottom installs the conveyer belt, install a plurality of shell fragment formula briquetting on the conveyer belt, a plurality of the shell fragment formula briquetting is corresponding with unmanned aerial vehicle foot rest bottom. The carrier adopts a pick-up truck capable of moving in a complex terrain environment, the cabin is fixedly arranged at the tail of the pick-up truck, a trunk of the pick-up truck is connected with an unmanned cabin of the cabin, the unmanned cabin can store and place a plurality of unmanned aerial vehicles, the unmanned aerial vehicles comprise a medium unmanned aerial vehicle and four small unmanned aerial vehicles, the model of the medium unmanned aerial vehicle is U880, the four small unmanned aerial vehicles comprise two large Jiang eidolon 4proV2.0 and two eidolon 4RTK, the unmanned aerial vehicles are all fixed through spring type pressing blocks on a belt, the unmanned aerial vehicles are prevented from shaking in the transportation process, two different lifting platforms are arranged, the carrier is suitable for different unmanned aerial vehicles to take off, the first lifting platform can rotate 180 degrees when being arranged on the outer wall of a base body, the lifting platform can be fixed through a buckle when rotating to be parallel to the top end of the base body and is used for the medium unmanned aerial vehicle to take off, the medium unmanned aerial, the second lifting platform can be pulled out from the base body by pulling the pull ring, pulleys are arranged on two sides of the second lifting platform, the pulleys play a limiting role, the second lifting platform is prevented from being completely pulled out from the base body, a support plate is arranged at the bottom of the second lifting platform, one end, close to the inner side, of the support plate is connected with the second lifting platform through a spring, the other end of the support plate is fixedly connected with the second lifting platform, when the second lifting platform is pulled out, one end, close to the inner side, of the support plate falls down and abuts against the outer wall of the upper end of the unmanned cabin and is used for supporting the second lifting platform, the small unmanned aerial vehicle can take off conveniently, the storage cabin can be used for storing illuminating lamps, umbrellas, folding stools, fire extinguishers and other tools and used for patrol and examine personnel in the process of patrol and examine operation, the power grid patrol and examine efficiency is improved, the power supply module adopts batteries suitable for supplying power to the unmanned aerial vehicle, the, two unmanned aerial vehicle batteries can be placed in every battery compartment
Preferably, the solar cell panel is arranged at the top end of the base body, a battery charging interface is arranged in the cell cabin, and the solar cell panel is connected with the power supply module through the battery charging interface. When unmanned aerial vehicle trades the battery back down, the battery that gets off of changing is connected with solar cell panel through the battery interface that charges, carries out battery charging through solar cell panel, and effective energy saving reduces fortune dimension cost.
Preferably, the first landing platform and the second landing platform are provided with unmanned aerial vehicle positioning mechanisms. When unmanned aerial vehicle descends, fix a position through positioning mechanism, lead to unmanned aerial vehicle to damage because of the unstability when preventing unmanned aerial vehicle from descending, positioning mechanism can set up to constant head tank, location arch, location buckle or location magnet.
Preferably, the battery replacing device comprises a battery charging clamp and a hook frame, the battery charging clamp comprises a base, a clamping mechanism, a motor and a clamping device, the clamping mechanism is fixedly mounted at the lower end of the base, the clamping device is fixedly mounted at the upper end of the base, the motor is mounted in the clamping device, the motor is connected with the clamping mechanism, and the clamping device is matched with the hook frame. When unmanned aerial vehicle descends and changes the battery, change the device through the battery and realize unmanned aerial vehicle quick replacement battery, reduce the electric wire netting and patrol and examine the time that the in-process unmanned aerial vehicle battery changes and consume, promote the efficiency that the electric wire netting circuit was patrolled and examined greatly.
Preferably, the clamping device comprises a shell, a first spring, a second spring, a first coil, a second coil, a pull rod and a movable rod, the shell is provided with a clamping groove, the top end of the clamping groove is provided with a sliding groove, the pull rod is positioned at the top end of the sliding groove, the lower end of the middle part of the pull rod is connected with a movable rod through a second spring, the movable rod is arranged in the chute in a sliding way, the upper end of the middle part of the pull rod is connected with the inner wall of the top of the shell through a first spring, magnets are arranged at both ends of the pull rod, a first coil is arranged above one end of the pull rod, a second coil is arranged above the other end of the pull rod, the first coil and the second coil are arranged on the inner wall of the shell, the hook frame comprises a clamping block and a bracket, the fixture block is matched with the clamping groove, the fixture block is fixedly connected with the bottom end of the support, and the top end of the support is installed at the bottom of the unmanned aerial vehicle. The hook frame is the fishhook shape, and the fixture block is the most advanced position of fishhook, through fixture block forward motion when unmanned aerial vehicle descends, makes the movable rod atress rise along the spout, and the movable rod is not at the atress in the fixture block entering draw-in groove, descends to original position, blocks the fixture block, and unmanned aerial vehicle carries new battery and can take off rapidly, need not to wait for the speed that unmanned aerial vehicle changed the battery.
Preferably, the conveyor belt is provided with a sponge foam layer. Through the sponge foam layer, prevent that unmanned aerial vehicle from causing the damage because of vibrations in the transportation.
Preferably, the solar cell further comprises an energy storage module, a semiconductor wafer and an aluminum block, wherein the energy storage module is connected with the solar cell panel, the semiconductor wafer is installed in the unmanned aerial vehicle cabin, the aluminum block covers the inner wall of the unmanned aerial vehicle cabin, the semiconductor wafer is connected with the aluminum block, and the semiconductor wafer is connected with the energy storage module. Energy storage module adopts battery or lithium cell to carry out the storage of unnecessary electric energy, the temperature through the unmanned cabin of semiconductor wafer realization keeps, and simultaneously, when rainy day operation, unmanned aerial vehicle can leave the rainwater in the back of navigating back on the fuselage, the heat conductivity with the aluminium pig of generating heat through the semiconductor wafer, can rise the temperature in the unmanned aerial vehicle cabin for dry unmanned aerial vehicle, prevent that the rainwater from depositing and causing the damage to unmanned aerial vehicle on the unmanned aerial vehicle fuselage.
The invention also provides an unmanned aerial vehicle multi-machine cooperative intelligent inspection method based on the ubiquitous power Internet of things, which comprises the following steps: step S1: making a routing inspection route by combining a genetic algorithm with an inspection power grid scene; step S2: marking nodes according to the formulated route and numbering the nodes; step S3: carrying out node corresponding numbering on the mobile cabin and assigning the mobile cabin with the corresponding number to the node; step S4: and simultaneously inspecting multiple machines according to the inspection line and drawing a connecting line between the position of the unmanned aerial vehicle and the position of the starting point according to the positioning information transmitted by the positioner. The pole towers are used as nodes of the line, when the number of the dispatched mobile cabins is consistent with that of the nodes, each node and the mobile cabins can be in one-to-one correspondence to carry out unmanned aerial vehicle routing inspection during routing inspection, when the number of the dispatched mobile cabins is less, secondary movement or multiple movement of the mobile cabins is required, before routing inspection is carried out, a server firstly carries out path planning of secondary movement or multiple movement of the mobile cabins, each mobile cabin carries a plurality of unmanned aerial vehicles and takes off simultaneously to carry out routing inspection during routing inspection, the unmanned aerial vehicles can be enabled to fly from the current node to the next node by a battery of the unmanned aerial vehicles, during the routing inspection, if the line corresponding to the current node is all walked by the unmanned aerial vehicles, the mobile cabins move according to the cabin moving path formulated by the server and move to the next target node, and if one or more lines corresponding to the current node are not to be, the mobile cabin needs to wait in situ until the drone arrives to perform battery replacement and complete all route inspection.
Preferably, in step S1, the routing inspection route is created by a genetic algorithm, which includes the following steps:
step S11: acquiring power grid scene information; the acquired scene information comprises patrol line information and real-time meteorological information, wherein the patrol line information comprises tower position and grade, line grade, wire material, wire height, wire number, lightning rod number and lightning rod strength, and the real-time meteorological information comprises altitude, air temperature, wind direction, wind speed, air pressure, weather condition and ultraviolet intensity;
step S12: determining a constraint function; carrying out constraint according to the flight height of the unmanned aerial vehicle, the flight path length of the unmanned aerial vehicle and the routing inspection requirement, and selecting an optimal air route according to the constraint;
step S13: determining a fitness function; the fitness function determined is:
wherein f (x) is a fitness function, n is the total number of routing inspection routes, RiFor the ith routing inspection route length, g (x) is a penalty function;
wherein a, b and c are constants, and y is the distance from the starting point to the end point. Z is the maximum detection range of the unmanned aerial vehicle, and q is the maximum navigation distance of the unmanned aerial vehicle;
step S14: determining a genetic operator; the genetic operators comprise a selection operator, a crossover operator and a mutation operator, the selection operator selects the probability of entering the next generation according to the fitness, eliminates the individuals with low probability, sets the size of the population, the crossover operator randomly mates the individuals to generate the next generation, and the mutation operator generates the next generation according to the mutation probability by setting the mutation probability to maintain the diversity of the population;
step S15: performing iterative update operation according to the fitness function and the genetic operator;
step S16: judging whether the iteration is finished according to the constraint function, if so, outputting a result, and otherwise, repeating the step S15; meanwhile, the maximum value of the iteration times is set, if the iteration times reach the maximum value and a global optimal result is not found, a local optimal solution is output, multiple times of operation are carried out, and if the global optimal solution cannot be obtained, modification and adjustment are carried out on the constraint function until a proper global optimal solution is generated.
The invention has the beneficial effects that: (1) by moving the cabin, a plurality of unmanned aerial vehicles can be carried at the same time, so that the turnover of the unmanned aerial vehicles is facilitated; (2) by extracting and formulating routing inspection routes, a plurality of unmanned aerial vehicles operate simultaneously, and the routing inspection efficiency of the power grid lines is greatly improved; (3) set up the battery and change the device, make unmanned aerial vehicle quick replacement battery, reduce and patrol and examine the time.
Drawings
Fig. 1 is a schematic structural view of a nacelle according to the first embodiment in an inoperative state.
Fig. 2 is a schematic structural view of the nacelle in an operating state according to the first embodiment.
Fig. 3 is a schematic structural diagram of a battery replacement device according to the first embodiment.
Fig. 4 is a schematic flowchart of an inspection method for an unmanned aerial vehicle according to the first embodiment.
In the figure, 1, a base body, 2, a first lifting platform, 3, a second lifting platform, 4, a battery compartment, 5, a storage compartment, 6, an unmanned cabin, 7, a belt, 8, a solar panel, 9, a base, 10, a clamping mechanism, 11, a shell, 12, a motor, 13, a clamping groove, 14, a clamping block, 15, a bracket, 16, a movable rod, 17, a first coil, 18, a first spring, 19, a second spring and 20, a second coil are arranged.
Detailed Description
The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings.
The first embodiment is as follows: an unmanned aerial vehicle multi-machine cooperative intelligent inspection system based on a ubiquitous power Internet of things is disclosed, and comprises a plurality of movable cabins, a plurality of locators and a server, wherein the plurality of movable cabins all carry a plurality of unmanned aerial vehicles, the plurality of locators are respectively installed on the unmanned aerial vehicles and the movable cabins, the plurality of locators are all connected with the server, the server is used for formulating an unmanned aerial vehicle inspection route and receiving positioning information sent by the locators, each movable cabin comprises a carrier, a cabin fixedly installed on the carrier, a plurality of power supply modules placed in the cabin, a solar cell panel 8, a battery replacing device, an energy storage module, a semiconductor wafer and an aluminum block, each cabin comprises a base body 1, a first landing platform 2 rotationally connected with the base body 1 and a second landing platform 3 slidably connected with the base body 1, the first landing platform 2 is installed on one side of the outer wall of the base body 1, the second lifting platform 3 is arranged in the base body 1, the first lifting platform 2 and the second lifting platform 3 are both provided with unmanned aerial vehicle positioning mechanisms, the base body 1 is provided with a plurality of battery compartments 4, an unmanned engine compartment 6 and a storage compartment 5, the unmanned engine compartment 6 is positioned below the base body 1, the battery compartments 4 are positioned on two sides of the unmanned engine compartment 6, the storage compartment 5 is positioned on one side of the second lifting platform 3, a plurality of power supply modules are all arranged in the battery compartments 4, a conveyor belt is arranged at the bottom of the unmanned engine compartment 6, a sponge foam layer is arranged on the conveyor belt, a plurality of elastic sheet type press blocks are arranged on the foam layer of the conveyor belt, the elastic sheet type press blocks correspond to the bottom of an unmanned aerial vehicle foot rest, a solar cell panel 8 is arranged at the top end of the base body 1, a battery charging interface is arranged in the battery compartment 4, the solar cell panel 8 is connected with the power supply modules through, the semiconductor wafer is installed in unmanned cabin 6, and the aluminum block covers unmanned cabin 6 inner wall, and the semiconductor wafer is connected with the aluminum block, and the semiconductor wafer is connected with energy storage module.
As shown in fig. 3, the battery replacing device comprises a battery charging clip and a hook frame, the battery charging clip comprises a base 9, a clamping mechanism 10, a motor 12 and a clamping device, the clamping mechanism 10 is fixedly installed at the lower end of the base 9, the clamping device is fixedly installed at the upper end of the base 9, the motor 12 is installed in the clamping device, the motor 12 is connected with the clamping mechanism 10, the clamping device is matched with the hook frame, the clamping device comprises a shell 11, a first spring 18, a second spring 19, a first coil 17, a second coil 20, a pull rod and a movable rod 16, the shell 11 is provided with a clamping groove 13, the top end of the clamping groove 13 is provided with a sliding groove, the pull rod is positioned at the top end of the sliding groove, the lower end of the middle part of the pull rod is connected with the movable rod 16 through the second spring 19, the movable rod 16 is slidably installed in the sliding groove, the upper end of the middle part of the pull rod is connected with, the second coil 20 is installed above the other end of the pull rod, the first coil 17 and the second coil 20 are installed on the inner wall of the shell 11, the hook frame comprises a clamping block 14 and a support 15, the clamping block 14 is matched with the clamping groove 13, the clamping block 14 is fixedly connected with the bottom end of the support 15, an inclined plane is arranged on one side, close to the clamping groove 13, of the clamping block 14, an arc surface is arranged on one side, close to the clamping groove 13, of the movable rod 16, and the top end of the support 15 is installed at.
As shown in fig. 4, an unmanned aerial vehicle multi-machine cooperative intelligent inspection method based on ubiquitous power internet of things includes the following steps: step S1: making a routing inspection route by combining a genetic algorithm with an inspection power grid scene; step S2: marking nodes according to the formulated route and numbering the nodes; step S3: carrying out node corresponding numbering on the mobile cabin and assigning the mobile cabin with the corresponding number to the node; step S4: and simultaneously inspecting multiple machines according to the inspection line and drawing a connecting line between the position of the unmanned aerial vehicle and the position of the starting point according to the positioning information transmitted by the positioner. The pole towers are used as nodes of the line, when the number of the dispatched mobile cabins is consistent with that of the nodes, each node and the mobile cabins can be in one-to-one correspondence to carry out unmanned aerial vehicle routing inspection during routing inspection, when the number of the dispatched mobile cabins is less, secondary movement or multiple movement of the mobile cabins is required, before routing inspection is carried out, a server firstly carries out path planning of secondary movement or multiple movement of the mobile cabins, each mobile cabin carries a plurality of unmanned aerial vehicles and takes off simultaneously to carry out routing inspection during routing inspection, the unmanned aerial vehicles can be enabled to fly from the current node to the next node by a battery of the unmanned aerial vehicles, during the routing inspection, if the line corresponding to the current node is all walked by the unmanned aerial vehicles, the mobile cabins move according to the cabin moving path formulated by the server and move to the next target node, and if one or more lines corresponding to the current node are not to be, the mobile cabin needs to wait in situ until the drone arrives to perform battery replacement and complete all route inspection.
The routing inspection route making through the genetic algorithm comprises the following steps: step S11: acquiring power grid scene information; the acquired scene information comprises patrol line information and real-time meteorological information, wherein the patrol line information comprises tower position and grade, line grade, wire material, wire height, wire number, lightning rod number and lightning rod strength, and the real-time meteorological information comprises altitude, air temperature, wind direction, wind speed, air pressure, weather condition and ultraviolet intensity;
step S12: determining a constraint function; carrying out constraint according to the flight height of the unmanned aerial vehicle, the flight path length of the unmanned aerial vehicle and the routing inspection requirement, and selecting an optimal air route according to the constraint;
step S13: determining a fitness function; the fitness function determined is:
wherein f (x) is a fitness function, n is the total number of routing inspection routes, RiFor the ith routing inspection route length, g (x) is a penalty function;
wherein a, b and c are constants, and y is the distance from the starting point to the end point. Z is the maximum detection range of the unmanned aerial vehicle, and q is the maximum navigation distance of the unmanned aerial vehicle;
step S14: determining a genetic operator; the genetic operators comprise a selection operator, a crossover operator and a mutation operator, the selection operator selects the probability of entering the next generation according to the fitness, eliminates the individuals with low probability, sets the size of the population, the crossover operator randomly mates the individuals to generate the next generation, and the mutation operator generates the next generation according to the mutation probability by setting the mutation probability to maintain the diversity of the population;
step S15: performing iterative update operation according to the fitness function and the genetic operator;
step S16: judging whether the iteration is finished according to the constraint function, if so, outputting a result, and otherwise, repeating the step S15; meanwhile, the maximum value of the iteration times is set, if the iteration times reach the maximum value and a global optimal result is not found, a local optimal solution is output, multiple times of operation are carried out, and if the global optimal solution cannot be obtained, modification and adjustment are carried out on the constraint function until a proper global optimal solution is generated.
In specific application, before power grid line inspection, unmanned aerial vehicle flight route and mobile cabin moving route are extracted and formulated according to genetic algorithm, according to actual conditions, the mobile cabin is moved to a designated place, positioning tracking is carried out through a positioner, the position of each mobile cabin can be clearly seen by a server, after the mobile cabin is in place, coordinated flight inspection detection of a plurality of unmanned aerial vehicles is carried out, after the unmanned aerial vehicles reach the next node from the initial node, batteries are quickly replaced through the mobile cabin, route inspection is continuously carried out, the routes passed by the unmanned aerial vehicles are positioned according to the positioner, and the routes flown by the unmanned aerial vehicles are mapped, so that the inspection routes and the routes which are not inspected are clear at a glance, the purpose of intelligent quick inspection is achieved, and the inspection efficiency of the power grid lines is greatly improved.
The carrier adopts a pickup truck capable of moving in a complex terrain environment, the cabin is fixedly arranged at the tail of the pickup truck, a trunk of the pickup truck is connected with the unmanned cabin 6 of the cabin, the cabin is moved by starting the pickup truck in the inspection process, so that the unmanned aerial vehicle placed in the cabin can rapidly move, the obstruction of complex terrain and weather is reduced, the unmanned cabin 6 can store a plurality of unmanned aerial vehicles, the unmanned aerial vehicles comprise a medium-sized unmanned aerial vehicle and four small-sized unmanned aerial vehicles, the model of the medium-sized unmanned aerial vehicle is U880, the four small-sized unmanned aerial vehicles comprise two large Jiang elfin 4ProV2.0 and two elfin 4RTK, the unmanned aerial vehicles are fixed through a shrapnel type pressing block on a belt 7, the unmanned aerial vehicles are prevented from shaking in the transportation process, when the unmanned aerial vehicles take off, the belt 7 is started, the belt 7 is driven, and the unmanned aerial vehicles are transmitted to the cabin opening of the unmanned aerial vehicles, the working personnel takes out the unmanned aerial vehicle after loosening the spring sheet type pressing block, if the medium-sized unmanned aerial vehicle is to take off, the first landing platform 2 is rotated to be parallel to the top end of the base body 1 and fixed through a buckle, the medium-sized unmanned aerial vehicle is placed on the positioning ring of the first landing platform 2 to enable the unmanned aerial vehicle to enter a state to be flown, if the small-sized unmanned aerial vehicle is to take off, the first landing platform 2 is rotated upwards by 180 degrees, the first landing platform 2 is dismantled, the pull ring of the second landing platform 3 is pulled, the second landing platform 3 is pulled out, the bottom of the second landing platform 3 is provided with a supporting plate, one end, close to the inner side, of the supporting plate is connected with the second landing platform through a spring, the other end is fixedly connected with the second landing platform 3, when the second landing platform 3 is pulled out, one end, close to the inner side of the supporting plate falls down and abuts against the outer wall of the unmanned cabin 6 and is used for supporting the landing platform 3 at the upper end of the second landing, make unmanned aerial vehicle get into and wait to fly the state.
After the unmanned aerial vehicle is subjected to primary inspection, if the unmanned aerial vehicle is required to continue inspection and the battery needs to be replaced, the battery is clamped by the clamping mechanism 10 by starting the motor 12 and is fixed at the bottom of the base 9, the first coil 17 and the second coil 20 are electrified to have magnetism, the magnets at the two ends of the pull rod are attracted, the pull rod is pulled upwards to drive the movable rod 16 to slide upwards, the fixture block 14 moves outwards, the battery which is used up is replaced, the movable rod 16 is forced to ascend along the sliding groove when the fixture block 14 moves forwards, the movable rod 16 enters the clamping groove 13 and is not forced to descend to the original position when the fixture block 14 enters the clamping groove 13, the fixture block 14 is clamped, the unmanned aerial vehicle can take off a new battery rapidly, and the man-machine does not need to wait for a long time and replace in the process of replacing the battery, the speed of unmanned aerial vehicle change battery has been accelerated.
When unmanned aerial vehicle once patrols and examines the back, if unmanned aerial vehicle is not going on to patrol and examine, and in the course of the work, the rainwater that has fallen on the unmanned aerial vehicle, then switches on for the semiconductor wafer through the energy storage battery, makes the semiconductor wafer generate heat, through the heat conductivity of aluminium pig, makes the temperature rise in unmanned cabin 6, dries the rainwater of unmanned aerial vehicle fuselage, effectively prolongs unmanned aerial vehicle's life.
Compared with the traditional unmanned aerial vehicle inspection operation, the unmanned aerial vehicle inspection system has the advantages that the number of used workers is less, the inspection process is more transparent, the inspection efficiency is higher, and the service life of the unmanned aerial vehicle is longer.
The above-described embodiments are only preferred embodiments of the present invention, and are not intended to limit the present invention in any way, and other variations and modifications may be made without departing from the spirit of the invention as set forth in the claims.
Claims (10)
1. Unmanned aerial vehicle multi-machine cooperative intelligent inspection system based on ubiquitous power internet of things, comprising
A plurality of portable cabin, a plurality of locator and server, a plurality of portable cabin all carries a plurality of unmanned aerial vehicle, a plurality of the locator is installed respectively on unmanned aerial vehicle and portable cabin, a plurality of the locator all is connected with the server, the server is used for formulating unmanned aerial vehicle and patrols and examines the route and receive the locating information that the locator sent.
2. The unmanned aerial vehicle multi-machine cooperative intelligent inspection system based on the ubiquitous power internet of things is characterized in that the movable cabin comprises a carrier, a cabin fixedly mounted on the carrier and a plurality of power supply modules arranged in the cabin, the cabin comprises a base body, a first lifting platform connected with the base body in a rotating mode and a second lifting platform connected with the base body in a sliding mode, the first lifting platform is mounted on one side of the outer wall of the base body, the second lifting platform is mounted in the base body, the base body is provided with a plurality of battery cabins, an unmanned cabin and storage cabins, the unmanned cabin is located below the base body, the battery cabins are located on two sides of the unmanned cabin, the storage cabins are located on one side of the second lifting platform, the power supply modules are all arranged in the battery cabins, and a conveyor belt is mounted at the bottom of the unmanned cabin, the conveyer belt is provided with a plurality of spring piece type pressing blocks, and the spring piece type pressing blocks correspond to the bottoms of the foot rests of the unmanned aerial vehicles.
3. The unmanned aerial vehicle multi-machine cooperative intelligent inspection system based on the ubiquitous power internet of things is characterized by further comprising a solar panel, the solar panel is mounted at the top end of the base body, a battery charging interface is mounted in the battery compartment, and the solar panel is connected with a power supply module through the battery charging interface.
4. The unmanned aerial vehicle multi-machine cooperative intelligent inspection system based on the ubiquitous power internet of things according to claim 2 or 3, wherein the first landing platform and the second landing platform are provided with unmanned aerial vehicle positioning mechanisms.
5. The unmanned aerial vehicle multi-machine cooperative intelligent inspection system based on the ubiquitous power internet of things is characterized by further comprising a battery replacing device, the battery replacing device comprises a battery charging clamp and a hook frame, the battery charging clamp comprises a base, a clamping mechanism, a motor and a clamping device, the clamping mechanism is fixedly installed at the lower end of the base, the clamping device is fixedly installed at the upper end of the base, the motor is installed in the clamping device, the motor is connected with the clamping mechanism, and the clamping device is matched with the hook frame.
6. The unmanned aerial vehicle multi-machine cooperative intelligent inspection system based on the ubiquitous power internet of things is characterized in that the clamping device comprises a shell, a first spring, a second spring, a first coil, a second coil, a pull rod and a movable rod, the shell is provided with a clamping groove, a sliding groove is formed in the top end of the clamping groove, the pull rod is located at the top end of the sliding groove, the lower end of the middle of the pull rod is connected with the movable rod through the second spring, the movable rod is slidably mounted in the sliding groove, the upper end of the middle of the pull rod is connected with the inner wall of the top of the shell through the first spring, magnets are mounted at two ends of the pull rod, the first coil is mounted above one end of the pull rod, the second coil is mounted above the other end of the pull rod, the first coil and the second coil are mounted on the inner wall of the shell, the hook frame comprises a clamping block and, the fixture block is fixedly connected with the bottom end of the support, and the top end of the support is installed at the bottom of the unmanned aerial vehicle.
7. The unmanned aerial vehicle multi-machine cooperative intelligent inspection system based on the ubiquitous power internet of things according to claim 2, wherein a sponge foam layer is arranged on the conveyor belt.
8. The unmanned aerial vehicle multi-machine cooperative intelligent inspection system based on the ubiquitous power internet of things is characterized by further comprising an energy storage module, a semiconductor wafer and an aluminum block, wherein the energy storage module is connected with a solar cell panel, the semiconductor wafer is installed in an unmanned aerial vehicle cabin, the aluminum block covers the inner wall of the unmanned aerial vehicle cabin, the semiconductor wafer is connected with the aluminum block, and the semiconductor wafer is connected with the energy storage module.
9. An unmanned aerial vehicle multi-machine cooperative intelligent inspection method based on a ubiquitous power internet of things is suitable for the unmanned aerial vehicle multi-machine cooperative intelligent inspection system based on the ubiquitous power internet of things according to any one of claims 1 to 8, and is characterized by comprising the following steps:
step S1: making a routing inspection route by combining a genetic algorithm with an inspection power grid scene;
step S2: marking nodes according to the formulated route and numbering the nodes;
step S3: carrying out node corresponding numbering on the mobile cabin and assigning the mobile cabin with the corresponding number to the node;
step S4: and simultaneously inspecting multiple machines according to the inspection line and drawing a connecting line between the position of the unmanned aerial vehicle and the position of the starting point according to the positioning information transmitted by the positioner.
10. The unmanned aerial vehicle multi-machine cooperative intelligent inspection method based on the ubiquitous power internet of things according to claim 9, wherein the step S1 of formulating the inspection route through a genetic algorithm comprises the following steps:
step S11: acquiring power grid scene information;
step S12: determining a constraint function;
step S13: determining a fitness function;
step S14: determining a genetic operator;
step S15: performing iterative update operation according to the fitness function and the genetic operator;
step S16: and judging whether the iteration is ended or not according to the constraint function, outputting a result if the iteration is ended, and otherwise, repeating the step S15.
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