CN112698662A - Unmanned aerial vehicle substation equipment fine routing inspection remote control system and method - Google Patents
Unmanned aerial vehicle substation equipment fine routing inspection remote control system and method Download PDFInfo
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- CN112698662A CN112698662A CN202011400235.1A CN202011400235A CN112698662A CN 112698662 A CN112698662 A CN 112698662A CN 202011400235 A CN202011400235 A CN 202011400235A CN 112698662 A CN112698662 A CN 112698662A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The invention relates to a remote control system and a remote control method for fine routing inspection of substation equipment of an unmanned aerial vehicle.
Description
Technical Field
The invention relates to the field of routing inspection, in particular to a system and a method for remotely controlling fine routing inspection of substation equipment of an unmanned aerial vehicle.
Background
At present, equipment inspection work of a transformer substation in China is gradually automated, the transformer substation inspection ground robot technology is widely applied to other transformer substation equipment inspection machines, inspection efficiency of the transformer substation equipment is continuously improved, but because ground robot circuits are relatively fixed, the visual angle range is limited, and blind spots of some high-rise equipment cannot be detected. Along with the unmanned aerial vehicle is more and more extensive, do not receive three-dimensional space's restriction to and high accuracy RTK technique is more and more ripe in unmanned aerial vehicle application, makes unmanned aerial vehicle develop in the transformer substation and patrol and examine the work and become convenient. However, unmanned aerial vehicle patrols and examines the mode at the transformer substation and generally patrols and examines the mode for the station interior manual work, and is higher to patrolling and examining personnel operation requirement, and patrols and examines the picture that obtains respectively inequality, is unfavorable for later stage defect contrastive analysis.
Disclosure of Invention
The embodiment of the application provides a remote control system and a remote control method for fine routing inspection of unmanned aerial vehicle substation equipment, and routing inspection efficiency can be improved. The technical scheme is as follows:
first aspect, this application embodiment provides an unmanned aerial vehicle substation equipment remote control system that patrols and examines that becomes more meticulous, includes:
the inspection terminal is used for acquiring an inspection task and sending the inspection task to the inspection server;
the inspection server is used for generating an inspection route corresponding to the inspection task;
the positioning device is used for acquiring positioning information of the unmanned aerial vehicle and sending the positioning information to the control device;
and the control device is used for generating an unmanned aerial vehicle control instruction according to the inspection air route so as to control the unmanned aerial vehicle to execute an inspection task, and receiving the positioning information sent by the positioning device and the inspection data returned by the unmanned aerial vehicle.
Optionally, the inspection server is connected with the control device and used for receiving inspection data returned by the unmanned aerial vehicle.
Optionally, the system further comprises a monitoring unit connected with the inspection server, wherein the monitoring unit is used for visualizing the inspection task and the inspection data.
Optionally, the routing inspection data includes map transmission data, flight state information and task state information;
and the unmanned aerial vehicle returns the inspection data according to a set time interval in the process of executing the inspection task.
Optionally, the control device is arranged on a parking lot, and an unmanned aerial vehicle is parked on the parking lot;
the control device is used for receiving the control instruction of the unmanned aerial vehicle and controlling the opening and closing of the airport and the lifting of the unmanned aerial vehicle.
Optionally, the positioning device acquires the positioning information of the unmanned aerial vehicle by using an RTK positioning technology.
Optionally, the unmanned aerial vehicle control instruction includes a geographic coordinate of the device to be inspected;
when the unmanned aerial vehicle executes the inspection task, the unmanned aerial vehicle takes pictures, records videos, detects infrared rays and identifies meter reading of the equipment to be inspected according to the unmanned aerial vehicle control instruction.
In a second aspect, the embodiment of the application provides inspection equipment, including unmanned aerial vehicle and as above any one unmanned aerial vehicle substation equipment becomes more meticulous and patrols and examines remote control system, unmanned aerial vehicle substation equipment becomes more meticulous and patrols and examines remote control system and be used for control unmanned aerial vehicle carries out and patrols and examines the task.
In a third aspect, the embodiment of the application provides a fine inspection remote control method for substation equipment of an unmanned aerial vehicle, which is used for performing inspection by using the inspection equipment, and comprises the following steps:
acquiring a polling task;
generating a routing inspection route corresponding to the routing inspection task;
and generating an unmanned aerial vehicle control instruction to control the unmanned aerial vehicle to execute an inspection task according to the inspection route, and receiving positioning information sent by the positioning device and inspection data returned by the unmanned aerial vehicle.
In this application embodiment, through utilizing patrol and examine the terminal and acquire the task of patrolling and examining, utilize patrol and examine the server generate with patrol and examine the airline of patrolling and examining that the task corresponds, utilize controlling means basis patrol and examine the airline, generate unmanned aerial vehicle control instruction and patrol and examine the task in order to control unmanned aerial vehicle execution, receive locating information and the unmanned aerial vehicle that the locating device sent return patrol and examine the data, through patrolling and examining terminal automatic control unmanned aerial vehicle execution and patrolling and examining the task, improve and patrol and examine.
For a better understanding and practice, the invention is described in detail below with reference to the accompanying drawings.
Drawings
Fig. 1 is a schematic structural diagram of a fine routing inspection remote control system of an unmanned aerial vehicle substation device according to an exemplary embodiment of the present invention;
fig. 2 is a schematic structural diagram of a fine routing inspection remote control system of an unmanned aerial vehicle substation device according to another exemplary embodiment of the present invention;
fig. 3 is a flowchart of a method for fine routing inspection remote control of substation equipment of an unmanned aerial vehicle according to an exemplary embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
It should be understood that the embodiments described are only some embodiments of the present application, and not all embodiments. All other examples, which can be obtained by a person skilled in the art without making any inventive step based on the embodiments in the present application, belong to the scope of protection of the embodiments in the present application.
The terminology used in the embodiments of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the embodiments of the present application. As used in the examples of this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the application, as detailed in the appended claims. In the description of the present application, it is to be understood that the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not necessarily used to describe a particular order or sequence, nor are they to be construed as indicating or implying relative importance. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
In addition, in the description of the present application, "a plurality" means two or more unless otherwise specified. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.
As shown in fig. 1, the invention provides a fine routing inspection remote control system for substation equipment of an unmanned aerial vehicle, which comprises:
the inspection terminal 1 is used for acquiring an inspection task and sending the inspection task to the inspection server;
the inspection terminal 1 is used for receiving inspection tasks input by a user, an application program used for data interaction with an inspection server is installed on the inspection terminal 1, and the application program comprises but is not limited to an APP client or an applet. Patrol and examine terminal 1 and can be intelligent equipment such as notebook computer, panel computer, smart mobile phone equipment and wearing equipment.
The inspection task comprises information of equipment to be inspected, including an inspection area, point cloud data, an equipment name, equipment attribution and three-dimensional geographic space coordinate information.
The inspection server 2 is used for generating an inspection route corresponding to the inspection task;
the routing inspection route can search a routing inspection route pre-stored in the routing inspection server according to the information of equipment to be inspected in the routing inspection task, and can also be an optimal routing inspection route obtained by the routing inspection server through intelligent planning according to the information of the equipment to be inspected and the starting point of the unmanned aerial vehicle.
The inspection route comprises absolute value space geographic coordinates of a plurality of operating points, and the unmanned aerial vehicle executes inspection tasks at the operating points.
The positioning device 3 is used for acquiring positioning information of the unmanned aerial vehicle and sending the positioning information to the control device;
in a preferred embodiment, the positioning device acquires the positioning information of the drone by using an RTK positioning technology. An RTK (Real-time kinematic) positioning technique is a differential method for processing carrier phase observations of two measurement stations in Real time, and obtains more accurate position information by sending carrier phases acquired by a reference station to a user receiver for difference solving of coordinates.
In other embodiments, the positioning device may also utilize GPS for positioning.
And the control device 4 is used for generating an unmanned aerial vehicle control instruction to control the unmanned aerial vehicle to execute an inspection task according to the inspection air route, and receiving the positioning information sent by the positioning device and the inspection data returned by the unmanned aerial vehicle.
The unmanned aerial vehicle control instruction is a control instruction required by the unmanned aerial vehicle to execute an inspection task, for example. The inspection task can comprise photographing, video recording, infrared detection or meter reading identification.
In one embodiment, the drone control instructions include geographic coordinates of the device to be inspected; when the unmanned aerial vehicle executes the inspection task, the unmanned aerial vehicle takes pictures, records videos, detects infrared rays and identifies meter reading of the equipment to be inspected according to the unmanned aerial vehicle control instruction.
The inspection data are data obtained by the unmanned aerial vehicle executing the inspection task process and comprise data such as image transmission data, flight state information and task state information. In one embodiment, the unmanned aerial vehicle returns the inspection data according to a set time interval in the process of executing the inspection task.
The set time interval can be set according to the specific requirements of the inspection task.
In this application embodiment, unmanned aerial vehicle substation equipment becomes more meticulous and patrols and examines remote control system and utilize and patrol and examine the terminal and acquire and patrol and examine the task, utilize patrol and examine the server generate with patrol and examine the airline that the task corresponds, utilize controlling means basis patrol and examine the airline, generate unmanned aerial vehicle control command and patrol and examine the task with control unmanned aerial vehicle execution, receive locating information that positioner sent and the unmanned aerial vehicle data of patrolling and examining that return, unmanned aerial vehicle substation equipment becomes more meticulous and patrols and examines remote control system and can patrol and examine the task through patrolling and examining terminal automatic control unmanned aerial.
As shown in fig. 2, in an exemplary embodiment, the inspection terminal may also issue control instructions for the drone to pause, resume, terminate the inspection task, or turn to manual manipulation.
The inspection server 2 is connected with the control device 4 and used for receiving inspection data returned by the unmanned aerial vehicle; the control device 4 is arranged on a parking lot, and an unmanned aerial vehicle is parked on the parking lot; preferably, the airport of stopping is the movable airport of stopping to adapt to each clock better and patrol and examine the scene, improve the flexibility that unmanned aerial vehicle patrolled and examined.
And the control device 4 is used for receiving a control instruction of the unmanned aerial vehicle and controlling the opening and closing of the airport and the lifting of the unmanned aerial vehicle.
The fine routing inspection remote control system for the unmanned aerial vehicle substation equipment further comprises a monitoring unit 5 and a message transfer server 6.
The monitoring unit 5 with patrol and examine server 2 and be connected, be used for right patrol and examine the task with patrol and examine the data and carry out visual, the staff of being convenient for in time obtains unmanned aerial vehicle and patrols and examines the execution conditions of task and adjust and patrol and examine the task.
The message transfer server 6 is arranged between the inspection terminal 1 and the control device 4 and used for realizing that the inspection terminal and the control device provide message communication service.
In one embodiment, the inspection terminal is further used for obtaining a login request of a user and verifying identity information input by the user, so that the safety of the unmanned aerial vehicle substation equipment fine inspection remote control system is improved.
In a preferred embodiment, before controlling the unmanned aerial vehicle to execute the inspection task, the control device further sends a self-checking signal to the unmanned aerial vehicle, and after receiving a self-checking success signal returned by the unmanned aerial vehicle, the control device sends an unmanned aerial vehicle control instruction to the unmanned aerial vehicle so as to avoid the influence of the self fault of the unmanned aerial vehicle on the execution of the inspection task, and improve the inspection efficiency.
In an exemplary embodiment, the fine routing inspection remote control system for the unmanned aerial vehicle substation equipment is used for controlling the unmanned aerial vehicle to perform routing inspection on the substation as follows:
the method comprises the steps of obtaining patrol task information, such as a transformer substation patrol area, point cloud data, an equipment name, equipment attribution, three-dimensional geographic space coordinate information and the like, input by a worker, requesting a patrol route from a patrol server and sending the patrol route to a control device, and controlling the airport to be opened by the control device; the control device sends a self-checking signal to control the unmanned aerial vehicle to carry out self-checking, and after the self-checking is successful, a control command of the unmanned aerial vehicle is sent to control the unmanned aerial vehicle to fly, the positioning device obtains an RTK positioning signal, the unmanned aerial vehicle executes an inspection task according to absolute value space geographic coordinates of each operating point in an inspection route, and automatically returns inspection data to the inspection server after the task is completed, the monitoring unit monitors the inspection data of the unmanned aerial vehicle in real time and visualizes the inspection data such as image data transmission, flight state information, task state information and the like, a worker can control the inspection terminal to pause, continue, terminate the inspection task or manually operate and the like according to a visual interface of the monitoring unit, when the unmanned aerial vehicle descends to a parking lot, the control device controls the parking lot.
The embodiment of the application further provides inspection equipment, including unmanned aerial vehicle and as above any one unmanned aerial vehicle substation equipment becomes more meticulous and patrols and examines remote control system, unmanned aerial vehicle substation equipment becomes more meticulous and patrols and examines remote control system and be used for control unmanned aerial vehicle carries out and patrols and examines the task.
As shown in fig. 3, the embodiment of the application further provides a fine inspection remote control method for substation equipment of the unmanned aerial vehicle, the inspection equipment is used for inspection, and the method comprises the following steps:
step S1: acquiring a polling task;
step S2: generating a routing inspection route corresponding to the routing inspection task;
step S3: and generating an unmanned aerial vehicle control instruction to control the unmanned aerial vehicle to execute an inspection task according to the inspection route, and receiving positioning information sent by the positioning device and inspection data returned by the unmanned aerial vehicle.
In an exemplary embodiment, before the step of obtaining the patrol task, the method further includes:
and acquiring a login request of a user and verifying the identity information input by the user.
The inspection equipment can realize high-precision precise automatic inspection of the transformer substation, has wide inspection coverage, can obtain standardized inspection data, can remotely control the unmanned aerial vehicle to safely execute inspection tasks, effectively avoids high-strength work in operation and maintenance inspection personnel stations, and improves inspection efficiency.
The present invention is not limited to the above-described embodiments, and various modifications and variations of the present invention are intended to be included within the scope of the claims and the equivalent technology of the present invention if they do not depart from the spirit and scope of the present invention.
Claims (9)
1. The utility model provides an unmanned aerial vehicle substation equipment becomes more meticulous and patrols and examines remote control system which characterized in that includes:
the inspection terminal is used for acquiring an inspection task and sending the inspection task to the inspection server;
the inspection server is used for generating an inspection route corresponding to the inspection task;
the positioning device is used for acquiring positioning information of the unmanned aerial vehicle and sending the positioning information to the control device;
and the control device is used for generating an unmanned aerial vehicle control instruction according to the inspection air route so as to control the unmanned aerial vehicle to execute an inspection task, and receiving the positioning information sent by the positioning device and the inspection data returned by the unmanned aerial vehicle.
2. The unmanned aerial vehicle substation equipment refinement patrol inspection remote control system according to claim 1, wherein the patrol inspection server is connected with the control device and used for receiving patrol inspection data returned by the unmanned aerial vehicle.
3. The unmanned aerial vehicle substation equipment refinement inspection remote control system of claim 2, further comprising a monitoring unit connected with the inspection server, the monitoring unit being configured to visualize the inspection tasks and the inspection data.
4. The unmanned aerial vehicle substation equipment refinement inspection remote control system according to any one of claims 1 to 3, wherein the inspection data includes map transmission data, flight state information and task state information;
and the unmanned aerial vehicle returns the inspection data according to a set time interval in the process of executing the inspection task.
5. The unmanned aerial vehicle substation equipment refinement inspection remote control system according to claim 1, wherein the control device is arranged on a parking lot, and an unmanned aerial vehicle is parked on the parking lot;
the control device is used for receiving the control instruction of the unmanned aerial vehicle and controlling the opening and closing of the airport and the lifting of the unmanned aerial vehicle.
6. The unmanned aerial vehicle substation equipment refinement inspection remote control system of claim 1, wherein the positioning device utilizes an RTK positioning technique to obtain positioning information of the unmanned aerial vehicle.
7. The unmanned aerial vehicle substation equipment refinement inspection remote control system of claim 1, wherein the unmanned aerial vehicle control instructions include geographic coordinates of equipment to be inspected;
when the unmanned aerial vehicle executes the inspection task, the unmanned aerial vehicle takes pictures, records videos, detects infrared rays and identifies meter reading of the equipment to be inspected according to the unmanned aerial vehicle control instruction.
8. An inspection device, characterized by comprising an unmanned aerial vehicle and the unmanned aerial vehicle substation equipment fine inspection remote control system according to any one of claims 1 to 7, wherein the unmanned aerial vehicle substation equipment fine inspection remote control system is used for controlling the unmanned aerial vehicle to execute inspection tasks.
9. A fine routing inspection remote control method for unmanned aerial vehicle substation equipment is characterized in that routing inspection is performed by the routing inspection equipment according to claim 8, and the method comprises the following steps:
acquiring a polling task;
generating a routing inspection route corresponding to the routing inspection task;
and generating an unmanned aerial vehicle control instruction to control the unmanned aerial vehicle to execute an inspection task according to the inspection route, and receiving positioning information sent by the positioning device and inspection data returned by the unmanned aerial vehicle.
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