CN111766897A - Channel inspection method of power transmission line, unmanned aerial vehicle and system - Google Patents
Channel inspection method of power transmission line, unmanned aerial vehicle and system Download PDFInfo
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Abstract
The application discloses a channel inspection method, an unmanned aerial vehicle and a system for a power transmission line, wherein the method comprises the following steps: the unmanned aerial vehicle flies along a channel patrol route in response to the channel patrol instruction, and the channel patrol route is obtained by planning based on a point cloud model of the power transmission line; when the unmanned aerial vehicle flies above a lead of the power transmission line, the unmanned aerial vehicle acquires a lead environment image of the lead in real time; when the unmanned aerial vehicle flies to the top of a tower of the power transmission line, the unmanned aerial vehicle adjusts the patrol direction according to the channel patrol route and adjusts the holder to a preset angle; after the unmanned aerial vehicle collects tower environment images of towers at a preset angle, the cradle head is restored to the initial angle, and the unmanned aerial vehicle continues flying along the channel patrol route until the channel patrol route is patrolled, so that the problems that according to a traditional power transmission line patrol method, patrol personnel are adopted to patrol, potential safety hazards exist, patrol efficiency is low, and the real situation of the power transmission line cannot be completely mastered are solved.
Description
Technical Field
The application relates to the technical field of channel inspection, in particular to a channel inspection method, an unmanned aerial vehicle and a system for a power transmission line.
Background
The channel inspection is to inspect the buildings, trees, construction operation, cross spanning and the like of the line channel so as to find and master the dynamic change of the line channel environment in time and provide a basis for the follow-up work of eliminating the hidden danger of the channel.
At present, the channel inspection of the power transmission line is mainly performed by the inspection personnel walking inspection or riding inspection, the line inspection personnel mainly perform visual inspection, and various hidden dangers or dangerous points in the path channel environment of the power transmission line are inspected at fixed points.
Disclosure of Invention
The application provides a channel inspection method, an unmanned aerial vehicle and a system for a power transmission line, which are used for solving the problems that the traditional power transmission line inspection method adopts inspection personnel to inspect, potential safety hazards exist, inspection efficiency is low, and the real situation of the power transmission line cannot be completely mastered.
In view of this, a first aspect of the present application provides a method for patrolling a channel of a power transmission line, including:
the unmanned aerial vehicle flies along a channel patrol route in response to the channel patrol instruction, wherein the channel patrol route is obtained by planning based on a point cloud model of the power transmission line;
when the unmanned aerial vehicle flies above the conducting wire of the power transmission line, the unmanned aerial vehicle collects conducting wire environment images of the conducting wire in real time;
when the unmanned aerial vehicle flies to the top of the tower of the power transmission line, the unmanned aerial vehicle adjusts the patrol direction according to the channel patrol route and adjusts the holder to a preset angle;
and after the unmanned aerial vehicle collects tower environment images of the tower at a preset angle, the cradle head is recovered to the initial angle, and the unmanned aerial vehicle continues flying along the channel patrol route until the patrol of the channel patrol route is finished.
Optionally, the unmanned aerial vehicle responds to the channel patrol instruction, and then further includes:
the unmanned aerial vehicle acquires absolute elevation coordinates of a flight starting point and real-time flying relative height after being started, wherein the relative height is relative to the flight starting point;
the unmanned aerial vehicle sends the absolute elevation coordinate and the real-time relative height to a client for controlling the unmanned aerial vehicle, so that the client calculates a real-time space coordinate of the unmanned aerial vehicle according to the absolute elevation coordinate and the real-time relative height, calculates a position deviation of flight based on the real-time space coordinate and a waypoint coordinate corresponding to the real-time space coordinate, and sends the position deviation to the unmanned aerial vehicle, wherein the waypoint coordinate is obtained according to the channel patrol route;
and the unmanned aerial vehicle adjusts the real-time space coordinate according to the position deviation, so that the unmanned aerial vehicle flies along the channel patrol route.
Optionally, the calculating, by the client, a position deviation of the flight based on the real-time space coordinate and the waypoint coordinate corresponding to the real-time space coordinate includes:
the client determines that at least one waypoint coordinate with the same coordinate value as the real-time space coordinate exists in the channel patrol route according to the real-time space coordinate;
and the client calculates the difference value between the real-time space coordinate and the corresponding coordinate value in the waypoint coordinate to obtain the position deviation.
Optionally, the unmanned aerial vehicle responds to the channel patrol command, flies along the channel patrol route, and before the unmanned aerial vehicle further includes:
and the unmanned aerial vehicle adjusts the posture of the cradle head according to cradle head posture data input by a user.
This application second aspect provides an unmanned aerial vehicle, includes:
the response unit is used for responding to the channel patrol instruction and flying along a channel patrol route, and the channel patrol route is obtained based on the point cloud model planning of the power transmission line;
the first acquisition unit is used for acquiring a lead environment image of the lead in real time when the unmanned aerial vehicle flies above the lead of the power transmission line;
the first adjusting unit is used for adjusting the patrol direction according to the channel patrol route and adjusting the holder to a preset angle when the unmanned aerial vehicle flies to the top of the tower of the power transmission line;
and the second acquisition unit is used for recovering the cradle head to an initial angle after acquiring the tower environment image of the tower at a preset angle, and continuing flying along the channel patrol route until the patrol of the channel patrol route is finished.
Optionally, the method further includes:
the acquiring unit is used for acquiring the absolute elevation coordinate of a flight starting point and the real-time flying relative height after starting, wherein the relative height is the height relative to the flight starting point;
the sending unit is used for sending the absolute elevation coordinate and the real-time relative height to a client for controlling the unmanned aerial vehicle, so that the client calculates a real-time space coordinate of the unmanned aerial vehicle according to the absolute elevation coordinate and the real-time relative height, calculates a position deviation of flight based on the real-time space coordinate and a waypoint coordinate corresponding to the real-time space coordinate, and sends the position deviation to the unmanned aerial vehicle, wherein the waypoint coordinate is obtained according to the channel patrol route;
and the second adjusting unit is used for adjusting the real-time space coordinate according to the position deviation so that the unmanned aerial vehicle flies along the channel patrol route.
Optionally, the method further includes:
and the third adjusting unit is used for adjusting the posture of the cradle head according to the cradle head posture data input by the user.
The third aspect of the present application provides a system is patrolled to passageway of transmission line, includes: an unmanned aerial vehicle and a client controlling the unmanned aerial vehicle;
the unmanned aerial vehicle is used for responding to a channel patrol instruction of the client and flying along a channel patrol route, and the channel patrol route is obtained based on point cloud model planning of a power transmission line;
the unmanned aerial vehicle is used for acquiring a lead environment image of the lead in real time when the unmanned aerial vehicle flies above the lead of the power transmission line;
the unmanned aerial vehicle is used for adjusting the patrol direction according to the channel patrol route and adjusting the holder to a preset angle when the unmanned aerial vehicle flies to the top of the tower of the power transmission line;
and the unmanned aerial vehicle is used for recovering the cradle head to an initial angle after the tower environment image of the tower is collected at a preset angle, and continuing flying along the channel patrol route until the patrol of the channel patrol route is finished.
Optionally, the drone is further configured to:
acquiring an absolute elevation coordinate of a flight starting point and a real-time flying relative height after starting, wherein the relative height is relative to the height of the flight starting point;
sending the absolute elevation coordinates and the real-time relative height to a client for controlling the unmanned aerial vehicle;
correspondingly, the client is used for calculating a real-time space coordinate of the unmanned aerial vehicle according to the absolute elevation coordinate and the real-time relative height, calculating a position deviation of flight based on the real-time space coordinate and a waypoint coordinate corresponding to the real-time space coordinate, and sending the position deviation to the unmanned aerial vehicle, wherein the waypoint coordinate is obtained according to the channel patrol route;
correspondingly, the unmanned aerial vehicle is further used for adjusting the real-time space coordinate according to the position deviation, so that the unmanned aerial vehicle flies along the channel patrol route.
Optionally, the client is specifically configured to:
calculating a real-time space coordinate of the unmanned aerial vehicle according to the absolute elevation coordinate and the real-time relative height;
determining a waypoint coordinate which has at least one coordinate value same as the real-time space coordinate in the channel patrol route according to the real-time space coordinate;
and calculating a difference value between the real-time space coordinate and a corresponding coordinate value in the waypoint coordinate to obtain a position deviation, and sending the position deviation to the unmanned aerial vehicle.
According to the technical scheme, the method has the following advantages:
the application provides a channel inspection method of a power transmission line, which comprises the following steps: the unmanned aerial vehicle flies along a channel patrol route in response to the channel patrol instruction, and the channel patrol route is obtained by planning based on a point cloud model of the power transmission line; when the unmanned aerial vehicle flies above a lead of the power transmission line, the unmanned aerial vehicle acquires a lead environment image of the lead in real time; when the unmanned aerial vehicle flies to the top of a tower of the power transmission line, the unmanned aerial vehicle adjusts the patrol direction according to the channel patrol route and adjusts the holder to a preset angle; after the unmanned aerial vehicle collects tower environment images of towers at a preset angle, the cradle head is restored to the initial angle, and the unmanned aerial vehicle continues flying along the channel patrol route until the patrol of the channel patrol route is finished.
According to the channel inspection method of the power transmission line, the unmanned aerial vehicle is used for channel inspection of the power transmission line, the lead environment image and the tower environment image are collected in real time, inspection personnel are prevented from inspecting, and inspection efficiency is improved; and, considering that several trees, shelters such as building and house usually exist around the shaft tower, can cause the shooting blind area to some positions of shaft tower, in order to avoid the blind area to appear, when unmanned aerial vehicle flies to the shaft tower top, at first adjust unmanned aerial vehicle's tour direction, adjust the cloud platform again to preset the angle in order to accomplish and shoot the shaft tower environment, thereby avoided the blind area to appear, can master the true condition of transmission line in real time, thereby solved traditional transmission line tour method and adopted the tour personnel to tour, there is the potential safety hazard, tour inefficiency and can't master the true condition of transmission line completely.
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In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is a schematic flow chart of a method for patrolling a channel of a power transmission line according to an embodiment of the present application;
fig. 2 is another schematic flow chart of a method for patrolling a channel of a power transmission line according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present application;
FIG. 4 is a schematic illustration of a pathway patrol route plan provided by the present application;
fig. 5 is a schematic diagram of calculating real-time spatial coordinates of an unmanned aerial vehicle according to the present application;
fig. 6 is a schematic diagram of correction of patrol coordinates of an unmanned aerial vehicle according to the present application;
fig. 7 is a schematic structural diagram of a channel patrol system of a power transmission line according to an embodiment of the present application.
Detailed Description
The application provides a channel inspection method, an unmanned aerial vehicle and a system for a power transmission line, which are used for solving the problems that the traditional power transmission line inspection method adopts inspection personnel to inspect, potential safety hazards exist, inspection efficiency is low, and the real situation of the power transmission line cannot be completely mastered.
In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, 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 application.
For easy understanding, please refer to fig. 1, an embodiment of a method for patrolling a channel of a power transmission line provided by the present application includes:
and 101, responding to the channel patrol instruction by the unmanned aerial vehicle, and flying along the channel patrol route.
The user can operate control unmanned aerial vehicle's customer end to trigger the passageway and patrol the instruction, this customer end with this passageway and patrol the instruction input to unmanned aerial vehicle, unmanned aerial vehicle is responded to this passageway and patrols the instruction, patrols the airline flight along the passageway and in order to patrol transmission line, wherein, the passageway is patrolled the airline and is obtained based on transmission line's point cloud model planning, the passageway is patrolled the airline and is planned in advance to store in unmanned aerial vehicle.
102, when the unmanned aerial vehicle flies above a wire of the power transmission line, the unmanned aerial vehicle collects a wire environment image of the wire in real time.
Transmission line mainly includes wire and shaft tower, and when unmanned aerial vehicle was patrolling transmission line, unmanned aerial vehicle flight was when the wire top, and the wire environmental image of real-time collection wire can also be transmitted to the customer end of controlling this unmanned aerial vehicle in real time to the user looks over.
And 103, when the unmanned aerial vehicle flies to the top of the tower of the power transmission line, the unmanned aerial vehicle adjusts the patrol direction according to the channel patrol route and adjusts the holder to a preset angle.
When unmanned aerial vehicle patrols the shaft tower in the transmission line, because there are the number wood around the shaft tower usually, sheltering from things such as building and house, can cause the shooting blind area to some positions of shaft tower, in order to avoid the blind area to appear, in this application embodiment, when unmanned aerial vehicle flies the shaft tower top, make short stop through client control unmanned aerial vehicle, the stop in-process, at first, unmanned aerial vehicle patrols the course adjustment tour direction according to the passageway, flight direction promptly, adjust the angle of cloud platform again, adjust cloud platform to preset angle, so that shoot the shaft tower environment, wherein, it is preferably to adjust cloud platform perpendicularly downwards, 90 promptly.
And step 104, after the unmanned aerial vehicle collects tower environment images of towers at a preset angle, restoring the cradle head to an initial angle, and continuing flying along the channel patrol route until the patrol of the channel patrol route is finished.
After the angle of the cradle head is adjusted, the unmanned aerial vehicle shoots the tower environment of the tower at the angle so as to collect the tower environment image, after the image is collected, the posture of the cradle head is recovered, and then the next section of wire is continuously patrolled according to the channel patrol route until the channel patrol route is completed.
According to the channel inspection method of the power transmission line, the unmanned aerial vehicle is used for channel inspection of the power transmission line, the lead environment image and the tower environment image are collected in real time, inspection personnel are prevented from inspecting, and inspection efficiency is improved; and, considering that several trees, shelters such as building and house usually exist around the shaft tower, can cause the shooting blind area to some positions of shaft tower, in order to avoid the blind area to appear, when unmanned aerial vehicle flies to the shaft tower top, at first adjust unmanned aerial vehicle's tour direction, adjust the cloud platform again to preset the angle in order to accomplish and shoot the shaft tower environment, thereby avoided the blind area to appear, can master the true condition of transmission line in real time, thereby solved traditional transmission line tour method and adopted the tour personnel to tour, there is the potential safety hazard, tour inefficiency and can't master the true condition of transmission line completely.
The foregoing is an embodiment of the method for patrolling the channel of the power transmission line provided by the present application, and the following is another embodiment of the method for patrolling the channel of the power transmission line provided by the present application.
For easy understanding, please refer to fig. 2, another embodiment of the method for patrolling the channel of the power transmission line provided by the present application includes:
Before starting the unmanned aerial vehicle to carry out the channel patrol, a channel patrol route needs to be planned. The channel patrol is an inspection for a channel environment of a power transmission line, and is mainly used for inspecting whether tree obstacles, construction operation (such as a crane) and other potential hazards which may cause electric power accidents exist in a channel of the power transmission line. When the wire section is tourd, for guaranteeing that unmanned aerial vehicle can be better shoot the wire environment, can set up an angle theta to the cloud platform, this theta is the angle of cloud platform for the horizontal direction. After the user sets the holder attitude data theta, the unmanned aerial vehicle adjusts the attitude of the holder according to the holder attitude data theta input by the user.
The user can operate control unmanned aerial vehicle's customer end to triggering the passageway and patrolling the instruction, this customer end is patrolled the instruction with this passageway and is input to unmanned aerial vehicle, and unmanned aerial vehicle responds to this passageway and patrols the instruction, starts in order to begin to patrol. The unmanned aerial vehicle can be positioned in real time by utilizing a GPS positioning technology, real-time space coordinates (x, y and z) of the unmanned aerial vehicle are obtained, in the actual working process, the error range of x and y coordinate values is +/-1.5 m, the error range of z coordinate values is +/-50 m, the error of elevation coordinates is overlarge, and the flight accident of the unmanned aerial vehicle is easily caused. In order to improve the accuracy of the elevation coordinate, in the embodiment of the application, the absolute elevation coordinate of the flight starting point of the unmanned aerial vehicle and the real-time relative height of the flight are obtained by using a GPS-RTK technology, wherein the relative height is the height relative to the flight starting point.
And 203, the unmanned aerial vehicle sends the absolute elevation coordinate and the real-time relative height to a client for controlling the unmanned aerial vehicle, so that the client calculates the real-time space coordinate of the unmanned aerial vehicle according to the absolute elevation coordinate and the real-time relative height, calculates the position deviation of the flying position based on the waypoint coordinates corresponding to the real-time space coordinate and the real-time space coordinate, and sends the position deviation to the unmanned aerial vehicle.
After acquiring the absolute elevation coordinate and the real-time relative height, the unmanned aerial vehicle sends the absolute elevation coordinate and the real-time relative height to a client for controlling the unmanned aerial vehicle, and the client calculates the real-time space coordinate of the unmanned aerial vehicle according to the absolute elevation coordinate and the real-time relative height. Referring to fig. 5, suppose that the absolute elevation coordinate of the starting point a of the flight of the drone is (x)0,y0,z0) The real-time relative height when the unmanned plane flies to the point B (instantaneous waypoint) is h, and the instantaneous waypoint coordinate is (x)1,y1,z1) And at the moment, the real-time space coordinate of the unmanned aerial vehicle flying to the B point (instantaneous waypoint) is calculated to be (x)1,y1,z0+ h) in which x1,y1The error range of the elevation value z obtained by the method is determined to be +/-0.5 m by GPS.
After the client calculates the real-time space coordinate of the unmanned aerial vehicle, the client calculates the position deviation of the flight based on the real-time space coordinate and the waypoint coordinate corresponding to the real-time space coordinate, the waypoint coordinate is obtained according to the channel patrol route, and the method specifically comprises the following steps:
1. and the client determines that at least one waypoint coordinate with the same coordinate value as the real-time space coordinate exists in the channel patrol route according to the real-time space coordinate.
In a spatial coordinate system, there are a series of planes perpendicular to the x-axis, and all spatial points on the same plane have the same x-coordinate value. The planned channel patrol route can be regarded as being composed of densely arranged instantaneous waypoints, so that on the way of unmanned aerial vehicle patrol, a point must be on the route, the x coordinate value of the point is the same as the x coordinate value of an unmanned instantaneous waypoint, the instantaneous waypoint of the unmanned aerial vehicle and the point on the route can be regarded as being on a certain plane vertical to the x axis, and if the instantaneous waypoint of the unmanned aerial vehicle is not on the channel patrol route, only the y coordinate and the z coordinate of the unmanned aerial vehicle need to be adjusted.
Therefore, the client determines that at least one waypoint coordinate with the same coordinate value as the real-time space coordinate exists in each waypoint of the passage patrol route according to the real-time space coordinate, and the waypoint coordinate with the same x coordinate value as the real-time space coordinate of the unmanned aerial vehicle is preferably adopted in the embodiment of the application.
2. And the client calculates the difference value between the real-time space coordinate and the corresponding coordinate value in the waypoint coordinate to obtain the position deviation.
The real-time space coordinates of the instantaneous waypoints of the unmanned aerial vehicle can be calculated by the steps, please refer to fig. 6, and the real-time space coordinates of the instantaneous waypoints of the unmanned aerial vehicle are assumed to be (x)1,y1,z1) Wherein z is1＝z0+ h, determining the waypoint coordinates which are the same as the x-coordinate values of the real-time spatial coordinates of the instantaneous waypoints of the drone, i.e. let x beNavigation device＝x1The coordinate (x) of the waypoint on the route patrol of the passage can be obtainedNavigation device,yNavigation device,zNavigation device) Further, the positional deviation, i.e., Δ y — y, can be calculated1-yNavigation device，Δz＝z1-zNavigation deviceAnd the client sends the position deviation delta y and delta z to the unmanned aerial vehicle.
And 204, adjusting the real-time space coordinate by the unmanned aerial vehicle according to the position deviation, so that the unmanned aerial vehicle flies along the passage patrol route.
After receiving the position deviation delta y and delta z, the unmanned aerial vehicle adjusts the spatial coordinate to (x) according to the position deviation delta y and delta zNavigation device,yNavigation device,zNavigation device) And leading the unmanned aerial vehicle to patrol along the channel patrol route.
In the embodiment of the application, the real-time relative height of unmanned aerial vehicle flight and the absolute elevation coordinate of the starting point are combined, the coordinate correction is carried out on the unmanned aerial vehicle during patrol, the unmanned aerial vehicle can accurately patrol the line along the preset channel patrol route, the actual condition of the power transmission line can be accurately acquired, the requirement of channel patrol is completely met, other redundant patrol points are eliminated, and the specialization, the high efficiency, the rapidity and the autonomy of the channel patrol category are truly realized.
And step 205, when the unmanned aerial vehicle flies above the wire of the power transmission line, the unmanned aerial vehicle acquires the wire environment image of the wire in real time.
Transmission line mainly includes wire and shaft tower, is patrolling transmission line when unmanned aerial vehicle, and unmanned aerial vehicle flies when the wire top, and unmanned aerial vehicle patrols the wire when, and the cloud platform all keeps angle theta, gathers the wire environmental image of wire in real time, can also transmit in real time to the customer end of controlling this unmanned aerial vehicle to the user looks over.
And step 206, when the unmanned aerial vehicle flies to the top of the tower of the power transmission line, the unmanned aerial vehicle adjusts the patrol direction according to the channel patrol route and adjusts the holder to a preset angle.
When unmanned aerial vehicle patrols the shaft tower in the transmission line, because shelter such as several trees, building and house usually exists around the shaft tower, can cause the shooting blind area to some positions of shaft tower, in order to avoid the blind area to appear, please refer to fig. 4, in this application embodiment, when unmanned aerial vehicle flies to the shaft tower top, control unmanned aerial vehicle through the client and temporarily do the stop, in the process of stopping, at first, unmanned aerial vehicle tours the course adjustment according to the passageway and tours the course adjustment and tours the direction, the flight direction, adjust the angle of cloud platform again, adjust cloud platform to preset angle (step in fig. 4) to shoot the shaft tower environment, wherein, preferably, adjust cloud platform to perpendicular downwards, 90.
And step 207, after the unmanned aerial vehicle collects tower environment images of towers at a preset angle, restoring the cradle head to an initial angle, and continuing flying along the channel patrol route until the patrol of the channel patrol route is finished.
After the angle of the cradle head is adjusted, the unmanned aerial vehicle shoots the tower environment of the tower at the angle to collect the tower environment image, after the image is collected, the posture of the cradle head is recovered, the angle theta is kept (step II in figure 4), and then the next section of wire is continuously patrolled according to the channel patrol route until the channel patrol route is finished.
According to the channel inspection method of the power transmission line, the unmanned aerial vehicle is used for channel inspection of the power transmission line, the lead environment image and the tower environment image are collected in real time, inspection personnel are prevented from inspecting, and inspection efficiency is improved; and, considering that several trees, shelters such as building and house usually exist around the shaft tower, can cause the shooting blind area to some positions of shaft tower, in order to avoid the blind area to appear, when unmanned aerial vehicle flies to the shaft tower top, at first adjust unmanned aerial vehicle's tour direction, adjust the cloud platform again to preset the angle in order to accomplish and shoot the shaft tower environment, thereby avoided the blind area to appear, can master the true condition of transmission line in real time, thereby solved traditional transmission line tour method and adopted the tour personnel to tour, there is the potential safety hazard, tour inefficiency and can't master the true condition of transmission line completely.
The above is an embodiment of the method for patrolling the channel of the power transmission line provided by the application, and the following is an embodiment of the unmanned aerial vehicle provided by the application.
For ease of understanding, please refer to fig. 3, an embodiment of an unmanned aerial vehicle provided by the present application includes:
the response unit 301 is configured to respond to the channel patrol instruction, fly along the channel patrol route, and plan the channel patrol route based on the point cloud model of the power transmission line.
The first acquisition unit 302 is used for acquiring a wire environment image of a wire in real time when the unmanned aerial vehicle flies above the wire of the power transmission line.
And the first adjusting unit 303 is used for adjusting the patrol direction according to the channel patrol route and adjusting the cradle head to a preset angle when the unmanned aerial vehicle flies to the top of the tower of the power transmission line.
And the second acquisition unit 304 is configured to recover the cradle head to an initial angle after acquiring the tower environment image of the tower at a preset angle, and continue to fly along the passage patrol route until the passage patrol route is completed.
Above be an embodiment of an unmanned aerial vehicle that this application provided, below be another embodiment of an unmanned aerial vehicle that this application provided.
For ease of understanding, the present application provides another embodiment of a drone, comprising:
the response unit 301 is configured to respond to the channel patrol instruction, fly along the channel patrol route, and plan the channel patrol route based on the point cloud model of the power transmission line.
The first acquisition unit 302 is used for acquiring a wire environment image of a wire in real time when the unmanned aerial vehicle flies above the wire of the power transmission line.
And the first adjusting unit 303 is used for adjusting the patrol direction according to the channel patrol route and adjusting the cradle head to a preset angle when the unmanned aerial vehicle flies to the top of the tower of the power transmission line.
And the second acquisition unit 304 is configured to recover the cradle head to an initial angle after acquiring the tower environment image of the tower at a preset angle, and continue to fly along the passage patrol route until the passage patrol route is completed.
As a further improvement, the unmanned aerial vehicle in the embodiment of the present application further includes:
an obtaining unit 305, configured to obtain the absolute elevation coordinates of the flight starting point and the real-time relative altitude of the flight after the startup, where the relative altitude is the altitude relative to the flight starting point.
The sending unit 306 is configured to send the absolute elevation coordinate and the real-time relative height to a client controlling the unmanned aerial vehicle, so that the client calculates a real-time spatial coordinate of the unmanned aerial vehicle according to the absolute elevation coordinate and the real-time relative height, calculates a position deviation of flight based on a waypoint coordinate corresponding to the real-time spatial coordinate and the real-time spatial coordinate, and sends the position deviation to the unmanned aerial vehicle, where the waypoint coordinate is obtained according to a channel patrol route.
The client calculates the position deviation of the flight based on the real-time space coordinate and the waypoint coordinate corresponding to the real-time space coordinate, and specifically comprises the following steps:
the client determines that at least one waypoint coordinate with the same coordinate value as the real-time space coordinate exists in the channel patrol route according to the real-time space coordinate;
and the client calculates the difference value between the real-time space coordinate and the corresponding coordinate value in the waypoint coordinate to obtain the position deviation.
And a second adjusting unit 307, configured to adjust the real-time space coordinate according to the position deviation, so that the unmanned aerial vehicle flies along the passage patrol route.
As a further improvement, the unmanned aerial vehicle in the embodiment of the present application further includes:
and a third adjusting unit 308, configured to adjust the posture of the pan/tilt head according to the pan/tilt head posture data input by the user.
The above is an embodiment of the unmanned aerial vehicle that this application provided, and the following is an embodiment of the passageway tour system of transmission line that this application provided.
For easy understanding, please refer to fig. 7, which illustrates an embodiment of a system for patrolling a channel of a power transmission line provided by the present application.
The system of patrolling of passageway of transmission line in the embodiment of this application includes: an unmanned aerial vehicle and a client for controlling the unmanned aerial vehicle;
the unmanned aerial vehicle is used for responding to a channel patrol instruction of the client and flying along a channel patrol route, and the channel patrol route is obtained by planning based on a point cloud model of the power transmission line;
the unmanned aerial vehicle is used for acquiring a lead environment image of a lead in real time when the unmanned aerial vehicle flies above the lead of the power transmission line;
the unmanned aerial vehicle is used for adjusting the patrol direction according to the channel patrol route and adjusting the holder to a preset angle when the unmanned aerial vehicle flies to the top of the tower of the power transmission line;
and the unmanned aerial vehicle is used for recovering the cradle head to an initial angle after the tower environment image of the tower is collected at a preset angle, and continuing flying along the channel patrol route until the patrol of the channel patrol route is finished.
As a further improvement, the drone is also configured to:
acquiring an absolute elevation coordinate of a flight starting point and a real-time relative height of the flight after starting, wherein the relative height is a height relative to the flight starting point;
sending the absolute elevation coordinate and the real-time relative height to a client for controlling the unmanned aerial vehicle;
correspondingly, the client is used for calculating the real-time space coordinate of the unmanned aerial vehicle according to the absolute elevation coordinate and the real-time relative height, calculating the position deviation of the flying based on the real-time space coordinate and the waypoint coordinate corresponding to the real-time space coordinate, and sending the position deviation to the unmanned aerial vehicle, wherein the waypoint coordinate is obtained according to the channel patrol route;
correspondingly, the unmanned aerial vehicle is also used for adjusting the real-time space coordinate according to the position deviation, so that the unmanned aerial vehicle flies along the channel patrol route, and the waypoint coordinate is obtained according to the channel patrol route.
As a further improvement, the client is specifically configured to:
calculating the real-time space coordinate of the unmanned aerial vehicle according to the absolute elevation coordinate and the real-time relative height;
determining a waypoint coordinate with at least one coordinate value same as the real-time space coordinate in the channel patrol route according to the real-time space coordinate;
and calculating a difference value between the real-time space coordinate and the corresponding coordinate value in the waypoint coordinate to obtain a position deviation, and sending the position deviation to the unmanned aerial vehicle.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (10)
1. A channel inspection method of a power transmission line is characterized by comprising the following steps:
the unmanned aerial vehicle flies along a channel patrol route in response to the channel patrol instruction, wherein the channel patrol route is obtained by planning based on a point cloud model of the power transmission line;
when the unmanned aerial vehicle flies above the conducting wire of the power transmission line, the unmanned aerial vehicle collects conducting wire environment images of the conducting wire in real time;
when the unmanned aerial vehicle flies to the top of the tower of the power transmission line, the unmanned aerial vehicle adjusts the patrol direction according to the channel patrol route and adjusts the holder to a preset angle;
and after the unmanned aerial vehicle collects tower environment images of the tower at a preset angle, the cradle head is recovered to the initial angle, and the unmanned aerial vehicle continues flying along the channel patrol route until the patrol of the channel patrol route is finished.
2. The method according to claim 1, wherein the unmanned aerial vehicle responds to the command of the passage patrol, and thereafter further comprises:
the unmanned aerial vehicle acquires absolute elevation coordinates of a flight starting point and real-time flying relative height after being started, wherein the relative height is relative to the flight starting point;
the unmanned aerial vehicle sends the absolute elevation coordinate and the real-time relative height to a client for controlling the unmanned aerial vehicle, so that the client calculates a real-time space coordinate of the unmanned aerial vehicle according to the absolute elevation coordinate and the real-time relative height, calculates a position deviation of flight based on the real-time space coordinate and a waypoint coordinate corresponding to the real-time space coordinate, and sends the position deviation to the unmanned aerial vehicle, wherein the waypoint coordinate is obtained according to the channel patrol route;
and the unmanned aerial vehicle adjusts the real-time space coordinate according to the position deviation, so that the unmanned aerial vehicle flies along the channel patrol route.
3. The method according to claim 2, wherein the step of calculating, by the client, the position deviation of the flight based on the real-time spatial coordinates and waypoint coordinates corresponding to the real-time spatial coordinates comprises:
the client determines that at least one waypoint coordinate with the same coordinate value as the real-time space coordinate exists in the channel patrol route according to the real-time space coordinate;
and the client calculates the difference value between the real-time space coordinate and the corresponding coordinate value in the waypoint coordinate to obtain the position deviation.
4. The method of claim 1, wherein the drone flies along a pathway patrol route in response to the pathway patrol command, and wherein the method further comprises:
and the unmanned aerial vehicle adjusts the posture of the cradle head according to cradle head posture data input by a user.
5. An unmanned aerial vehicle, comprising:
the response unit is used for responding to the channel patrol instruction and flying along a channel patrol route, and the channel patrol route is obtained based on the point cloud model planning of the power transmission line;
the first acquisition unit is used for acquiring a lead environment image of the lead in real time when the unmanned aerial vehicle flies above the lead of the power transmission line;
the first adjusting unit is used for adjusting the patrol direction according to the channel patrol route and adjusting the holder to a preset angle when the unmanned aerial vehicle flies to the top of the tower of the power transmission line;
and the second acquisition unit is used for recovering the cradle head to an initial angle after acquiring the tower environment image of the tower at a preset angle, and continuing flying along the channel patrol route until the patrol of the channel patrol route is finished.
6. The drone of claim 5, further comprising:
the acquiring unit is used for acquiring the absolute elevation coordinate of a flight starting point and the real-time flying relative height after starting, wherein the relative height is the height relative to the flight starting point;
the sending unit is used for sending the absolute elevation coordinate and the real-time relative height to a client for controlling the unmanned aerial vehicle, so that the client calculates a real-time space coordinate of the unmanned aerial vehicle according to the absolute elevation coordinate and the real-time relative height, calculates a position deviation of flight based on the real-time space coordinate and a waypoint coordinate corresponding to the real-time space coordinate, and sends the position deviation to the unmanned aerial vehicle, wherein the waypoint coordinate is obtained according to the channel patrol route;
and the second adjusting unit is used for adjusting the real-time space coordinate according to the position deviation so that the unmanned aerial vehicle flies along the channel patrol route.
7. The drone of claim 5, further comprising:
and the third adjusting unit is used for adjusting the posture of the cradle head according to the cradle head posture data input by the user.
8. The utility model provides a transmission line's passageway system of patrolling which characterized in that includes: an unmanned aerial vehicle and a client controlling the unmanned aerial vehicle;
the unmanned aerial vehicle is used for responding to a channel patrol instruction of the client and flying along a channel patrol route, and the channel patrol route is obtained based on point cloud model planning of a power transmission line;
the unmanned aerial vehicle is used for acquiring a lead environment image of the lead in real time when the unmanned aerial vehicle flies above the lead of the power transmission line;
the unmanned aerial vehicle is used for adjusting the patrol direction according to the channel patrol route and adjusting the holder to a preset angle when the unmanned aerial vehicle flies to the top of the tower of the power transmission line;
and the unmanned aerial vehicle is used for recovering the cradle head to an initial angle after the tower environment image of the tower is collected at a preset angle, and continuing flying along the channel patrol route until the patrol of the channel patrol route is finished.
9. The system of claim 8, wherein the drone is further configured to:
acquiring an absolute elevation coordinate of a flight starting point and a real-time flying relative height after starting, wherein the relative height is relative to the height of the flight starting point;
sending the absolute elevation coordinates and the real-time relative height to a client for controlling the unmanned aerial vehicle;
correspondingly, the client is used for calculating a real-time space coordinate of the unmanned aerial vehicle according to the absolute elevation coordinate and the real-time relative height, calculating a position deviation of flight based on the real-time space coordinate and a waypoint coordinate corresponding to the real-time space coordinate, and sending the position deviation to the unmanned aerial vehicle, wherein the waypoint coordinate is obtained according to the channel patrol route;
correspondingly, the unmanned aerial vehicle is further used for adjusting the real-time space coordinate according to the position deviation, so that the unmanned aerial vehicle flies along the channel patrol route.
10. The system of claim 9, wherein the client is specifically configured to:
calculating a real-time space coordinate of the unmanned aerial vehicle according to the absolute elevation coordinate and the real-time relative height;
determining a waypoint coordinate which has at least one coordinate value same as the real-time space coordinate in the channel patrol route according to the real-time space coordinate;
and calculating a difference value between the real-time space coordinate and a corresponding coordinate value in the waypoint coordinate to obtain a position deviation, and sending the position deviation to the unmanned aerial vehicle.
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