CN111864618B - Unmanned aerial vehicle inspection method and system for power system - Google Patents
Unmanned aerial vehicle inspection method and system for power system Download PDFInfo
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- CN111864618B CN111864618B CN201910334301.0A CN201910334301A CN111864618B CN 111864618 B CN111864618 B CN 111864618B CN 201910334301 A CN201910334301 A CN 201910334301A CN 111864618 B CN111864618 B CN 111864618B
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Abstract
The invention discloses an unmanned aerial vehicle inspection method and system for an electric power system. The invention relates to the field of unmanned aerial vehicles, which is characterized in that the unmanned aerial vehicles controlled by a control center are classified by the control center in function, and the unmanned aerial vehicles are numbered according to the function classification; the control center distributes routing inspection tasks according to the serial number of the unmanned aerial vehicle; the control center receives information fed back by the unmanned aerial vehicle after the unmanned aerial vehicle executes the routing inspection task; the control center judges whether an accident area possibly occurs according to information fed back by the unmanned aerial vehicle in the inspection process, so that the unmanned aerial vehicle can effectively complete the inspection task. In order to solve the problem that unmanned aerial vehicle can't effectively accomplish the task of patrolling and examining.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle inspection method and system for an electric power system.
Background
With the increasing popularity of drones today, the functions and variety of drones have become very abundant, while it is becoming more and more common for drones to replace people to perform certain tasks. In daily life, unmanned aerial vehicles are commonly used for shooting viewfinding, agricultural spraying, transporting light weight articles, data acquisition, and the like. The comparison document CN201510598203X proposes an agricultural working mode for holding a fixed position of an unmanned aerial vehicle in farmland regional operation, and specifically proposes a method for accurately positioning a target by triangulation, however, the positioning method has large limitations and high requirements on the stability of the unmanned aerial vehicle, the method is not suitable for other scenes, and the comparison document does not describe other scenes. The comparison document CN2016102163394 provides a system and a method for automatically inspecting an unmanned aerial vehicle by accurately controlling the angular displacement of a holder by using a control technology, wherein the method still needs to perform auxiliary positioning based on GPS positioning, and has large positioning difficulty and difficulty in analyzing complex conditions.
To the problem that unmanned aerial vehicle can't effectively accomplish the task of patrolling and examining among the above-mentioned prior art, has not provided effectual solution at present.
Disclosure of Invention
The present invention aims to solve the above technical problem at least to some extent.
The embodiment of the invention provides an unmanned aerial vehicle inspection method and system for an electric power system, and aims to solve the problem that an unmanned aerial vehicle cannot effectively complete an inspection task.
According to an aspect of the embodiment of the invention, an unmanned aerial vehicle inspection method for an electric power system is provided, and the method comprises the following steps:
the control center carries out function classification on the unmanned aerial vehicles controlled by the control center, and the unmanned aerial vehicles are numbered according to the function classification;
the control center distributes routing inspection tasks according to the serial number of the unmanned aerial vehicle;
the control center judges whether an accident area possibly exists according to information fed back by the unmanned aerial vehicle in the routing inspection process;
if the control center finds an area where an accident is likely to occur through the unmanned aerial vehicle A, the control center preliminarily classifies the types of the accident;
the control center schedules the nearest unmanned aerial vehicle B to the area where the accident is likely to occur according to the primary classification of the types of the accident which is likely to occur;
the control center requests the unmanned aerial vehicle A and the unmanned aerial vehicle B to cooperate to carry out re-judgment and accurate positioning on the accident, and a final accident type and an accurate accident area are obtained according to information fed back by the unmanned aerial vehicle A and the unmanned aerial vehicle B;
the control center plans a processing route according to the final accident type and the accurate accident area;
the control center requests the processing end to process the accident through the planned processing route;
and the control center records the processing process of the processing end.
The area of probably taking place the accident is the area that probably has the emergence of accident that control center judged, unmanned aerial vehicle A and unmanned aerial vehicle B only use as unmanned aerial vehicle's sign, the end and the quantity more than or equal to one of processing end for possessing the throughput to the accident.
The invention also provides an unmanned aerial vehicle inspection system for the power system, which comprises a control center and an unmanned aerial vehicle terminal;
the control center includes:
the processing module is used for numbering the unmanned aerial vehicle terminal according to the function of the unmanned aerial vehicle terminal;
the communication module is used for sending the inspection task to the corresponding unmanned aerial vehicle terminal;
the unmanned aerial vehicle terminal includes:
the control module is used for receiving and controlling the unmanned aerial vehicle terminal to complete the polling task;
the acquisition module is used for acquiring information and feeding the information back to the control module;
the control module also sends the information collected by the collection module to the communication module when executing the inspection task.
The communication module is also used for receiving information collected when the unmanned aerial vehicle terminal executes the inspection task;
the processing module is also used for judging whether an accident area possibly exists according to the information received by the communication module.
The processing module is also used for confirming the unmanned aerial vehicle terminal required for judging and accurately positioning the accident area again according to the judgment result of whether the accident area possibly exists or not and planning the route of judging and accurately positioning the unmanned aerial vehicle terminal again;
the communication module is also used for sending a planned route to an unmanned aerial vehicle terminal required for judging and accurately positioning an accident area;
the control module is also used for processing the information acquired by the acquisition module when the unmanned aerial vehicle terminal moves along the planned route and sending the processing result to the communication module;
wherein, unmanned aerial vehicle terminal still includes:
the mobile module is used for controlling the unmanned aerial vehicle terminal to move along the planned route;
the processing module is also used for receiving the accurate area and the final accident type of the processing result sent by the control module through the communication module.
Compared with the prior art, the technical scheme of the invention has the advantages that:
1. the unmanned aerial vehicle is classified in function and numbered in advance, and the functions of the unmanned aerial vehicle and the unmanned aerial vehicle with similar functions are clarified.
2. The control center judges the accident according to the information fed back by the unmanned aerial vehicle instead of completely handing over the information to be judged by the unmanned aerial vehicle, and because the control center is connected with a plurality of databases and stores more information, the judgment of the control center is more accurate.
3. The accident is judged in a coordinated manner by scheduling a plurality of unmanned aerial vehicles, so that the information acquired by the control center is more accurate and effective.
4. The unmanned aerial vehicle has the supplementary unmanned aerial vehicle when executing the task and receiving the scheduling, and the completion of the task and the scheduling are reasonable.
Drawings
Fig. 1 is a flowchart of an unmanned aerial vehicle inspection method for an electric power system according to the present invention.
Fig. 2 is an architecture diagram of an unmanned aerial vehicle inspection system for an electric power system according to the present invention.
Detailed Description
The drawings are for illustrative purposes only and are not to be construed as limiting the patent.
Example 1
As illustrated in fig. 1, according to an aspect of the embodiment of the present invention, there is provided a method for unmanned aerial vehicle inspection of an electric power system, the method including:
s110: the control center carries out function classification on the unmanned aerial vehicles controlled by the control center, and the unmanned aerial vehicles are numbered according to the function classification;
s120: the control center distributes routing inspection tasks according to the serial number of the unmanned aerial vehicle;
s130: the control center judges whether an accident area possibly exists according to information fed back by the unmanned aerial vehicle in the routing inspection process;
s140: if the control center finds an area where an accident is likely to occur through the unmanned aerial vehicle A, the control center preliminarily classifies the types of the accident;
s150: the control center schedules the nearest unmanned aerial vehicle B to the area where the accident is likely to occur according to the primary classification of the types of the accident which is likely to occur;
s160: the control center requests the unmanned aerial vehicle A and the unmanned aerial vehicle B to cooperate to carry out re-judgment and accurate positioning on the accident, and a final accident type and an accurate accident area are obtained according to information fed back by the unmanned aerial vehicle A and the unmanned aerial vehicle B;
s170: the control center plans a processing route according to the final accident type and the accurate accident area;
s180: the control center requests the processing end to process the accident through the planned processing route;
s190: and the control center records the processing process of the processing end.
The accident-prone area is an area where an accident may occur, the accident type is only used as an identifier of the accident type, the unmanned aerial vehicle A and the unmanned aerial vehicle B are only used as identifiers of the unmanned aerial vehicles, and the processing end is an end with the capability of processing the accident and the number of the processing end is more than or equal to one.
In a specific implementation process, the step of numbering the unmanned aerial vehicles according to the function classification includes that the control center sets corresponding function numbers according to functions of the unmanned aerial vehicles to serve as prefix numbers of the unmanned aerial vehicles, the control center confirms the sequence of the unmanned aerial vehicles in the system according to the prefix numbers and the stored unmanned aerial vehicle information, the control center generates suffix numbers of the unmanned aerial vehicles according to the sequence of the unmanned aerial vehicles in the system, and the prefix numbers and the suffix numbers of the unmanned aerial vehicles are combined to serve as the numbers of the unmanned aerial vehicles. The numbering of the unmanned aerial vehicles makes the functions of the unmanned aerial vehicles and the number of similar unmanned aerial vehicles more accurate.
Specifically, the step that the control center patrols and examines the task according to unmanned aerial vehicle's serial number distribution includes, the control center is according to patrolling and examining the required function of task and confirming the execution of patrolling and examining the unmanned aerial vehicle's of task function and prefix number, and the control center filters the unmanned aerial vehicle of control center management and control according to prefix number and confirms the execution according to the sequencing of suffix number the unmanned aerial vehicle of patrolling and examining the task, and further, if the unmanned aerial vehicle quantity that the task needs of patrolling and examining is more than or equal to one, then the control center carries out again the step of patrolling and examining the task according to unmanned aerial vehicle's serial number distribution until the unmanned aerial vehicle group of executing the task of patrolling and examining satisfies the task demand of patrolling and examining. The serial number distribution task is equal to the function that the unmanned aerial vehicle has been indirectly corresponded to, has improved unmanned aerial vehicle and has patrolled and examined the adaptation degree of task.
Specifically, the step that whether there is the area of probably taking place the accident according to the information judgement that unmanned aerial vehicle is patrolling and examining the in-process feedback includes by control center, the information of unmanned aerial vehicle feedback is for passing through the external information that unmanned aerial vehicle's function was monitored, if control center judges the information of unmanned aerial vehicle feedback is greater than and judges the accident interval, then control center judges the area that unmanned aerial vehicle monitored is the area of probably taking place the accident. Judge that the accident is between the interval specifically for control center according to the lower limit interval that the information that unmanned aerial vehicle's function was monitored corresponds, the task of patrolling and examining and external environment can judge the accident: if the item that the information that the smoke detection unmanned aerial vehicle feedbacks corresponds is smog concentration, patrols and examines the task for the highway and patrols and examines, then whether control center judges to have the accident region of probably taking place according to the normal smog concentration that external environment corresponds, the smog concentration that unmanned aerial vehicle feedbacks and patrols and examines the influence function P of task to judging the accident interval, it is used for judging the regulation and control of the interval size of accident to patrol and examine the influence function P of task to judging the accident interval. Furthermore, the judgment process is processed by the unmanned aerial vehicle, and the feedback information received by the control center also comprises a judgment result of the unmanned aerial vehicle. Still further, unmanned aerial vehicle A is the unmanned aerial vehicle group who contains more than or equal to an unmanned aerial vehicle, and control center need judge according to all the unmanned aerial vehicle feedback's near the monitoring area information that contains in unmanned aerial vehicle A simultaneously in the judgement process. Different judgment intervals are set for different types of feedback information, and the same judgment mode is used for facilitating the regulation and control of the judgment result of the method and improving the effectiveness of the task.
Specifically, the step of preliminarily classifying the type of the possible accident by the control center includes that the control center determines the preliminary classification of the type of the possible accident according to the monitoring data of the unmanned aerial vehicle a and the monitoring area of the unmanned aerial vehicle a or the geographical position of the unmanned aerial vehicle a. More closely, the preliminary classification is classified into a natural class and a daily class. And the unmanned aerial vehicle scheduling is carried out according to the preliminary classification, so that the scheduling mode is more reasonable.
Specifically, the step of dispatching the nearest unmanned aerial vehicle B to the area where the accident may occur by the control center according to the preliminary classification of the type where the accident may occur includes the step of confirming the function required for accurately judging the accident according to the preliminary classification by the control center, and selecting the corresponding unmanned aerial vehicle B. The mode of selecting corresponding unmanned aerial vehicle B specifically is, and control center is according to geographical position, geographical coordinate or longitude and latitude position in the area of probably taking place the accident to select to possess corresponding prefix number and the nearest unmanned aerial vehicle of geographical position as one in the unmanned aerial vehicle B according to the required function of accurate judgement accident, unmanned aerial vehicle B is the unmanned aerial vehicle group including more than or equal to an unmanned aerial vehicle, select for the circulation process, select an unmanned aerial vehicle as one in the unmanned aerial vehicle B after, control center judges whether unmanned aerial vehicle B possesses the required whole functions of preliminary classification affirmation accurate judgement accident, if do not possess completely, then unmanned aerial vehicle is selected in the process of unmanned aerial vehicle B to control center circulation, judges that unmanned aerial vehicle B possesses until control center judges that unmanned aerial vehicle B possesses the required whole functions of preliminary classification affirmation accurate judgement accident. The selection process cycle enables the unmanned aerial vehicle B to have more functions.
Specifically, the step that control center requests unmanned aerial vehicle A and unmanned aerial vehicle B cooperation to carry out the rejudging and accurate location to the accident includes, control center plans the monitoring route according to the function that unmanned aerial vehicle A and unmanned aerial vehicle B possessed and the area that probably takes place the accident, plan the monitoring route mode specifically and do, an unmanned aerial vehicle monitoring function or prefix number correspond a flight route, possess the unmanned aerial vehicle that corresponds monitoring function or prefix number in control center planning route back with the request of rejudging to unmanned aerial vehicle A and unmanned aerial vehicle B, control center follows according to unmanned aerial vehicle A, B the information that the movement of planning route was monitored carries out the rejudging and accurate location.
Specifically, the step of the control center carrying out re-judgment and accurate positioning according to the information monitored by the unmanned aerial vehicle A, B moving along the planned route comprises the steps of moving along the planned route, carrying out point-by-point monitoring and data analysis and then sending to the control center by the unmanned aerial vehicle A and the unmanned aerial vehicle B, and positioning an accident area according to the data monitored and analyzed along the planned route by the control center. More further, it is assumed that the unmanned aerial vehicle having the corresponding monitoring function or prefix number is unmanned aerial vehicle a, b, c, d … n, and to unmanned aerial vehicle a, after unmanned aerial vehicle a segments the planned route a corresponding to the unmanned aerial vehicle a sent by the received control center, unmanned aerial vehicle a marksThe segmentation point is an observation point p1、p2、p3、…pnWhen the unmanned aerial vehicle a moves along the planned route a, the unmanned aerial vehicle a acquires data at the position marked with the observation point p, if the data of the observation point is abnormal, the geographical position of the abnormal observation point is corrected, and the route between two adjacent observation points adjacent to the abnormal observation point is re-planned; and if the collected information is not abnormal at all the observation points, the unmanned aerial vehicle a analyzes the information collected at the observation points by the unmanned aerial vehicle a by using a cross positioning method. The specific process of analyzing the information acquired by the unmanned aerial vehicle a at the observation point by the unmanned aerial vehicle a is that the unmanned aerial vehicle a is set to select p in the observation point1、p2And p3Three observation points are analyzed, and the unmanned aerial vehicle a selects p in the observation points1、p2And p3After a three-dimensional rectangular coordinate system is established by the geographical positions of the three observation points and any suitable base point, the three-dimensional rectangular coordinate system is obtained according to p1、p2And p3Confirming the interactive area by the geographical positions of the three observation points and the monitored data in a cross positioning mode, analyzing the overlapped parts of all the interactive areas after analyzing all the observation points on the planned route a three by three to obtain an overlapped three-dimensional area a; the unmanned aerial vehicles B, c and d … n obtain overlapped three-dimensional areas B, c and d … n through the same processing process, the unmanned aerial vehicle A and the unmanned aerial vehicle B obtain the overlapped three-dimensional areas and then send information of the overlapped three-dimensional areas to the control center, and the control center processes the overlapped three-dimensional areas a, B, c and d … n to obtain a final overlapped area obtained by overlapping the overlapped three-dimensional areas a, B, c and d … n; further, if the volume of the final overlapping area or the connecting line of the two end points is greater than or less than a threshold, the control center analyzes the final overlapping area, the threshold is a preset value, the step of analyzing the final overlapping area by the control center includes that the control center obtains an external ball o of the final overlapping area according to the final overlapping area, the control center adjusts the planned route corresponding to the unmanned aerial vehicle A, B according to the ball center and the radius of the external ball, the adjustment includes translation and scaling, and after the control center adjusts the planned route corresponding to the unmanned aerial vehicle A, B, the control center adjusts the planned route corresponding to the unmanned aerial vehicle A, BThe center sends the planned route and the re-judgment request to the unmanned aerial vehicles with corresponding monitoring functions or prefix numbers in the unmanned aerial vehicles A and B for processing, and if the volume of the final overlapping area or the connecting line of two end points is in the threshold range, the control center marks the final overlapping area as an accident area. And a cross positioning method is used for more accurately positioning the accident.
Specifically, after the control center positions the accident area according to the data monitored and analyzed along the planned route according to unmanned aerial vehicle A and unmanned aerial vehicle B, the control center sends a confirmation application to unmanned aerial vehicle A and unmanned aerial vehicle B, after the unmanned aerial vehicle A and unmanned aerial vehicle B receive the confirmation application, unmanned aerial vehicle A and unmanned aerial vehicle B send the record containing unmanned aerial vehicle A and unmanned aerial vehicle B to move along the planned route for the last time to confirm to the control center, and the control center confirms the final accident type of the accident according to the record information that unmanned aerial vehicle A and unmanned aerial vehicle B moved along the planned route for the last time. The final accident type is a specific accident type, such as: circuit failure, fire or human impact, etc. The judgment of the information monitored by the unmanned aerial vehicle when moving along the planned route is more accurate.
Specifically, the control center requests that the unmanned aerial vehicle A and the unmanned aerial vehicle B cooperate to perform the steps of re-judging and accurately positioning the accident, and then the control center detects whether the unmanned aerial vehicle B has an incomplete polling task, if the unmanned aerial vehicle B has the polling task, the control center cancels the unmanned aerial vehicle B to cancel the polling task, and redistributes the polling task according to the prefix number of the unmanned aerial vehicle B to the unmanned aerial vehicle C without the polling task, the unmanned aerial vehicle contained in the unmanned aerial vehicle C is an unmanned aerial vehicle with the same prefix number as the serial number of the unmanned aerial vehicle contained in the unmanned aerial vehicle B, and the unmanned aerial vehicle C and the unmanned aerial vehicle B contain the same number of unmanned aerial vehicles, and the unmanned aerial vehicle contained in the unmanned aerial vehicle C inherits the task according to the completion degree or the remaining distance of the polling task of the unmanned aerial vehicle contained in the unmanned aerial vehicle B to the unmanned aerial vehicle B. And the unmanned aerial vehicle B is replaced by the unmanned aerial vehicle C, so that the inspection task is timely completed.
Specifically, the step of the control center planning the processing route according to the final accident type and the accurate accident area comprises the steps that the control center confirms the nearest idle processing end of the accurate accident area according to the final accident type, and after confirming the geographic position of the idle processing end, the control center plans the processing route of the idle processing end. The processing route is planned in advance, so that the control center can conveniently process and record the accident.
Specifically, the step of recording the processing process of the processing end by the control center includes that the control center records the processing process of the accident by the processing end through any unmanned aerial vehicle in the accident area.
Example 2
As shown in fig. 2, according to an aspect of the embodiment of the present invention, there is also provided an unmanned aerial vehicle inspection system for an electric power system, including:
s220: a control center;
s210: an unmanned aerial vehicle terminal;
the control center includes:
s222: the processing module is used for numbering the unmanned aerial vehicle terminal according to the functions of the unmanned aerial vehicle terminal and distributing routing inspection tasks according to the numbers;
s221: the communication module is used for sending the inspection task to the corresponding unmanned aerial vehicle terminal;
the unmanned aerial vehicle terminal includes:
s212: the control module is used for receiving and controlling the unmanned aerial vehicle terminal to complete the polling task;
s213: the acquisition module is used for acquiring information and feeding the information back to the control module;
the control module also sends the information collected by the collection module to the communication module when executing the inspection task;
the communication module is also used for receiving information sent by the control module when the unmanned aerial vehicle terminal executes the inspection task;
the processing module is also used for judging whether an accident area possibly exists according to the information received by the communication module;
the processing module is also used for confirming the unmanned aerial vehicle terminal required for judging and accurately positioning the accident area again according to the judgment result of whether the accident area possibly exists or not and planning the route of judging and accurately positioning the unmanned aerial vehicle terminal again;
the communication module is also used for sending a planned route to an unmanned aerial vehicle terminal required for judging and accurately positioning an accident area;
the control module is also used for processing the information acquired by the acquisition module when the unmanned aerial vehicle terminal moves along the planned route and sending the processing result to the communication module;
wherein, unmanned aerial vehicle terminal still includes:
s211: the mobile module is used for controlling the unmanned aerial vehicle terminal to move along the planned route;
the processing module is also used for receiving the accurate area and the final accident type of the processing result sent by the control module through the communication module.
In the specific implementation process, the processing module numbers the unmanned aerial vehicle terminal according to the function of the unmanned aerial vehicle terminal specifically includes, the processing module confirms the function of the corresponding unmanned aerial vehicle terminal according to the unmanned aerial vehicle terminal information in the storage module and sets up the corresponding function number as the prefix number of the corresponding unmanned aerial vehicle terminal, according to the unmanned aerial vehicle terminal information in prefix number and storage module confirms the sequence of the unmanned aerial vehicle terminal in the unmanned aerial vehicle terminal information that the storage module preserves, the processing module generates the suffix number of the corresponding unmanned aerial vehicle terminal according to the sequence of the corresponding unmanned aerial vehicle terminal in the storage module, the prefix number and the suffix number of the corresponding unmanned aerial vehicle terminal are combined into the number of the corresponding unmanned aerial vehicle terminal, and after the number is generated, the processing module stores the number information in the storage module.
Specifically, the processing module numbers the unmanned aerial vehicle terminal according to the function of the unmanned aerial vehicle terminal and patrols and examines the task according to the number distribution and specifically includes, and the processing module confirms according to the required function of patrolling and examining the unmanned aerial vehicle terminal's of patrolling and examining the task function and prefix number, and the processing module confirms according to the unmanned aerial vehicle terminal of prefix number screening control center management and control and according to the sequencing of suffix number and examines the unmanned aerial vehicle terminal of patrolling and examining the task, and further, if the unmanned aerial vehicle terminal quantity that the task needs of patrolling and examining is more than or equal to one, then the processing module carries out again the step of patrolling and examining the task according to the number distribution of unmanned aerial vehicle terminal satisfies the task demand of patrolling and examining until the unmanned aerial vehicle terminal group of executing the task of patrolling and examining.
Specifically, the unmanned aerial vehicle terminal is accomplishing the in-process of the task of patrolling and examining of control center distribution, and collection module continuously gathers monitoring data and sends data to control module, and control module sends the monitoring data that receive collection module and send to control center's communication module with the current geographical position in unmanned aerial vehicle terminal together.
Specifically, the processing module judges whether there is a region where an accident may occur according to the information received by the communication module, and the processing module analyzes whether an accident occurs in the monitoring region according to the monitoring data sent by the unmanned aerial vehicle terminal a received by the communication module and the geographic position of the unmanned aerial vehicle terminal a, and if the processing module judges that the information sent by the unmanned aerial vehicle terminal a is greater than a judgment accident interval, the processing module judges that the region monitored by the unmanned aerial vehicle terminal a is a region where an accident may occur. Judge that the accident is between the interval specifically for processing module according to the lower limit interval that the information that unmanned aerial vehicle terminal A's function was monitored corresponds, the task of patrolling and examining and external environment can judge the accident: if the item that the information that the smoke detection unmanned aerial vehicle terminal sent corresponds is smog concentration, patrols and examines the task for the highway and patrols and examines, then processing module judges whether there is the accident area that probably takes place according to the normal smog concentration that external environment corresponds, the smog concentration that unmanned aerial vehicle terminal sent and patrols and examines the influence function P of task to judging the accident interval, it is used for judging the regulation and control of the interval size of accident to patrol and examine the influence function P of task to judging the accident interval. Furthermore, the judgment process is processed by the unmanned aerial vehicle terminal A, and the sending information received by the processing module further comprises a judgment result of the unmanned aerial vehicle terminal A. Still further, the unmanned aerial vehicle terminal a is an unmanned aerial vehicle terminal group including one or more unmanned aerial vehicle terminals, and the processing module needs to perform determination according to information sent by all unmanned aerial vehicle terminals near the monitoring area included in the unmanned aerial vehicle terminal a in the determination process.
Specifically, the processing module determines the preliminary classification of the type of the possible accident according to the judgment result of whether the area of the possible accident exists, the monitoring data of the unmanned aerial vehicle terminal a, the monitoring area of the unmanned aerial vehicle terminal a and the geographic position of the unmanned aerial vehicle terminal a. Further, the preliminary classification is classified into a natural class and a daily class.
Specifically, the processing module determines the preliminary classification of the type of the possible accident and then determines the functions required for accurately judging the accident according to the preliminary classification, and selects the corresponding unmanned aerial vehicle terminal B. The mode of selecting the corresponding unmanned aerial vehicle terminal B is specifically that the processing module selects the unmanned aerial vehicle terminal with the corresponding prefix number and the closest geographic position as one of the unmanned aerial vehicle terminals B according to the geographic position, the geographic coordinate or the longitude and latitude position of the area where the accident is likely to occur and according to the functions required by primary classification and accurate judgment of the accident type, the unmanned aerial vehicle terminal B is an unmanned aerial vehicle terminal group comprising more than or equal to one unmanned aerial vehicle terminal, the selection is a cyclic process, after one unmanned aerial vehicle terminal is selected as one of the unmanned aerial vehicle terminals B, the processing module judges whether the unmanned aerial vehicle terminal B has all the functions required by the accurate judgment of the accident of the primary classification confirmation, if not, the processing module circularly selects the unmanned aerial vehicle terminal in the process of selecting the unmanned aerial vehicle terminal B until the processing module judges that the unmanned aerial vehicle terminal B has all the functions required by the accurate judgment of the accident of the primary classification confirmation, the processing module forms a re-judgment request and sends the re-judgment request to the unmanned aerial vehicle terminal A and the unmanned aerial vehicle terminal B.
Further, the processing module forms a re-judgment request and sends the re-judgment request to the unmanned aerial vehicle terminal A and the unmanned aerial vehicle terminal B, the unmanned aerial vehicle terminal A and the unmanned aerial vehicle terminal B receive the re-judgment request containing the planned route sent by the processing module, the mobile module of the unmanned aerial vehicle terminal A and the mobile module of the unmanned aerial vehicle terminal B move along the planned route and send acquisition instructions to the acquisition module, the unmanned aerial vehicle terminal A and the unmanned aerial vehicle terminal B acquire accident area information according to the acquisition instructions and send the acquisition information to the control module, the control module processes and records the acquisition information and then sends the acquisition information to the communication module of the control center, the processing module locates an accurate accident area through the processed acquisition information received by the communication module, the communication module sends a confirmation application to the unmanned aerial vehicle terminal A and the unmanned aerial vehicle terminal B after confirming the accurate accident area, the control module of the unmanned aerial vehicle terminal A and the unmanned aerial vehicle terminal B sends a record containing the record of the last time of movement of the unmanned aerial vehicle terminal A and the unmanned aerial vehicle terminal B along the planned route And confirming to the communication module, and confirming the final accident type of the accident by the processing module according to the record information of the last movement of the unmanned aerial vehicle terminals A and B along the planned route received by the communication module.
Furthermore, the unmanned aerial vehicle inspection system for the power system further comprises a processing terminal, the processing module confirms the final accident type of the accident according to the record information of the last movement of the unmanned aerial vehicle terminal A and the unmanned aerial vehicle terminal B along the planned route received by the communication module, the processing module processes the route according to the final accident type, the accurate accident area and the planned route of the information of the processing terminal in the storage module, the communication module sends the processing route planned by the processing module to the corresponding processing terminal, and the corresponding processing terminal processes the accident according to the processing route.
The above description is only exemplary of the present disclosure and is not intended to limit the present disclosure, which is to be construed in any way as imposing limitations thereon, such as the appended claims, and all changes and equivalents that fall within the true spirit and scope of the present disclosure.
Claims (5)
1. An unmanned aerial vehicle inspection method for an electric power system, the method comprising the steps of:
s110, the control center performs function classification on the unmanned aerial vehicles controlled by the control center, and the unmanned aerial vehicles are numbered according to the function classification;
s120, the control center distributes routing inspection tasks according to the serial numbers of the unmanned aerial vehicles;
s131, the control center receives information fed back after the unmanned aerial vehicle executes the inspection task;
s132, the control center judges whether an accident area possibly exists according to information fed back by the unmanned aerial vehicle in the routing inspection process;
s140, if the control center finds out the area where the accident possibly occurs through the unmanned aerial vehicle A, the control center carries out primary classification on the type of the accident possibly occurring;
s150, the control center schedules the nearest unmanned aerial vehicle B to an accident-likely area according to the primary classification of the accident-likely type;
s160, the control center requests the unmanned aerial vehicle A and the unmanned aerial vehicle B to cooperate to carry out re-judgment and accurate positioning on the accident, and the control center obtains the final accident type and the accurate accident area according to the information fed back by the unmanned aerial vehicle A and the unmanned aerial vehicle B;
s161, planning a monitoring route by the control center according to the functions of the unmanned aerial vehicle A and the unmanned aerial vehicle B and the area where accidents may occur;
and S162, the control center carries out re-judgment and accurate positioning according to the information monitored by the unmanned aerial vehicle A, B moving along the monitoring route.
2. The unmanned aerial vehicle inspection method for the power system according to claim 1, wherein the step of deriving the final accident type and the accurate accident area according to the information fed back by the unmanned aerial vehicle a and the unmanned aerial vehicle B further comprises:
the control center plans a processing route according to the final accident type and the accurate accident area;
the control center requests the processing end to process the accident through the planned processing route.
3. The unmanned aerial vehicle inspection method for the power system according to claim 1, wherein the step of dispatching the nearest unmanned aerial vehicle B to the area where the accident may occur according to the preliminary classification of the type of the accident may occur by the control center further comprises:
the control center detects whether the unmanned aerial vehicle B has an incomplete polling task;
and if the unmanned aerial vehicle B has the routing inspection task, the control center cancels the routing inspection task of the unmanned aerial vehicle B and redistributes the routing inspection task to the unmanned aerial vehicle C without the routing inspection task according to the prefix number of the unmanned aerial vehicle B.
4. An unmanned aerial vehicle inspection system for an electric power system is characterized by comprising a control center and an unmanned aerial vehicle terminal;
the control center includes:
the processing module is used for numbering the unmanned aerial vehicle terminal according to the function of the unmanned aerial vehicle terminal; the system comprises a communication module, a storage module and a display module, wherein the communication module is used for receiving information of a user;
the processing module is also used for confirming an unmanned aerial vehicle terminal required for judging again the accident and accurately positioning according to the judgment result of whether the accident area possibly exists, and planning a monitoring route for the task of judging again and accurately positioning the unmanned aerial vehicle terminal;
the processing module is also used for confirming the final accident type and the accurate accident area according to the information received by the communication module; the communication module is used for sending the inspection task to the corresponding unmanned aerial vehicle terminal; the system comprises a control module, a data processing module and a data processing module, wherein the control module is used for receiving information sent by the control module when the unmanned aerial vehicle terminal executes an inspection task;
the communication module is also used for sending the monitoring route to an unmanned aerial vehicle terminal required for judging and accurately positioning the accident again;
the unmanned aerial vehicle terminal includes:
the control module is used for receiving and controlling the unmanned aerial vehicle terminal to complete the polling task; the system comprises a communication module, a collection module, a communication module and a data processing module, wherein the communication module is used for transmitting information collected by the collection module to the communication module when executing the inspection task;
the control module is also used for processing and recording information acquired by the acquisition module when the unmanned aerial vehicle terminal moves along the monitoring route, and then sending the information to the communication module;
the acquisition module is used for acquiring information and feeding the information back to the control module;
and the moving module is used for controlling the unmanned aerial vehicle terminal to move along the monitoring route.
5. A computer-readable storage medium, on which a computer program is stored, wherein the program, when executed by a processor, implements a drone inspection method for power systems according to one of claims 1 to 3.
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| CN201910334301.0A CN111864618B (en) | 2019-04-24 | 2019-04-24 | Unmanned aerial vehicle inspection method and system for power system |
| PCT/CN2019/126108 WO2020215753A1 (en) | 2019-04-24 | 2019-12-17 | Unmanned aerial vehicle inspection method and system for electric power system |
| DE212019000129.7U DE212019000129U1 (en) | 2019-04-24 | 2019-12-17 | System for inspecting an electrical power system using an unmanned aerial vehicle |
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