CN112748744A - Transformer substation amphibious inspection device and inspection method thereof - Google Patents
Transformer substation amphibious inspection device and inspection method thereof Download PDFInfo
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- CN112748744A CN112748744A CN202011594461.8A CN202011594461A CN112748744A CN 112748744 A CN112748744 A CN 112748744A CN 202011594461 A CN202011594461 A CN 202011594461A CN 112748744 A CN112748744 A CN 112748744A
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02B—BOARDS, SUBSTATIONS OR SWITCHING ARRANGEMENTS FOR THE SUPPLY OR DISTRIBUTION OF ELECTRIC POWER
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Abstract
The invention discloses a transformer substation amphibious inspection device and an inspection method thereof, wherein the transformer substation amphibious inspection device comprises an unmanned aerial vehicle, and a control system, a flight mechanism, a walking mechanism and a camera which are arranged on the unmanned aerial vehicle; the flight mechanism, the walking mechanism and the camera are connected with a control system of the unmanned aerial vehicle, the control system can detect the distance between the unmanned aerial vehicle and other objects through the laser radar sensor, the camera can shoot images and/or video information of an inspection target to obtain inspection data, and the unmanned aerial vehicle can be controlled to inspect through the flight mode or the walking mode through the flight mechanism and the walking mechanism; the device has the aerial flight capability and the land walking capability, can select to carry out aerial flight inspection or land walking inspection according to the environment of the transformer substation, enables the inspection operation management of the unmanned aerial vehicle of the power transmission line to be more scientific and effective, can effectively improve the inspection efficiency and the inspection accuracy of the transformer substation, and is suitable for inspection in the complex environment of the transformer substation.
Description
Technical Field
The invention relates to the technical field of power maintenance, in particular to an amphibious inspection device of a transformer substation and an inspection method thereof.
Background
Transformer substation, place of changing voltage. In order to transmit the electric energy generated by the power plant to a remote place, the voltage must be increased to become high voltage, and then the voltage is decreased as required near the user, and the voltage increasing and decreasing work is completed by a transformer substation. The power supply and transmission are realized through the transformer substation in the power grid system, the transformer substation is an indispensable and very important part of the power grid system, the working stability of the transformer substation influences the power utilization stability of the whole power grid, regular inspection and patrol of the transformer substation are needed for ensuring the normal and stable work of the transformer substation, and therefore daily maintenance and management are carried out on the transformer substation, faults existing in the transformer substation can be found in time, and the possible problems of the transformer substation can be pre-judged in advance.
Along with high tension transmission line's rapid development, unmanned aerial vehicle is comparatively extensive in the application of electric wire netting at present, and the operation technique is also mature day by day, nevertheless to some special topography, special environment, unmanned aerial vehicle still need continue to promote the adaptability of self. Route environment is patrolled and examined more complicacy in the transformer substation, including a large amount of indoor sets and outdoor equipment in the transformer substation, the environment of equipment overall arrangement is more complicated various, if only rely on the unmanned aerial vehicle of flight to patrol and examine the words, do not possess the position of flight condition to some special, patrol and examine and have certain degree of difficulty and danger, and the power consumption of unmanned aerial vehicle flight demand is also very big, just need charge or change the battery after the time that the flight is short, the efficiency of patrolling and examining on the whole is not high. Therefore, in the prior art, the inspection environment of the transformer substation is hardly satisfied by the conventional unmanned aerial vehicle inspection mode, inspection of the transformer substation is performed based on the conventional unmanned aerial vehicle, and the problems of inspection omission and inaccurate fault judgment are likely to occur.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides the amphibious inspection device for the transformer substation, which has aerial flight capability and land walking capability, can select to carry out aerial inspection or land walking inspection according to the environment of the transformer substation, can effectively improve the inspection efficiency and the inspection accuracy of the transformer substation, and is suitable for inspection in the complex environment of the transformer substation.
The second purpose of the invention is to provide a transformer substation amphibious inspection method.
The first purpose of the invention is realized by the following technical scheme: a transformer substation amphibious inspection device comprises an unmanned aerial vehicle, and a control system, a flight mechanism, a walking mechanism and a camera on the unmanned aerial vehicle;
the flight mechanism is connected with the control system and used for controlling the unmanned aerial vehicle to fly in the air under the driving of the control system;
the walking mechanism is connected with the control system and used for controlling the unmanned aerial vehicle to walk on the land according to the walking path under the driving of the control system;
the camera is connected with the control system and is used for shooting image and/or video information and transmitting the shot image and/or video information to the control system.
Preferably, the system also comprises a ground management system;
the control system on the unmanned aerial vehicle is connected with the ground management system through the wireless communication unit and is used for receiving the inspection task, the flight control instruction and the walking control instruction sent by the ground management system; the system comprises a ground management system, a video camera, a monitoring system and a monitoring system, wherein the ground management system is used for sending images and/or video information shot by the video camera to the ground management system and analyzing the state of the transformer substation; the system is used for feeding back the position information, flight parameters and walking parameters of the unmanned aerial vehicle to the ground management system, so that the ground management system can remotely monitor the unmanned aerial vehicle;
the inspection task comprises a flight planning path, a walking planning path, an inspection object and inspection contents of the unmanned aerial vehicle.
Preferably, the wireless communication unit is NRF24L 01.
Preferably, the traveling mechanism comprises four wheels, the four wheels are respectively and correspondingly arranged on four motors, each motor is respectively connected to the control system through a motor driver, and the control system respectively controls the rotation of each wheel through each motor;
the tires of the wheels are provided with anti-skid and windproof patterns, wherein the friction force between the tire patterns and the ground is used as the judgment standard of the tire grip performance, and the pattern depth and angle are set according to the requirements of the tire grip performance;
flight mechanism includes four rotors, and four rotors correspond respectively and set up on each motor, and each motor is connected to control system through motor drive respectively, and control system controls the rotation of each rotor respectively through each motor.
Preferably, the control system comprises an inner ring controller and an outer ring controller, wherein the inner ring controller is an attitude PID controller, and the outer ring controller is a position PID controller;
the flight mechanism comprises a motor speed regulator, a motor and an unmanned aerial vehicle rotor wing; the rotor wing of the unmanned aerial vehicle is arranged on the motor and is driven to rotate by the motor;
an input end of the position PID controller inputs an unmanned aerial vehicle position control instruction to control the unmanned aerial vehicle to fly to a corresponding position; the output of the position PID controller is used as one input of the attitude PID controller, the output of the attitude PID controller is used as one input of the motor speed regulator, and a speed regulation control command is sent to the motor speed regulator;
the speed regulating instruction output by the motor speed regulator is sent to the motor to control the motor to rotate at a corresponding speed; the rotating speed information of the motor is fed back to the motor speed regulator and is used as the other input of the motor speed regulator;
feeding attitude information of the unmanned aerial vehicle back to an attitude PID controller as the other input of the attitude PID controller; and the position information of the unmanned aerial vehicle is fed back to the position PID controller and is used as the other input of the position PID controller.
Preferably, the system also comprises a laser radar sensor, an angle sensor and an inertia measurement unit;
the laser radar sensor is connected with the control system and used for detecting the distance between the unmanned aerial vehicle and other objects;
the angle sensor is connected with the control system and used for detecting the yaw angle of the unmanned aerial vehicle, so that the control system controls the unmanned aerial vehicle to fly or walk at the corresponding yaw angle based on the yaw angle detected by the angle sensor;
the inertia measurement unit is connected with the control system and used for measuring the angular velocity and acceleration information of the unmanned aerial vehicle, so that the control system corrects the flying or walking attitude of the unmanned aerial vehicle based on the information measured by the inertia measurement unit.
The second purpose of the invention is realized by the following technical scheme: a transformer substation amphibious inspection method realized by a transformer substation amphibious inspection device comprises the following steps:
determining a routing inspection area of the unmanned aerial vehicle according to the distribution of the transformer substation and the actual environment, and distributing routing inspection objects and routing inspection contents to the unmanned aerial vehicle;
planning a routing inspection path for the unmanned aerial vehicle in the routing inspection area according to the routing inspection object and the routing inspection content of the unmanned aerial vehicle in each routing inspection area, wherein the routing inspection path comprises a flight path and a walking path;
the control system of the unmanned aerial vehicle controls the unmanned aerial vehicle to carry out flight inspection in the inspection area according to the planned flight path through the flight mechanism based on the planned flight path;
the control system of the unmanned aerial vehicle controls the unmanned aerial vehicle to walk and patrol in the patrol area according to the planned walking path based on the planned walking path;
aiming at each inspection object on the inspection path, when the inspection task is to shoot images and/or video information of the inspection object, the unmanned aerial vehicle is controlled to move to a certain distance from the inspection object through the flight communication path or the walking path, and then the camera of the unmanned aerial vehicle shoots the images and/or video information of the inspection object to obtain the inspection data.
Preferably, when the control system of the unmanned aerial vehicle controls the unmanned aerial vehicle to fly or walk according to the planned patrol route, the specific process is as follows:
the control system receives a pre-generated unmanned aerial vehicle routing inspection path;
the control system converts the routing inspection path into a moving command executed by the unmanned aerial vehicle, wherein the moving command comprises a flight command and a walking command;
according to the current moving direction of the unmanned aerial vehicle, thinning the peripheral directions in a grid mode by taking the current position of the unmanned aerial vehicle as the center;
obtaining the obstacle condition of each thinning direction of the unmanned aerial vehicle;
removing the direction with the obstacle, and selecting the advancing direction with the minimum offset angle to return to the originally planned routing inspection path by combining the planned routing inspection path;
for the unmanned aerial vehicle patrols and examines the route for the best route of patrolling and examining that the regional planning of patrolling and examining, this best route of patrolling and examining satisfies: the unmanned aerial vehicle arrives the target point from the starting point based on this best route, does not have the obstacle in this best route of patrolling and examining and patrols and examines the shortest and the minimum that consumes time of route under can accomplishing the regional task of patrolling and examining.
Furthermore, when the unmanned aerial vehicle routing inspection path received by the control system and generated in advance is a walking path:
in the process of the unmanned aerial vehicle advancing, when the unmanned aerial vehicle encounters an obstacle in the current advancing direction, the advancing direction of the unmanned aerial vehicle is adjusted, namely the advancing direction with the smallest deviation angle is selected to return to the originally planned advancing path in combination with the planned advancing path; when an obstacle or a slope which is difficult to cross is encountered, the control system switches the unmanned aerial vehicle into a flight mode until the obstacle or the slope is crossed;
the obstacles difficult to cross refer to: the width of the obstacle is such that the unmanned aerial vehicle still cannot bypass the obstacle when the yaw angle reaches a threshold value.
Furthermore, according to the distribution and the actual environment of the transformer substation, determining the routing inspection area of the unmanned aerial vehicle through a ground management system, distributing routing inspection objects and routing inspection contents for the unmanned aerial vehicle, and planning routing inspection paths for the unmanned aerial vehicle in the routing inspection area through the ground management system according to the routing inspection objects and the routing inspection contents of the unmanned aerial vehicle in each routing inspection area;
the unmanned aerial vehicle control system sends the routing inspection data to the ground management system in real time, and the ground management system analyzes the routing inspection data and determines the condition of a corresponding routing inspection object of the transformer substation;
the position information, flight parameters and walking parameters of the unmanned aerial vehicle control system are fed back to the ground management system, so that the ground management system can remotely monitor the unmanned aerial vehicle;
the transformer substation amphibious inspection method further comprises the following steps:
the control system receives the flight control instruction or the walking control instruction sent by the ground management system, and preferentially arranges the unmanned aerial vehicle to fly or walk according to the flight control instruction or the walking control instruction sent by the ground management system;
sending a switching mode to an unmanned aerial vehicle control system through a ground management system, and switching a current moving mode of the unmanned aerial vehicle by the unmanned aerial vehicle control system according to the received switching mode; the switching mode comprises switching the flight mode into the walking mode and switching the walking mode into the flight mode;
the unmanned aerial vehicle control system feeds back barrier information to the ground management system in real time, and when the barrier is detected in the advancing direction, the ground management system sends a corresponding walking control instruction or a flight control instruction to the unmanned aerial vehicle control system so as to adjust the moving path of the unmanned aerial vehicle.
Compared with the prior art, the invention has the following advantages and effects:
(1) the invention discloses a transformer substation amphibious inspection device and a transformer substation amphibious inspection method, wherein the transformer substation amphibious inspection device comprises an unmanned aerial vehicle, and a control system, a flight mechanism, a walking mechanism and a camera which are arranged on the unmanned aerial vehicle; the flight mechanism, the walking mechanism and the camera are connected with a control system of the unmanned aerial vehicle, the control system can detect the distance between the unmanned aerial vehicle and other objects through the laser radar sensor, the camera can shoot images and/or video information of an inspection target to obtain inspection data, and the unmanned aerial vehicle can be controlled to inspect through the flight mode or the walking mode through the flight mechanism and the walking mechanism; the device has the aerial flight capability and the land walking capability, can select to carry out aerial flight inspection or land walking inspection according to the environment of the transformer substation, enables the inspection operation management of the unmanned aerial vehicle of the power transmission line to be more scientific and effective, can effectively improve the inspection efficiency and the inspection accuracy of the transformer substation, and is suitable for inspection in the complex environment of the transformer substation.
(2) The amphibious inspection device and the method for the transformer substation can control the inspection mode of the unmanned aerial vehicle according to the actual environment of the transformer substation and the inspection objects and the inspection contents of the unmanned aerial vehicle in each inspection area, for example, when some equipment with higher positions and larger space ranges in the transformer substation is inspected, the equipment can be inspected in a flying mode, the equipment of field substations with short positions, narrow spaces, roads or flat positions can be patrolled and examined in a walking way, in addition, compared with the mode of carrying out inspection by flying, the mode of the invention further improves the accuracy of inspection, and unmanned aerial vehicle patrols and examines the saving that consumed battery power is also more, therefore the frequency of charging can greatly reduced, has further improved the speed that unmanned aerial vehicle patrolled and examined.
(3) The transformer substation amphibious inspection device and the transformer substation amphibious inspection method can further comprise a ground management system, related management personnel can send inspection tasks, flight control instructions and walking control instructions to the unmanned aerial vehicle through the ground management system, meanwhile, some fault states of an inspection object can be identified in real time in a rear-end mode, and in addition, position information, flight parameters and walking parameters of the unmanned aerial vehicle are fed back to the ground management system.
(4) In the transformer substation amphibious inspection device, the traveling mechanism comprises four wheels, wherein the rotation of the four wheels is controlled by four motors respectively, namely each wheel is controlled by an independent motor respectively, so that the ground gripping performance of an unmanned aerial vehicle is improved; in addition, on the tire, the friction force between the tire pattern and the ground is used as the judgment standard of the tire ground gripping performance, the depth and the angle of the anti-skid and windproof pattern are set according to the requirement of the tire ground gripping performance, the ground gripping performance of the tire of the unmanned aerial vehicle is further guaranteed, and the wind resistance and the safety of the unmanned aerial vehicle are guaranteed.
(5) In the transformer substation amphibious inspection device and the transformer substation amphibious inspection method, the flying mechanism comprises four rotor wings, the four rotor wings are respectively and correspondingly arranged on each motor, each motor is respectively connected to the control system through a motor driver, and the controller respectively controls the rotation of each rotor wing through each motor; according to the invention, the four-rotor design of the unmanned aerial vehicle enables the unmanned aerial vehicle to simultaneously complete longitudinal and transverse movements during flying work by the four motors, and has the advantages of large moment, high controllable margin and the like.
(6) In the amphibious inspection device and the method for the transformer substation, the control system comprises an inner ring controller and an outer ring controller, wherein the inner ring controller is an attitude PID controller, and the outer ring controller is a position PID controller. In the invention, the motor speed regulator and the motor of the flight mechanism, the inner ring controller and the outer ring controller form a closed-loop control loop, so that the position and the speed of the unmanned aerial vehicle can be accurately controlled.
(7) In the transformer substation amphibious inspection method, an unmanned aerial vehicle refines the peripheral directions in a grid mode by taking the current position of the unmanned aerial vehicle as the center according to the current moving direction in the moving process, obtains the obstacle condition of each refining direction of the unmanned aerial vehicle, excludes the direction with the obstacle, and selects the advancing direction with the minimum offset angle to return to the originally planned inspection path by combining the planned inspection path; based on the operation, the unmanned aerial vehicle can plan a path to bypass the obstacle when the obstacle is in the front of the unmanned aerial vehicle in the traveling path, and can return to the originally planned path at the fastest speed and the shortest path after the obstacle is bypassed, so that the inspection work of the unmanned aerial vehicle is ensured.
(8) In the transformer substation amphibious inspection method, when the unmanned aerial vehicle inspection path received by the unmanned aerial vehicle and generated in advance is a walking path, the control system switches the unmanned aerial vehicle into a flight mode until the unmanned aerial vehicle crosses over an obstacle or a slope when the unmanned aerial vehicle is controlled to walk on the land, and when the unmanned aerial vehicle encounters an obstacle or a slope which is difficult to cross over, the unmanned aerial vehicle can be prevented from encountering an emergent obstacle in the path in the walking process, such as rockfall and the like, so that the unmanned aerial vehicle cannot finish inspection.
(9) In the transformer substation amphibious inspection method, the unmanned aerial vehicle control system can be connected with the ground management system through the wireless communication unit, and the unmanned aerial vehicle movement mode can be switched through the ground management system. In addition, the unmanned aerial vehicle control system can feed back barrier information to the ground management system in real time, and when a barrier exists in the advancing direction, the ground management system sends a walking control instruction to the unmanned aerial vehicle control system so as to adjust the walking path of the unmanned aerial vehicle.
Drawings
Fig. 1 is a structural block diagram of the amphibious inspection device for the transformer substation.
FIG. 2 is a schematic structural diagram of an unmanned aerial vehicle PID controller in the amphibious inspection device of the transformer substation.
Fig. 3 is a control schematic diagram of a gyroscope MPU6050 in the amphibious inspection device of the transformer substation.
FIG. 4 is a flow chart of the transformer substation amphibious inspection method.
FIG. 5 shows a specific routing inspection path in the amphibious routing inspection method for the transformer substation.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited thereto.
Example 1
The embodiment discloses an amphibious inspection device of transformer substation, can realize aerial inspection and land inspection of transformer substation based on the device, in this embodiment, as shown in fig. 1, inspection device includes control system, flight mechanism, running gear, laser radar sensor, angle sensor, inertial measurement unit and camera on unmanned aerial vehicle and the unmanned aerial vehicle.
In this embodiment, the flying mechanism is connected to the control system, and is used for controlling the unmanned aerial vehicle to fly in the air under the driving of the control system. In this embodiment, flight mechanism includes four rotors, and four rotors correspond the setting respectively on each motor, and each motor is connected to control system through motor drive respectively, and control system controls the rotation of each rotor respectively through each motor, has realized that unmanned aerial vehicle is accomplished by four motors simultaneously at the vertical and lateral motion of flight during operation, has the advantage that moment is big and controllable margin is high.
In this embodiment, flight mechanism includes motor speed regulator, motor and unmanned aerial vehicle rotor, and unmanned aerial vehicle wing sets up on the motor, drives its rotation through the motor.
As shown in fig. 2, in order to meet the requirement of accurate inspection work of the flight mechanism of the unmanned aerial vehicle, the control system may include an inner ring controller and an outer ring controller, the inner ring controller is an attitude PID controller, and the outer ring controller is a position PID controller; an input end of the position PID controller inputs an unmanned aerial vehicle position control instruction to control the unmanned aerial vehicle to fly to a corresponding position; the output of the position PID controller is used as one input of the attitude PID controller, the output of the attitude PID controller is used as one input of the motor speed regulator, and a speed regulation control command is sent to the motor speed regulator; the speed regulating instruction output by the motor speed regulator is sent to the motor to control the motor to rotate at a corresponding speed; the information of the rotating speed of the motor is fed back to the motor speed regulator and used as the other input of the motor speed regulator. Based on above-mentioned structure, flight mechanism's motor speed regulator and motor and inner loop controller and outer loop controller constitute PID closed loop control circuit, the position and the speed of control unmanned aerial vehicle that can be accurate.
In this embodiment, the running gear is connected with the control system, and is used for controlling the unmanned aerial vehicle to run on the land according to the running path under the drive of the control system. In this embodiment, the traveling mechanism includes four wheels, which are a left front wheel, a right front wheel, a left rear wheel and a right rear wheel, respectively, the four wheels are correspondingly disposed on four motors, respectively, each motor is connected to the control system through a motor driver, and the control system controls the rotation of each wheel through each motor; in this embodiment, the motor in the traveling mechanism is a direct current motor, and the control system adjusts the speed of the direct current motor based on a Pulse Width Modulation (PWM) method to adjust the rotation speed of each wheel.
In the present embodiment, the tire of each wheel is provided with an anti-slip and wind-proof pattern, wherein the pattern depth and angle are set according to the tire grip performance requirement, with the frictional force between the tire pattern and the ground being used as the criterion for determining the tire grip performance. In this embodiment, for the unmanned aerial vehicle, in order to ensure the rationality and reliability of the structural design of the unmanned aerial vehicle, a finite element model is established based on solid works/Simulation by using a key part board and a horn as research objects, and stress Simulation analysis is performed to correct the strength of the finite element model.
In this embodiment, the camera is connected to the control system for capturing images and/or video information and transmitting the captured images and/or video information to the control system. In this embodiment, the camera is driven by the control system to capture image and/or video information for the inspection object, thereby obtaining inspection data. In this embodiment, the inspection objects in the substation include a circuit breaker, a disconnecting switch, a lightning arrester, a transformer, an oil level gauge and other devices in the substation.
In this embodiment, unmanned aerial vehicle can also shoot the site environment of transformer substation through the camera, based on the site environment of transformer substation, can decide that unmanned aerial vehicle continues to patrol and examine with current mode, still changes current mode of patrolling and examining, for example with the flight mode of patrolling and examining switch into the walking mode of patrolling and examining, or switch into the flight mode of patrolling and examining with the walking mode of patrolling and examining.
In this embodiment, laser radar sensor connection control system for detect the relative other object's of unmanned aerial vehicle distance, mainly be used for detecting unmanned aerial vehicle for patrolling and examining the distance of object, can stop in patrolling and examining object certain distance department with control unmanned aerial vehicle, conveniently patrol and examine the object, above-mentioned distance includes vertical distance and horizontal distance, is based on laser radar sensor promptly, control unmanned aerial vehicle and patrol and examine horizontal distance and the vertical distance between the object.
In this embodiment, angle sensor connection control system for detect unmanned aerial vehicle's yaw angle, make control system realize flying or walking with corresponding yaw angle based on the yaw angle control unmanned aerial vehicle that angle sensor detected.
In this embodiment, the inertial measurement unit is connected to the control system and is configured to measure the angular velocity and acceleration information of the unmanned aerial vehicle, so that the control system corrects the flight attitude of the unmanned aerial vehicle based on the information measured by the inertial measurement unit. The inertia measurement unit comprises an accelerometer and a gyroscope MPU6050, detects a three-axis acceleration signal of the unmanned aerial vehicle through the accelerometer and detects a three-axis angular velocity signal of the unmanned aerial vehicle through the gyroscope; the control principle of the gyroscope MPU6050 is shown in fig. 3.
In this embodiment, still include ground management system, unmanned aerial vehicle's control system passes through wireless communication unit and ground management system to be connected, and specifically control system is connected with wireless communication unit, and ground management system also is connected with wireless communication unit, and both pair through the wireless communication unit who connects. In this embodiment, the wireless communication unit can use 2.4G wireless chip, specifically can use NRF24L01 chip, NRF24L01 has 126 communication channel, 6 data channel, 4 line SPI communication ports, satisfy multiple spot communication and frequency modulation needs, communication rate can reach 8Mbps at most, data packet can transmit the data of 1 ~ 32Byte at every turn, data transmission rate supports 1Mbps, 2Mbps, can set up operating frequency through software, communication address, transmission rate and data packet length, power channel and agreement, can be connected to various singlechip chips almost, MCU can pass through the register of SPI interface access chip with this chip and dispose, reach control module and realize wireless communication's purpose through this module. NRF24L01 has extremely low current consumption, the current consumption is 12.3mA in a receiving mode, the current consumption is only 11.3mA when the transmitting power is 0dBm in a transmitting mode, the current consumption is lower in a power-down mode and a standby mode, and the power consumption of the system is greatly reduced.
In this embodiment, the last control system of unmanned aerial vehicle receives through wireless communication unit and patrols and examines task, flight control instruction and the walking control instruction that ground management system sent, and the task of patrolling and examining includes unmanned aerial vehicle's flight planning route, walking planning route, patrols and examines the object and patrol and examine the content, and the content of patrolling and examining includes and shoots photo or video, also can indicate certainly that make unmanned aerial vehicle accomplish other tasks of patrolling and examining, specifically patrols and examines the demand setting according to the reality. This embodiment can realize the control of patrolling and examining unmanned aerial vehicle based on ground management system, including specific object of patrolling and examining, patrol and examine the route and patrol and examine the mode etc. can also directly carry out the control of long-range flight or walking to unmanned aerial vehicle through flight control instruction, walking control instruction, adjust unmanned aerial vehicle's direction of flight, flight attitude, flying speed etc. promptly, adjust unmanned aerial vehicle's direction of walking, walking speed etc..
In this embodiment, the control system of the unmanned aerial vehicle sends the image and/or video information shot by the camera to the ground management system through the wireless communication unit, and the state of the substation is analyzed through the ground management system.
In this embodiment, the control system of the unmanned aerial vehicle feeds back the position information, flight parameters and walking parameters of the unmanned aerial vehicle to the ground management system through the wireless communication unit, so that the ground management system can remotely monitor the unmanned aerial vehicle.
In this embodiment, the control system of the drone may be an MCU (micro control unit), and of course, other types of controllers, such as an ARM, may also be used.
Example 2
Disclosed is a transformer substation amphibious inspection method implemented by the transformer substation amphibious inspection device in embodiment 1, as shown in fig. 4, including the steps of:
s1, the ground management system determines the inspection area of the unmanned aerial vehicle according to the distribution of the transformer substation and the actual environment, and allocates inspection objects and inspection contents for the unmanned aerial vehicle.
S2, the ground management system plans a patrol route for the unmanned aerial vehicle in the patrol area according to the patrol object and the patrol content of the unmanned aerial vehicle in each patrol area, wherein the patrol route comprises a flight route and a walking route.
In this embodiment, for the unmanned aerial vehicle patrols and examines the route for the best route of patrolling and examining that the regional planning of patrolling and examining, this best route of patrolling and examining satisfies: the unmanned aerial vehicle can reach a target point from a starting point based on the optimal route, can avoid obstacles without obstacles in the optimal routing inspection route, and can complete the shortest routing inspection route and the minimum time consumption on the premise of routing inspection of an inspection area.
In this embodiment, it is determined according to the environment in which the substation inspection object is located whether the inspection object is in the inspection of the flight path or the walking path, and for the equipment which is in the substation room and has the characteristics of low installation or set height, narrow space, walking road surface conditions and the like, the equipment is generally planned in the inspection of the unmanned aerial vehicle walking path, and for the equipment which is out of the substation room and has high installation or set height and flight conditions in the located space, the equipment is generally planned in the unmanned aerial vehicle flight path.
S3, controlling the unmanned aerial vehicle to fly and patrol in the patrol area according to the planned flight path through the flight mechanism based on the planned flight path by the control system of the unmanned aerial vehicle; the control system of the unmanned aerial vehicle controls the unmanned aerial vehicle to walk and patrol in the patrol area according to the planned walking path based on the planned walking path;
in this step, when the control system of unmanned aerial vehicle is controlling unmanned aerial vehicle to fly or walk according to the planned route of patrolling and examining, as shown in fig. 5, the concrete process is as follows:
s31, the control system receives a pre-generated unmanned aerial vehicle routing inspection path;
s32, converting the inspection path into a moving command executed by the unmanned aerial vehicle by the control system, wherein the moving command comprises a flight command and a walking command;
s33, thinning the peripheral directions in a grid mode by taking the current position of the unmanned aerial vehicle as the center according to the current moving direction of the unmanned aerial vehicle;
s34, obtaining the obstacle condition of each thinning direction of the unmanned aerial vehicle; in this embodiment, the obstacle situation in each direction of the drone may be detected based on sensors on the drone, such as lidar sensors.
And S35, eliminating the direction with the obstacle, and selecting the advancing direction with the minimum offset angle to return to the originally planned routing inspection path by combining the planned routing inspection path. When unmanned aerial vehicle patrols and examines the route for the walking route at present, when unmanned aerial vehicle patrols and examines for the walking promptly, unmanned aerial vehicle controls the speed of four wheels among the unmanned aerial vehicle running gear based on the distance of selected minimum skew angle and distance barrier for unmanned aerial vehicle can walk around the barrier.
In this step, when the unmanned aerial vehicle routing inspection path received by the control system and generated in advance is a walking path:
in the process of the unmanned aerial vehicle advancing, when the unmanned aerial vehicle encounters an obstacle in the current advancing direction, the advancing direction of the unmanned aerial vehicle is adjusted, namely the advancing direction with the smallest deviation angle is selected to return to the originally planned advancing path in combination with the planned advancing path; when an obstacle or a slope which is difficult to cross is encountered, the control system switches the unmanned aerial vehicle into a flight mode until the obstacle or the slope is crossed;
obstacles that are difficult to cross refer to: the width of the obstacle is such that the unmanned aerial vehicle still cannot bypass the obstacle when the yaw angle reaches a threshold value.
And S4, when the inspection task is to shoot images and/or video information of the inspection object, the unmanned aerial vehicle is controlled to move to a certain distance from the inspection object through the flight information path or the walking path, and then the camera of the unmanned aerial vehicle shoots the images and/or video information of the inspection object to obtain the inspection data.
And S5, the unmanned aerial vehicle control system sends the inspection data to the ground management system in real time, the ground management system analyzes the inspection data, and the condition of the corresponding inspection object of the transformer substation is determined according to the analysis result.
In the embodiment, the patrol data includes images and/or video information of each device in the substation captured by the camera, for example, devices such as a circuit breaker, a disconnecting switch, a lightning arrester, a transformer, and an oil level gauge in the substation. After the ground management system passes through the image/video analysis processing method, the area which reflects the equipment abnormity in the image or video information can be extracted, wherein the area comprises the equipment appearance abnormity, the equipment state abnormity and the like, so that whether the equipment is abnormal or whether the risk of the abnormity exists is judged.
In this embodiment, the position information, flight parameters and walking parameters of the unmanned aerial vehicle control system are fed back to the ground management system, so that the ground management system remotely monitors the unmanned aerial vehicle.
In the method of this embodiment, based on the ground management system, the following inspection process is further included:
the control system receives the flight control instruction or the walking control instruction sent by the ground management system, and preferentially arranges the unmanned aerial vehicle to fly or walk according to the flight control instruction or the walking control instruction sent by the ground management system;
sending a switching mode to an unmanned aerial vehicle control system through a ground management system, and switching a current moving mode of the unmanned aerial vehicle by the unmanned aerial vehicle control system according to the received switching mode; the switching mode includes switching the flight mode to the walking mode and switching the walking mode to the flight mode. Specifically, relevant operating personnel can switch unmanned aerial vehicle's flight mode through ground management system according to the transformer substation environment that unmanned aerial vehicle is located at present, can change when especially sudden change in transformer substation environment, and nimble adjustment unmanned aerial vehicle's the mode of patrolling and examining does not receive the restriction of patrolling and examining planning route in the task of patrolling and examining.
The unmanned aerial vehicle control system feeds back barrier information to the ground management system in real time, and when the barrier is detected in the advancing direction, the ground management system sends a corresponding walking control instruction or a flight control instruction to the unmanned aerial vehicle control system so as to adjust the moving path of the unmanned aerial vehicle. In the embodiment, the unmanned aerial vehicle control system can control the camera to shoot in real time in the moving process of the unmanned aerial vehicle, and transmits the current environmental information of the unmanned aerial vehicle to the ground management system in real time, so that the ground management system can master the flight environment of the unmanned aerial vehicle in real time; can dispose unmanned aerial vehicle remote control equipment for ground management system, when the barrier appears in flight or walking route, can be through the removal of ground management system's remote control equipment manual adjustment unmanned aerial vehicle, consequently based on ground management system, unmanned aerial vehicle can accomplish land walking turn smoothly through remote control commander, the operation of moving forward and backward, outdoor flight steadily takes off and land, hover in the air, basic function actions such as flight turn, relevant operating personnel can look over unmanned aerial vehicle flight position and acquire flight parameter through ground management system, the land air mode through ground management system's remote control equipment control amphibious unmanned aerial vehicle switches simultaneously.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (10)
1. A transformer substation amphibious inspection device is characterized by comprising an unmanned aerial vehicle, and a control system, a flight mechanism, a walking mechanism and a camera on the unmanned aerial vehicle;
the flight mechanism is connected with the control system and used for controlling the unmanned aerial vehicle to fly in the air under the driving of the control system;
the walking mechanism is connected with the control system and used for controlling the unmanned aerial vehicle to walk on the land according to the walking path under the driving of the control system;
the camera is connected with the control system and is used for shooting image and/or video information and transmitting the shot image and/or video information to the control system.
2. The substation amphibious inspection device according to claim 1, further comprising a ground management system;
the control system on the unmanned aerial vehicle is connected with the ground management system through the wireless communication unit and is used for receiving the inspection task, the flight control instruction and the walking control instruction sent by the ground management system; the system comprises a ground management system, a video camera, a monitoring system and a monitoring system, wherein the ground management system is used for sending images and/or video information shot by the video camera to the ground management system and analyzing the state of the transformer substation; the system is used for feeding back the position information, flight parameters and walking parameters of the unmanned aerial vehicle to the ground management system, so that the ground management system can remotely monitor the unmanned aerial vehicle;
the inspection task comprises a flight planning path, a walking planning path, an inspection object and inspection contents of the unmanned aerial vehicle.
3. A substation amphibious inspection device according to claim 2, wherein the wireless communication unit is NRF24L 01.
4. The transformer substation amphibious inspection device according to claim 1, wherein the traveling mechanism comprises four wheels, the four wheels are respectively and correspondingly arranged on four motors, each motor is respectively connected to a control system through a motor driver, and the control system respectively controls the rotation of each wheel through each motor;
the tires of the wheels are provided with anti-skid and windproof patterns, wherein the friction force between the tire patterns and the ground is used as the judgment standard of the tire grip performance, and the pattern depth and angle are set according to the requirements of the tire grip performance;
flight mechanism includes four rotors, and four rotors correspond respectively and set up on each motor, and each motor is connected to control system through motor drive respectively, and control system controls the rotation of each rotor respectively through each motor.
5. The transformer substation amphibious inspection device according to claim 1, wherein the control system comprises an inner ring controller and an outer ring controller, the inner ring controller is an attitude PID controller, and the outer ring controller is a position PID controller;
the flight mechanism comprises a motor speed regulator, a motor and an unmanned aerial vehicle rotor wing; the rotor wing of the unmanned aerial vehicle is arranged on the motor and is driven to rotate by the motor;
an input end of the position PID controller inputs an unmanned aerial vehicle position control instruction to control the unmanned aerial vehicle to fly to a corresponding position; the output of the position PID controller is used as one input of the attitude PID controller, the output of the attitude PID controller is used as one input of the motor speed regulator, and a speed regulation control command is sent to the motor speed regulator;
the speed regulating instruction output by the motor speed regulator is sent to the motor to control the motor to rotate at a corresponding speed; the rotating speed information of the motor is fed back to the motor speed regulator and is used as the other input of the motor speed regulator;
feeding attitude information of the unmanned aerial vehicle back to an attitude PID controller as the other input of the attitude PID controller; and the position information of the unmanned aerial vehicle is fed back to the position PID controller and is used as the other input of the position PID controller.
6. The transformer substation amphibious inspection device according to claim 1, further comprising a laser radar sensor, an angle sensor and an inertial measurement unit;
the laser radar sensor is connected with the control system and used for detecting the distance between the unmanned aerial vehicle and other objects;
the angle sensor is connected with the control system and used for detecting the yaw angle of the unmanned aerial vehicle, so that the control system controls the unmanned aerial vehicle to fly or walk at the corresponding yaw angle based on the yaw angle detected by the angle sensor;
the inertia measurement unit is connected with the control system and used for measuring the angular velocity and acceleration information of the unmanned aerial vehicle, so that the control system corrects the flying or walking attitude of the unmanned aerial vehicle based on the information measured by the inertia measurement unit.
7. A transformer substation amphibious inspection method implemented by the transformer substation amphibious inspection device according to any one of claims 1 to 6, characterized by comprising:
determining a routing inspection area of the unmanned aerial vehicle according to the distribution of the transformer substation and the actual environment, and distributing routing inspection objects and routing inspection contents to the unmanned aerial vehicle;
planning a routing inspection path for the unmanned aerial vehicle in the routing inspection area according to the routing inspection object and the routing inspection content of the unmanned aerial vehicle in each routing inspection area, wherein the routing inspection path comprises a flight path and a walking path;
the control system of the unmanned aerial vehicle controls the unmanned aerial vehicle to carry out flight inspection in the inspection area according to the planned flight path through the flight mechanism based on the planned flight path;
the control system of the unmanned aerial vehicle controls the unmanned aerial vehicle to walk and patrol in the patrol area according to the planned walking path based on the planned walking path;
aiming at each inspection object on the inspection path, when the inspection task is to shoot images and/or video information of the inspection object, the unmanned aerial vehicle is controlled to move to a certain distance from the inspection object through the flight communication path or the walking path, and then the camera of the unmanned aerial vehicle shoots the images and/or video information of the inspection object to obtain the inspection data.
8. A transformer substation amphibious inspection method according to claim 7, wherein when the control system of the unmanned aerial vehicle controls the unmanned aerial vehicle to fly or walk according to the planned inspection path, the specific process is as follows:
the control system receives a pre-generated unmanned aerial vehicle routing inspection path;
the control system converts the routing inspection path into a moving command executed by the unmanned aerial vehicle, wherein the moving command comprises a flight command and a walking command;
according to the current moving direction of the unmanned aerial vehicle, thinning the peripheral directions in a grid mode by taking the current position of the unmanned aerial vehicle as the center;
obtaining the obstacle condition of each thinning direction of the unmanned aerial vehicle;
removing the direction with the obstacle, and selecting the advancing direction with the minimum offset angle to return to the originally planned routing inspection path by combining the planned routing inspection path;
for the unmanned aerial vehicle patrols and examines the route for the best route of patrolling and examining that the regional planning of patrolling and examining, this best route of patrolling and examining satisfies: the unmanned aerial vehicle arrives the target point from the starting point based on this best route, does not have the obstacle in this best route of patrolling and examining and patrols and examines the shortest and the minimum that consumes time of route under can accomplishing the regional task of patrolling and examining.
9. A transformer substation amphibious inspection method according to claim 8, wherein when the pre-generated unmanned aerial vehicle inspection path received by the control system is a walking path:
in the process of the unmanned aerial vehicle advancing, when the unmanned aerial vehicle encounters an obstacle in the current advancing direction, the advancing direction of the unmanned aerial vehicle is adjusted, namely the advancing direction with the smallest deviation angle is selected to return to the originally planned advancing path in combination with the planned advancing path; when an obstacle or a slope which is difficult to cross is encountered, the control system switches the unmanned aerial vehicle into a flight mode until the obstacle or the slope is crossed;
the obstacles difficult to cross refer to: the width of the obstacle is such that the unmanned aerial vehicle still cannot bypass the obstacle when the yaw angle reaches a threshold value.
10. The substation amphibious inspection method according to claim 7, wherein the inspection area of the unmanned aerial vehicle is determined through a ground management system according to distribution and actual environment of the substation, the inspection object and inspection content are distributed to the unmanned aerial vehicle, and an inspection path is planned for the unmanned aerial vehicle in the inspection area through the ground management system according to the inspection object and the inspection content of the unmanned aerial vehicle in each inspection area;
the unmanned aerial vehicle control system sends the routing inspection data to the ground management system in real time, and the ground management system analyzes the routing inspection data and determines the condition of a corresponding routing inspection object of the transformer substation;
the position information, flight parameters and walking parameters of the unmanned aerial vehicle control system are fed back to the ground management system, so that the ground management system can remotely monitor the unmanned aerial vehicle;
the transformer substation amphibious inspection method further comprises the following steps:
the control system receives the flight control instruction or the walking control instruction sent by the ground management system, and preferentially arranges the unmanned aerial vehicle to fly or walk according to the flight control instruction or the walking control instruction sent by the ground management system;
sending a switching mode to an unmanned aerial vehicle control system through a ground management system, and switching a current moving mode of the unmanned aerial vehicle by the unmanned aerial vehicle control system according to the received switching mode; the switching mode comprises switching the flight mode into the walking mode and switching the walking mode into the flight mode;
the unmanned aerial vehicle control system feeds back barrier information to the ground management system in real time, and when the barrier is detected in the advancing direction, the ground management system sends a corresponding walking control instruction or a flight control instruction to the unmanned aerial vehicle control system so as to adjust the moving path of the unmanned aerial vehicle.
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