CN111625017B - Many rotor unmanned aerial vehicle intelligence system of patrolling and examining - Google Patents
Many rotor unmanned aerial vehicle intelligence system of patrolling and examining Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
- G07C1/20—Checking timed patrols, e.g. of watchman
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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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Abstract
The invention discloses an intelligent inspection system for a multi-rotor unmanned aerial vehicle, which is used for analyzing and calculating an inspection value of a primary unmanned aerial vehicle to obtain an inspection unmanned aerial vehicle, and monitoring a communication signal of the inspection unmanned aerial vehicle and controlling the flight height of the inspection unmanned aerial vehicle to solve the problem that the inspection unmanned aerial vehicle is close to a transmission line to influence the communication transmission of the inspection unmanned aerial vehicle; the intelligent routing inspection system comprises a data acquisition module, a server, an inspection distribution module, a path storage module, an intelligent inspection module and an inspection power supply module; the communication signal of the inspection unmanned aerial vehicle is monitored and the flying height of the inspection unmanned aerial vehicle is controlled, so that the inspection unmanned aerial vehicle can conveniently carry out power inspection, and meanwhile, an inspected image is transmitted to a background terminal, so that the condition that the inspection unmanned aerial vehicle is close to a transmission line and the communication transmission of the inspection unmanned aerial vehicle is influenced is avoided; the power supply module is used for monitoring the electric quantity and supplying power to the inspection unmanned aerial vehicle, so that the inspection unmanned aerial vehicle can supply power in time.
Description
Technical Field
The invention relates to the technical field of power transmission line unmanned aerial vehicle detection, in particular to an intelligent inspection system for a multi-rotor unmanned aerial vehicle.
Background
The distribution points of the power transmission lines are various and wide, the landform is complex, the natural environment is severe, the traditional manual inspection method has large workload and hard conditions, and particularly, the traditional manual inspection method has long time, high labor cost, great difficulty and high risk in inspection of the power transmission lines in mountainous areas and across large rivers and inspection of the power transmission lines in ice disasters, flood disasters, earthquakes, landslides and nights. Unmanned aerial vehicle inspection application of power transmission line is started in 2014. At present, the unmanned aerial vehicle patrols and examines comparatively extensively in patrolling and examining and can realize patrolling and examining, also can fix a position, and the prospect is comparatively extensive.
The unmanned aerial vehicle of the technique that adopts in the existing market can realize technologies such as GPS location, simple image processing, image transmission, but transmission line and shaft tower magnetic field have the interference to unmanned aerial vehicle's transmission signal, consequently adopt the high distance that keeps unmanned aerial vehicle and transmission line to effectively reduce the interference, promote the smooth development of transmission of electricity and patrol and examine work.
Disclosure of Invention
The invention aims to provide an intelligent inspection system of a multi-rotor unmanned aerial vehicle; according to the invention, the communication signal of the inspection unmanned aerial vehicle is monitored and the flying height of the inspection unmanned aerial vehicle is controlled, so that the inspection unmanned aerial vehicle can conveniently perform power inspection, and meanwhile, an image of the inspection is transmitted to the background terminal, so that the inspection unmanned aerial vehicle is prevented from being close to a transmission line and influencing the communication transmission of the inspection unmanned aerial vehicle; the power supply module is used for monitoring the electric quantity and supplying power to the inspection unmanned aerial vehicle, so that the inspection unmanned aerial vehicle can supply power in time.
The technical problem to be solved by the invention is as follows:
(1) how to obtain the inspection unmanned aerial vehicle by analyzing and calculating the inspection value of the primary unmanned aerial vehicle, and solving the problem that the inspection unmanned aerial vehicle is close to a transmission line and the communication transmission of the inspection unmanned aerial vehicle is influenced by monitoring the communication signal of the inspection unmanned aerial vehicle and controlling the flight height of the inspection unmanned aerial vehicle;
the purpose of the invention can be realized by the following technical scheme: an intelligent inspection system for a multi-rotor unmanned aerial vehicle comprises a data acquisition module, a server, an inspection distribution module, an unmanned aerial vehicle module, a registration login module, a path storage module, an intelligent inspection module and an inspection power supply module;
the data acquisition module is used for acquiring the information of the power transmission line to be inspected and sending the information of the power transmission line to the server, wherein the information of the power transmission line comprises the initial position, the end position, the inspection time and the height of the power transmission line;
patrol and examine distribution module and be used for treating transmission line and carry out unmanned aerial vehicle and patrol and examine the distribution, concrete distribution step is as follows:
the method comprises the following steps: marking the multi-rotor unmanned aerial vehicle in the inspection state as a primary unmanned aerial vehicle, and indicating the primary unmanned aerial vehicle by using a symbol Wi, wherein i =1, … … and n;
step two: respectively calculating the distance difference between the position of the primary unmanned aerial vehicle and the initial position and the end position of the power transmission line to be inspected to obtain an initial difference and an end difference, which are respectively marked as G1Wi、G2Wi；
Step three: obtaining the purchase time of the primary unmanned aerial vehicle, calculating the time difference between the purchase time and the current time of the system to obtain the purchase duration, and marking the purchase duration as TWi；
Step four: set for battery capacity of primary unmanned aerial vehicle to be recorded as UWi；
Step five: using formulas
Obtaining a patrol inspection value F of the primary unmanned aerial vehicleWi(ii) a Wherein b1, b2, b3, b4, b5 and b6 are all preset proportionality coefficients, XWiSelecting the inspection times of the unmanned aerial vehicle for the first time; hWiPrimarily selecting a power supply value of the unmanned aerial vehicle;
step six: marking the primary unmanned aerial vehicle with the largest inspection value as an inspection unmanned aerial vehicle, simultaneously acquiring an inspection path in a path storage module and a serial number of the inspection unmanned aerial vehicle stored in a server, matching the inspection path with the initial position and the end position of the power transmission line to be inspected, and marking the inspection path as a path to be executed when the initial position and the end point of the inspection path are superposed with the initial position and the end position of the power transmission line to be inspected one by one; if not, generating a path acquisition instruction;
step seven: the routing inspection distribution module sends the serial number of the routing inspection unmanned aerial vehicle and the path to be executed or the path acquisition instruction to the intelligent routing inspection module;
the intelligent inspection module is used for inspecting the power transmission line to be inspected of the unmanned aerial vehicle and performing intelligent inspection, and the intelligent inspection process comprises the following steps:
a: after the intelligent inspection module receives the serial number of the inspection unmanned aerial vehicle and the path to be executed, the intelligent inspection module controls the inspection unmanned aerial vehicle to fly to the initial position of the power transmission line to be inspected, then controls the inspection unmanned aerial vehicle to fly according to the path to be executed, and simultaneously shoots the image of the power transmission line to be inspected and sends the image into the server;
b: after the intelligent inspection module receives the serial number and the path acquisition instruction of the inspection unmanned aerial vehicle, the intelligent inspection module controls the inspection unmanned aerial vehicle to fly to the initial position of the power transmission line to be inspected, and then controls the inspection unmanned aerial vehicle to fly along the power transmission line to be inspected, shoot the image of the power transmission line to be inspected and send the image of the power transmission line to be inspected into the server; meanwhile, the intelligent inspection module acquires the communication signal intensity of the inspection unmanned aerial vehicle, and when the communication signal intensity is lower than a set threshold value, the inspection unmanned aerial vehicle is controlled to fly upwards, so that the communication signal intensity is equal to the set threshold value; when the communication signal intensity is greater than the set threshold value, controlling the inspection unmanned aerial vehicle to fly downwards to enable the communication signal intensity to be equal to the set threshold value; when the communication signal intensity is equal to a set threshold value, the inspection unmanned aerial vehicle flies along the current height, and an inspection path is formed by the starting position of the flight of the inspection unmanned aerial vehicle, the height of the communication signal intensity of the inspection unmanned aerial vehicle equal to the set threshold value and the ending position of the flight of the inspection unmanned aerial vehicle; meanwhile, the number of times of routing inspection of the unmanned aerial vehicle is increased once, and the intelligent routing inspection module sends the routing inspection path to the path storage module through the server for storage.
Preferably, the registration login module is used for submitting user information and unmanned aerial vehicle information for registration through a mobile phone terminal by a user and sending the user information and unmanned aerial vehicle information which are successfully registered into the server; the user information comprises a name, a mobile phone number and a position; unmanned aerial vehicle information includes many rotor unmanned aerial vehicle's purchase time, battery capacity and many rotor unmanned aerial vehicle's model, and the server stores after receiving user information and unmanned aerial vehicle information, numbers this many rotor unmanned aerial vehicle simultaneously.
Preferably, the unmanned aerial vehicle module is used for the user to submit many rotor unmanned aerial vehicle's use start time and use the end time through cell-phone terminal, will patrol and examine the use start time and use the end time of many rotor unmanned aerial vehicle that time and user submitted and match, in the time of patrolling and examining the use start time and use the end time scope at many rotor unmanned aerial vehicle, and patrol and examine the time and be greater than the settlement threshold value with the time difference who uses the end time, then mark this many rotor unmanned aerial vehicle's state as the state of patrolling and examining.
Preferably, the power module of patrolling and examining is used for carrying out electric quantity monitoring and power supply to patrolling and examining unmanned aerial vehicle, and concrete step is as follows:
the method comprises the following steps: acquiring the electric quantity of the inspection unmanned aerial vehicle, and when the electric quantity value is equal to a set threshold value, performing power supply distribution on the inspection unmanned aerial vehicle;
step two: acquiring the current position of the inspection unmanned aerial vehicle, and marking the user with the current position within a preset range as a primary user;
step three: marking the primary users as Rj, j =1, … …, n; calculating the distance difference between the current position of the inspection unmanned aerial vehicle and the position of the primary user to obtain a power supply distance, and marking the power supply distance as ERj；
Step four: acquiring the charging times of the primary selection user and marking the charging times as PRj；
Step five: using formulas
Obtaining the power supply priority value L of the primary selection userRj(ii) a Wherein c1 and c2 are both preset proportionality coefficients;
step six: selecting a primary user with the largest power supply priority value as a selected user, sending a charging reminding instruction to a mobile phone terminal of the selected user by an inspection power supply module, sending an agreement instruction to the inspection power supply module by the selected user through the mobile phone terminal, controlling the inspection unmanned aerial vehicle to fly to the position of the selected user by the inspection power supply module, supplying power to the inspection unmanned aerial vehicle by the selected user, sending the charging starting time and the charging ending time to the inspection power supply module by the inspection unmanned aerial vehicle, and increasing the charging times of the selected user once; when the patrol inspection power supply module does not receive the agreement instruction within the preset time range, selecting the primary user with the next power supply priority value as the selected user;
step seven: calculating the time length of the charging starting time and the charging ending time to obtain the single charging time length; summing all the single charging time lengths of the selected users to obtain a total charging time length, and marking the total charging time length as TRj；
Step eight: using the formula HRj=TRj*c3+PRjC4 obtaining power supply value H of the selected userRj(ii) a Wherein c3 and c4 are both preset proportionality coefficients;
step nine: the power supply value of the selected user is sent to the server by the patrol inspection power supply module, and the server marks the power supply value of the selected user as the power supply value of the multi-rotor unmanned aerial vehicle corresponding to the selected user.
The invention has the beneficial effects that:
(1) the method comprises the steps that a data acquisition module acquires information of a power transmission line to be patrolled and transmitted to a server, a patrolling distribution module carries out unmanned aerial vehicle patrolling distribution on the power transmission line, a multi-rotor unmanned aerial vehicle in a patrolling state is marked as a primary unmanned aerial vehicle, and a patrolling value of the primary unmanned aerial vehicle is obtained by using a formula; marking the primary unmanned aerial vehicle with the largest inspection value as an inspection unmanned aerial vehicle, simultaneously acquiring an inspection path in the path storage module and a serial number of the inspection unmanned aerial vehicle stored in the server, after the intelligent inspection module receives the serial number of the inspection unmanned aerial vehicle and a path acquisition instruction, controlling the inspection unmanned aerial vehicle to fly to the initial position of the power transmission line to be inspected by the intelligent inspection module, then controlling the inspection unmanned aerial vehicle to fly along the power transmission line to be inspected, shooting an image of the power transmission line to be inspected and sending the image to the server; meanwhile, the intelligent inspection module acquires the communication signal intensity of the inspection unmanned aerial vehicle, and an inspection path is formed by the initial position of the flight of the inspection unmanned aerial vehicle, the height of the communication signal intensity of the inspection unmanned aerial vehicle equal to a set threshold value and the end position of the flight of the inspection unmanned aerial vehicle; the communication signal of the inspection unmanned aerial vehicle is monitored and the flying height of the inspection unmanned aerial vehicle is controlled, so that the inspection unmanned aerial vehicle can conveniently carry out power inspection, and meanwhile, an inspected image is transmitted to a background terminal, so that the condition that the inspection unmanned aerial vehicle is close to a transmission line and the communication transmission of the inspection unmanned aerial vehicle is influenced is avoided;
(2) the inspection power supply module monitors and supplies power to the inspection unmanned aerial vehicle, a primary user with the largest power supply priority value is selected as a selected user, the inspection power supply module sends a charging reminding instruction to a mobile phone terminal of the selected user, when the selected user sends an agreement instruction to the inspection power supply module through the mobile phone terminal, the inspection power supply module controls the inspection unmanned aerial vehicle to fly to the position of the selected user, the selected user supplies power to the inspection unmanned aerial vehicle, the inspection power supply module monitors and supplies power to the inspection unmanned aerial vehicle through the power, and the inspection unmanned aerial vehicle is convenient to supply power in time.
Drawings
The invention will be further described with reference to the accompanying drawings.
Fig. 1 is a schematic block diagram of a multi-rotor unmanned aerial vehicle intelligent inspection system of the present invention.
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, the invention relates to an intelligent inspection system for a multi-rotor unmanned aerial vehicle, which comprises a data acquisition module, a server, an inspection distribution module, an unmanned aerial vehicle module, a registration login module, a path storage module, an intelligent inspection module and an inspection power supply module;
the data acquisition module is used for acquiring the information of the power transmission line to be inspected and sending the information of the power transmission line to the server, wherein the information of the power transmission line comprises the initial position, the end position, the inspection time and the height of the power transmission line;
the patrol and examine distribution module is used for treating transmission line and carrying out unmanned aerial vehicle and patrol and examine the distribution, and concrete distribution step is as follows:
the method comprises the following steps: marking the multi-rotor unmanned aerial vehicle in the inspection state as a primary unmanned aerial vehicle, and indicating the primary unmanned aerial vehicle by using a symbol Wi, wherein i =1, … … and n;
step two: respectively calculating the distance difference between the position of the primary unmanned aerial vehicle and the initial position and the end position of the power transmission line to be inspected to obtain an initial difference and an end difference, which are respectively marked as G1Wi、G2Wi；
Step three: obtaining the purchase time of the primary unmanned aerial vehicle, calculating the time difference between the purchase time and the current time of the system to obtain the purchase duration, and marking the purchase duration as TWi；
Step four: set for battery capacity of primary unmanned aerial vehicle to be recorded as UWi；
Step five: using formulas
Obtaining a patrol inspection value F of the primary unmanned aerial vehicleWi(ii) a Wherein b1, b2, b3, b4, b5 and b6 are all preset proportionality coefficients, XWiSelecting the inspection times of the unmanned aerial vehicle for the first time; hWiPrimarily selecting a power supply value of the unmanned aerial vehicle;
step six: marking the primary unmanned aerial vehicle with the largest inspection value as an inspection unmanned aerial vehicle, simultaneously acquiring an inspection path in a path storage module and a serial number of the inspection unmanned aerial vehicle stored in a server, matching the inspection path with the initial position and the end position of the power transmission line to be inspected, and marking the inspection path as a path to be executed when the initial position and the end point of the inspection path are superposed with the initial position and the end position of the power transmission line to be inspected one by one; if not, generating a path acquisition instruction;
step seven: the routing inspection distribution module sends the serial number of the routing inspection unmanned aerial vehicle and the path to be executed or the path acquisition instruction to the intelligent routing inspection module;
the intelligent patrol module is used for patrolling and examining the transmission line that unmanned aerial vehicle treated patrolling and examining and carry out the intelligence and patrol and examine, specifically patrols and examines the process as follows:
a: after the intelligent inspection module receives the serial number of the inspection unmanned aerial vehicle and the path to be executed, the intelligent inspection module controls the inspection unmanned aerial vehicle to fly to the initial position of the power transmission line to be inspected, then controls the inspection unmanned aerial vehicle to fly according to the path to be executed, and simultaneously shoots the image of the power transmission line to be inspected and sends the image into the server;
b: after the intelligent inspection module receives the serial number and the path acquisition instruction of the inspection unmanned aerial vehicle, the intelligent inspection module controls the inspection unmanned aerial vehicle to fly to the initial position of the power transmission line to be inspected, and then controls the inspection unmanned aerial vehicle to fly along the power transmission line to be inspected, shoot the image of the power transmission line to be inspected and send the image of the power transmission line to be inspected into the server; meanwhile, the intelligent inspection module acquires the communication signal intensity of the inspection unmanned aerial vehicle, and when the communication signal intensity is lower than a set threshold value, the inspection unmanned aerial vehicle is controlled to fly upwards, so that the communication signal intensity is equal to the set threshold value; when the communication signal intensity is greater than the set threshold value, controlling the inspection unmanned aerial vehicle to fly downwards to enable the communication signal intensity to be equal to the set threshold value; when the communication signal intensity is equal to a set threshold value, the inspection unmanned aerial vehicle flies along the current height, and an inspection path is formed by the starting position of the flight of the inspection unmanned aerial vehicle, the height of the communication signal intensity of the inspection unmanned aerial vehicle equal to the set threshold value and the ending position of the flight of the inspection unmanned aerial vehicle; meanwhile, the number of times of routing inspection of the unmanned aerial vehicle is increased once, and the intelligent routing inspection module sends the routing inspection path to the path storage module through the server for storage;
the registration login module is used for submitting user information and unmanned aerial vehicle information for registration through a mobile phone terminal by a user and sending the user information and unmanned aerial vehicle information which are successfully registered into the server; the user information comprises a name, a mobile phone number and a position; the unmanned aerial vehicle information comprises purchase time and battery capacity of the multi-rotor unmanned aerial vehicle and the model of the multi-rotor unmanned aerial vehicle, and the server stores the user information and the unmanned aerial vehicle information after receiving the user information and the unmanned aerial vehicle information and numbers the multi-rotor unmanned aerial vehicle;
the unmanned aerial vehicle module is used for submitting the use start time and the use end time of the multi-rotor unmanned aerial vehicle by a user through a mobile phone terminal, matching the inspection time with the use start time and the use end time of the multi-rotor unmanned aerial vehicle submitted by the user, and marking the state of the multi-rotor unmanned aerial vehicle as an inspection state when the inspection time is within the range of the use start time and the use end time of the multi-rotor unmanned aerial vehicle and the time difference between the inspection time and the use end time is greater than a set threshold value;
patrol and examine power module and be used for carrying out electric quantity monitoring and power supply to patrolling and examining unmanned aerial vehicle, concrete step is as follows:
the method comprises the following steps: acquiring the electric quantity of the inspection unmanned aerial vehicle, and when the electric quantity value is equal to a set threshold value, performing power supply distribution on the inspection unmanned aerial vehicle;
step two: acquiring the current position of the inspection unmanned aerial vehicle, and marking the user with the current position within a preset range as a primary user;
step three: marking the primary users as Rj, j =1, … …, n; calculating the distance difference between the current position of the inspection unmanned aerial vehicle and the position of the primary user to obtain a power supply distance, and marking the power supply distance as ERj；
Step four: acquiring the charging times of the primary selection user and marking the charging times as PRj；
Step five: using formulas
Obtaining the power supply priority value L of the primary selection userRj(ii) a Wherein c1 and c2 are both preset proportionality coefficients;
step six: selecting a primary user with the largest power supply priority value as a selected user, sending a charging reminding instruction to a mobile phone terminal of the selected user by an inspection power supply module, sending an agreement instruction to the inspection power supply module by the selected user through the mobile phone terminal, controlling the inspection unmanned aerial vehicle to fly to the position of the selected user by the inspection power supply module, supplying power to the inspection unmanned aerial vehicle by the selected user, sending the charging starting time and the charging ending time to the inspection power supply module by the inspection unmanned aerial vehicle, and increasing the charging times of the selected user once; when the patrol inspection power supply module does not receive the agreement instruction within the preset time range, selecting the primary user with the next power supply priority value as the selected user;
step seven: when the charging start time and the charging end time are carried outCalculating the length to obtain the time length of single charging; summing all the single charging time lengths of the selected users to obtain a total charging time length, and marking the total charging time length as TRj；
Step eight: using the formula HRj=TRj*c3+PRjC4 obtaining power supply value H of the selected userRj(ii) a Wherein c3 and c4 are both preset proportionality coefficients; the parameters in the formula are calculated by substituting the numerical values into the formula;
step nine: the routing inspection power supply module sends the power supply value of the selected user to the server, and the server marks the power supply value of the selected user as the power supply value of the multi-rotor unmanned aerial vehicle corresponding to the selected user; the users correspond to the multi-rotor unmanned aerial vehicles one by one; the power supply module is used for monitoring the electric quantity and supplying power to the inspection unmanned aerial vehicle, so that the inspection unmanned aerial vehicle can supply power in time.
The working principle of the invention is as follows: the data acquisition module is used for gathering the transmission line information of waiting to patrol and examine and send transmission line information to the server in, it is used for treating the transmission line and carry out the unmanned aerial vehicle and patrol and examine the distribution to patrol and examine distribution module, the many rotor unmanned aerial vehicle mark that will patrol and examine the state is primary unmanned aerial vehicle, the position that will primary unmanned aerial vehicle respectively with wait to patrol and examine transmission line's initial position, the end position carries out the distance difference and calculates, obtain initial difference and end difference, acquire primary unmanned aerial vehicle's purchase time and carry out the time difference with it and system current time and calculate and
obtaining a patrol inspection value F of the primary unmanned aerial vehicleWi(ii) a Marking the primary unmanned aerial vehicle with the largest inspection value as an inspection unmanned aerial vehicle, simultaneously acquiring an inspection path in a path storage module and a serial number of the inspection unmanned aerial vehicle stored in a server, matching the inspection path with the initial position and the end position of the power transmission line to be inspected, and marking the inspection path as a path to be executed when the initial position and the end point of the inspection path are superposed with the initial position and the end position of the power transmission line to be inspected one by one; if not, generating a path acquisition instruction; patrol and examine distribution module will patrol and examine unmanned aerial vehicle's serial number and waitThe execution path or the path acquisition instruction is sent to the intelligent inspection module; the intelligent inspection module is used for the inspection unmanned aerial vehicle to carry out intelligent inspection on the power transmission line to be inspected, when the intelligent inspection module receives the serial number and the path acquisition instruction of the inspection unmanned aerial vehicle, the intelligent inspection module controls the inspection unmanned aerial vehicle to fly to the initial position of the power transmission line to be inspected, and then controls the inspection unmanned aerial vehicle to fly along the power transmission line to be inspected, shoot the image of the power transmission line to be inspected and send the image of the power transmission line to be inspected into the server; meanwhile, the intelligent inspection module acquires the communication signal intensity of the inspection unmanned aerial vehicle, and when the communication signal intensity is lower than a set threshold value, the inspection unmanned aerial vehicle is controlled to fly upwards, so that the communication signal intensity is equal to the set threshold value; when the communication signal intensity is greater than the set threshold value, controlling the inspection unmanned aerial vehicle to fly downwards to enable the communication signal intensity to be equal to the set threshold value; when the communication signal intensity is equal to a set threshold value, the inspection unmanned aerial vehicle flies along the current height, and an inspection path is formed by the starting position of the flight of the inspection unmanned aerial vehicle, the height of the communication signal intensity of the inspection unmanned aerial vehicle equal to the set threshold value and the ending position of the flight of the inspection unmanned aerial vehicle; the communication signal of the inspection unmanned aerial vehicle is monitored and the flying height of the inspection unmanned aerial vehicle is controlled, so that the inspection unmanned aerial vehicle can conveniently carry out power inspection, meanwhile, the patrolling image is transmitted to a background terminal, so that the patrolling unmanned aerial vehicle is prevented from being close to a transmission line to influence the communication transmission of the patrolling unmanned aerial vehicle, the patrolling power supply module is used for monitoring and supplying power to the patrolling unmanned aerial vehicle, a primary user with the largest power supply priority value is selected as a selected user, the patrolling power supply module sends a charging reminding instruction to a mobile phone terminal of the selected user, and the selected user sends an agreement instruction to the patrolling power supply module through the mobile phone terminal, the inspection power supply module controls the inspection unmanned aerial vehicle to fly to the position of the selected user, the selected user supplies power to the inspection unmanned aerial vehicle, the power supply module is used for monitoring the electric quantity and supplying power to the inspection unmanned aerial vehicle, so that the inspection unmanned aerial vehicle can supply power in time.
The foregoing is merely exemplary and illustrative of the present invention and various modifications, additions and substitutions may be made by those skilled in the art to the specific embodiments described without departing from the scope of the invention as defined in the following claims.
Claims (4)
1. The intelligent inspection system of the multi-rotor unmanned aerial vehicle is characterized by comprising a data acquisition module, a server, an inspection distribution module, an unmanned aerial vehicle module, a registration and login module, a path storage module, an intelligent inspection module and an inspection power supply module;
the data acquisition module is used for acquiring the information of the power transmission line to be inspected and sending the information of the power transmission line to the server, wherein the information of the power transmission line comprises the initial position, the end position, the inspection time and the height of the power transmission line;
patrol and examine distribution module and be used for treating transmission line and carry out unmanned aerial vehicle and patrol and examine the distribution, concrete distribution step is as follows:
the method comprises the following steps: marking the multi-rotor unmanned aerial vehicle in the inspection state as a primary unmanned aerial vehicle, and indicating the primary unmanned aerial vehicle by using a symbol Wi, wherein i =1, … … and n;
step two: respectively calculating the distance difference between the position of the primary unmanned aerial vehicle and the initial position and the end position of the power transmission line to be inspected to obtain an initial difference and an end difference, which are respectively marked as G1Wi、G2Wi；
Step three: obtaining the purchase time of the primary unmanned aerial vehicle, calculating the time difference between the purchase time and the current time of the system to obtain the purchase duration, and marking the purchase duration as TWi；
Step four: set for battery capacity of primary unmanned aerial vehicle to be recorded as UWi；
Step five: using formulas
Obtaining a patrol inspection value F of the primary unmanned aerial vehicleWi(ii) a Wherein b1, b2, b3, b4, b5 and b6 are all preset proportionality coefficients, XWiSelecting the inspection times of the unmanned aerial vehicle for the first time; hWiPrimarily selecting a power supply value of the unmanned aerial vehicle;
step six: marking the primary unmanned aerial vehicle with the largest inspection value as an inspection unmanned aerial vehicle, simultaneously acquiring an inspection path in a path storage module and a serial number of the inspection unmanned aerial vehicle stored in a server, matching the inspection path with the initial position and the end position of the power transmission line to be inspected, and marking the inspection path as a path to be executed when the initial position and the end point of the inspection path are superposed with the initial position and the end position of the power transmission line to be inspected one by one; if not, generating a path acquisition instruction;
step seven: the routing inspection distribution module sends the serial number of the routing inspection unmanned aerial vehicle and the path to be executed or the path acquisition instruction to the intelligent routing inspection module;
the intelligent inspection module is used for inspecting the power transmission line to be inspected of the unmanned aerial vehicle and performing intelligent inspection, and the intelligent inspection process comprises the following steps:
a: after the intelligent inspection module receives the serial number of the inspection unmanned aerial vehicle and the path to be executed, the intelligent inspection module controls the inspection unmanned aerial vehicle to fly to the initial position of the power transmission line to be inspected, then controls the inspection unmanned aerial vehicle to fly according to the path to be executed, and simultaneously shoots the image of the power transmission line to be inspected and sends the image into the server;
b: after the intelligent inspection module receives the serial number and the path acquisition instruction of the inspection unmanned aerial vehicle, the intelligent inspection module controls the inspection unmanned aerial vehicle to fly to the initial position of the power transmission line to be inspected, and then controls the inspection unmanned aerial vehicle to fly along the power transmission line to be inspected, shoot the image of the power transmission line to be inspected and send the image of the power transmission line to be inspected into the server; meanwhile, the intelligent inspection module acquires the communication signal intensity of the inspection unmanned aerial vehicle, and when the communication signal intensity is lower than a set threshold value, the inspection unmanned aerial vehicle is controlled to fly upwards, so that the communication signal intensity is equal to the set threshold value; when the communication signal intensity is greater than the set threshold value, controlling the inspection unmanned aerial vehicle to fly downwards to enable the communication signal intensity to be equal to the set threshold value; when the communication signal intensity is equal to a set threshold value, the inspection unmanned aerial vehicle flies along the current height, and an inspection path is formed by the starting position of the flight of the inspection unmanned aerial vehicle, the height of the communication signal intensity of the inspection unmanned aerial vehicle equal to the set threshold value and the ending position of the flight of the inspection unmanned aerial vehicle; meanwhile, the number of times of routing inspection of the unmanned aerial vehicle is increased once, and the intelligent routing inspection module sends the routing inspection path to the path storage module through the server for storage.
2. The intelligent inspection system for the multi-rotor unmanned aerial vehicles according to claim 1, wherein the registration login module is used for a user to submit user information and unmanned aerial vehicle information through a mobile phone terminal for registration and send the user information and unmanned aerial vehicle information which are successfully registered into the server; the user information comprises a name, a mobile phone number and a position; unmanned aerial vehicle information includes many rotor unmanned aerial vehicle's purchase time, battery capacity and many rotor unmanned aerial vehicle's model, and the server stores after receiving user information and unmanned aerial vehicle information, numbers this many rotor unmanned aerial vehicle simultaneously.
3. The system of claim 1, wherein the drone module is configured to enable a user to submit the start time and end time of use of the multi-rotor drone through a mobile phone terminal, match the patrol time with the start time and end time of use of the multi-rotor drone submitted by the user, and mark the state of the multi-rotor drone as patrol when the patrol time is within the range of the start time and end time of use of the multi-rotor drone and the time difference between the patrol time and the end time of use is greater than a set threshold.
4. The intelligent inspection system according to claim 1, wherein the inspection power supply module is used for monitoring and supplying power to the inspection unmanned aerial vehicle, and comprises the following specific steps:
the method comprises the following steps: acquiring the electric quantity of the inspection unmanned aerial vehicle, and when the electric quantity value is equal to a set threshold value, performing power supply distribution on the inspection unmanned aerial vehicle;
step two: acquiring the current position of the inspection unmanned aerial vehicle, and marking the user with the current position within a preset range as a primary user;
step three: marking the primary users as Rj, j =1, … …, n; will patrol and examine unmanned aerial vehicle's current position and firstSelecting the position of the user to calculate the distance difference to obtain the power supply distance, and marking as ERj；
Step four: acquiring the charging times of the primary selection user and marking the charging times as PRj；
Step five: using formulas
Obtaining the power supply priority value L of the primary selection userRj(ii) a Wherein c1 and c2 are both preset proportionality coefficients;
step six: selecting a primary user with the largest power supply priority value as a selected user, sending a charging reminding instruction to a mobile phone terminal of the selected user by an inspection power supply module, sending an agreement instruction to the inspection power supply module by the selected user through the mobile phone terminal, controlling the inspection unmanned aerial vehicle to fly to the position of the selected user by the inspection power supply module, supplying power to the inspection unmanned aerial vehicle by the selected user, sending the charging starting time and the charging ending time to the inspection power supply module by the inspection unmanned aerial vehicle, and increasing the charging times of the selected user once; when the patrol inspection power supply module does not receive the agreement instruction within the preset time range, selecting the primary user with the next power supply priority value as the selected user;
step seven: calculating the time length of the charging starting time and the charging ending time to obtain the single charging time length; summing all the single charging time lengths of the selected users to obtain a total charging time length, and marking the total charging time length as TRj；
Step eight: using the formula HRj=TRj*c3+PRjC4 obtaining power supply value H of the selected userRj(ii) a Wherein c3 and c4 are both preset proportionality coefficients;
step nine: the power supply value of the selected user is sent to the server by the patrol inspection power supply module, and the server marks the power supply value of the selected user as the power supply value of the multi-rotor unmanned aerial vehicle corresponding to the selected user.
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| PCT/CN2020/121130 WO2021212773A1 (en) | 2020-04-24 | 2020-10-15 | Multi-rotor unmanned intelligent inspection system |
| AU2020442001A AU2020442001B2 (en) | 2020-04-24 | 2020-10-15 | Multi-rotor UAV intelligent patrol system |
| ZA2021/02575A ZA202102575B (en) | 2020-04-24 | 2021-04-19 | Multi-rotor uav intelligent patrol system |
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| ZA202102575B (en) | 2022-02-23 |
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