CN113362487A - Intelligent autonomous inspection unified management and control system for distribution line unmanned aerial vehicle - Google Patents
Intelligent autonomous inspection unified management and control system for distribution line unmanned aerial vehicle Download PDFInfo
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Abstract
The invention provides an intelligent autonomous inspection unified management and control system for an unmanned aerial vehicle of a distribution line, which comprises the unmanned aerial vehicle and an intelligent unified management and control module for controlling the unmanned aerial vehicle; the unmanned aerial vehicle is used for acquiring image information and air gas parameters of an airspace meteorological environment of the distribution line in real time; the intelligent unified management and control module carries out data analysis with the image information and the air gas parameter of the meteorological environment that unmanned aerial vehicle acquireed, and then can real-time analysis examination point circuit distribution network unmanned aerial vehicle through the meteorological environment in airspace to based on the little meteorological forecast information of a plurality of routes of patrolling and examining, intelligent planning unmanned aerial vehicle patrols and examines the scheme. The system of the invention realizes unified and standardized management of the inspection plan and the operation process and realizes the autonomous inspection work of the unmanned aerial vehicle. The working efficiency, the working quality and the safety are improved; the analysis of the operation result is enhanced, the management decision level is greatly improved, meanwhile, the safe operation and stability of the power grid are guaranteed through the unmanned aerial vehicle inspection system, and the power supply reliability is improved.
Description
Technical Field
The invention relates to the technical field of intelligent inspection control of unmanned aerial vehicles, in particular to a 10kV distribution line unmanned aerial vehicle intelligent autonomous inspection unified management and control system.
Background
The power distribution network is an important component of a power grid and is an important link for butting a large-scale transmission network and users, and the safe and reliable operation of the system directly influences the normal operation of the whole power grid system and the daily production life of the users. The power distribution network line is regularly inspected in a patrol mode, the running condition of the power distribution line, the change conditions of the surrounding environment of the line and the line protection area are known and mastered at any time, and the basis for ensuring power supply safety is achieved.
At present, distribution overhead lines in suburbs, rural areas and mountain forest areas have the problems of long lines, complex road conditions, inconvenient patrol and maintenance of basic teams and groups, short cruising mileage of patrol unmanned aerial vehicles, low patrol efficiency and the like. Therefore, the unmanned aerial vehicle research and development and application are independently patrolled and examined in distribution based on wireless charging endurance technology, the endurance of the unmanned aerial vehicle is improved, and the power distribution network inspection efficiency is improved.
The distribution network is an electric power network which receives electric energy from a transmission network or a regional power plant and distributes the electric energy to various users on site through distribution facilities or step by step according to voltage. The power distribution network consists of overhead lines, cables, towers, distribution transformers, isolating switches, reactive power compensators, accessory facilities and the like, and plays a role in distributing electric energy in a power network. Compared with a main network transmission line tower, the height of the distribution network tower is 9-15 meters mostly, and due to the low characteristic, the manually-operated unmanned aerial vehicle often suffers from radio shielding, the operation risk is extremely high, and flight accidents are easy to occur. Simultaneously, receive low latitude signal interference, traditional unmanned aerial vehicle can only fly within 500 meters scope, and this patrols and examines for the distribution lines and brings certain difficulty. How through independently research and development, realize distribution network unmanned aerial vehicle's automation and patrol and examine, it is that distribution network company faces a technical challenge, and its research achievement will improve unmanned aerial vehicle autonomous working ability by a wide margin, promotes the distribution network comprehensively and patrols and examines efficiency, reduces basic unit team personnel and patrols and examines work load.
The method is complex in the scene line planning of the power distribution network, and particularly aims at the problems that power distribution overhead lines in suburb, rural and mountain forest regions are long in line and complicated in road conditions, and basic team maintenance patrol is inconvenient, communication signal coverage quality is poor in partial areas, and the patrol precision cannot meet the autonomous flight quality requirement under the condition that RTK service broadcasting is carried out based on an operator network.
Disclosure of Invention
The invention aims to provide a unified management and control system for intelligent autonomous inspection of a distribution line unmanned aerial vehicle, which is mainly used for inspection and control of a 10KV distribution line. The problem that the inspection precision cannot meet the autonomous flight quality requirement in the prior art can be solved.
The purpose of the invention is realized by the following technical scheme:
an intelligent autonomous inspection unified management and control system for an unmanned aerial vehicle on a distribution line comprises the unmanned aerial vehicle and an intelligent unified management and control module for controlling the unmanned aerial vehicle; the unmanned aerial vehicle is used for acquiring image information and air gas parameters of an airspace meteorological environment of the distribution line in real time; the intelligent unified management and control module carries out data analysis with the image information and the air gas parameter of the meteorological environment that unmanned aerial vehicle acquireed, and then can real-time analysis examination point circuit distribution network unmanned aerial vehicle through the meteorological environment in airspace to based on the little meteorological forecast information of a plurality of routes of patrolling and examining, intelligent planning unmanned aerial vehicle patrols and examines the scheme.
Further, the intelligent unified management and control module includes:
the image and command sending module is used for carrying out data analysis processing on the acquired image information of the airspace meteorological environment and the air gas parameters and sending the data to the intelligent path planning module;
the intelligent path planning module is used for planning a waypoint route on line and intelligently planning an unmanned aerial vehicle inspection scheme;
the task issuing management module is used for checking the execution condition of each task, the acquired data and the related logs;
the multi-node control module is used for simultaneously controlling a plurality of devices and providing an API (application program interface) for an upper layer;
the equipment monitoring module is used for returning equipment information in real time;
the video return and holder control module returns the video by adopting a webrtc scheme;
the data management module is used for remotely and automatically transmitting data back to the local server;
the meteorological environment analysis module is used for analyzing the meteorological environment of an airspace where the unmanned aerial vehicle passes through in real time in a mode of combining local sensor data and meteorological department data, and is based on microclimate prediction information of a plurality of routing inspection paths;
the system comprises a polling archive module, a data processing module and a data processing module, wherein the polling archive module is used for realizing log recording, log management, management of shot image pictures, management of generated results, and searching archives, sequencing and searching based on time;
and the real-time state and position display module is used for displaying the real-time state of the unmanned aerial vehicle, the real-time position of the unmanned aerial vehicle and the real-time state of the battery of the unmanned aerial vehicle in real time.
Further, the intelligent path planning in the intelligent path planning module includes:
task planning based on Web;
planning tasks based on the PC ground station;
a specific embodiment of mission planning.
Further, the image and command sending module comprises equipment, a cloud server and a user, wherein the equipment is connected with the cloud server, and the cloud server is connected with the user.
Further, the device includes a video stream and a state control command; the cloud server comprises a video server, an MQTT message server, a background scheduling server and a database; the user comprises a real-time image transmission module, a management module and a real-time control module; the output end of the video stream is connected with the input end of the video server, the output end of the video server is connected with the real-time image transmission module, the MQTT message server is connected with the database through a background scheduling server, the database is connected with the state control command, and the management module is connected with the background scheduling server.
Furthermore, the management module is mainly used for task management, authority control and task scheduling.
Further, the real-time state of the unmanned aerial vehicle comprises flying time, flying speed, battery power, battery voltage, flying height and RTK signal strength.
Further, the real-time position of the unmanned aerial vehicle is the flight track of the unmanned aerial vehicle which can be visually displayed on a map in an overlapping mode.
Further, unmanned aerial vehicle battery real-time status includes unmanned aerial vehicle battery serial number, battery temperature, capacity, electric current, residual capacity, cycle number, total voltage and each electric core voltage.
Compared with the prior art, the intelligent autonomous inspection unified management and control system for the unmanned aerial vehicle of the distribution line has the following technical effects:
1. the invention relates to a 10kV distribution line unmanned aerial vehicle intelligent autonomous inspection unified management and control system, which is characterized in that a pilot line inspection channel model is built based on centimeter-level precision RTK service technology application under the Beidou satellite navigation technology, and the real-time state and the position of a distribution network unmanned aerial vehicle are tracked and displayed, and the running state and the communication link state of a wireless charging platform are displayed in a unified manner in intelligent planning of routes, real-time position coordinates of flight and inspection target position reference of distribution network unmanned aerial vehicle operation; the system can analyze the meteorological environment of an airspace where the unmanned aerial vehicle of the distribution network of the test point line passes in real time, and intelligently plans the inspection scheme of the unmanned aerial vehicle based on the microclimate prediction information of a plurality of inspection paths; the system is used for unified and standardized management of the inspection plan and the operation process, and autonomous inspection work of the unmanned aerial vehicle is realized.
2. The unmanned aerial vehicle management and control content comprises fine operation management such as man-machine flight path intelligent planning, routing inspection task instruction issuing, microclimate environment analysis, routing inspection files, unmanned aerial vehicle real-time state and position display and the like; by means of high and new technology operation tools and methods, a set of standard unmanned aerial vehicle intelligent autonomous inspection system for the distribution lines is established, the system is suitable for distribution line equipment management departments of all power supply offices, operation processes are simplified and standardized, operation time is shortened, and production management level of inspection services is improved; a work supervision mechanism is established, so that the work efficiency, the work quality and the safety are improved; the analysis of the operation result is enhanced, the management decision level is greatly improved, meanwhile, the safe operation and stability of the power grid are guaranteed through the unmanned aerial vehicle inspection system, and the power supply reliability is improved.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a block diagram of a distribution line unmanned aerial vehicle intelligent autonomous inspection unified management and control system of the invention;
FIG. 2 is a block diagram of an intelligent unified management and control module according to the present invention;
FIG. 3 is a block diagram of an image and command sending module according to the present invention.
Detailed Description
The embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.
The embodiments of the present disclosure are described below with specific examples, and other advantages and effects of the present disclosure will be readily apparent to those skilled in the art from the disclosure in the specification. It is to be understood that the described embodiments are merely illustrative of some, and not restrictive, of the embodiments of the disclosure. The disclosure may be embodied or carried out in various other specific embodiments, and various modifications and changes may be made in the details within the description without departing from the spirit of the disclosure. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
The intelligent autonomous inspection unified management and control system for the distribution line unmanned aerial vehicle, disclosed by the invention, comprises the unmanned aerial vehicle and an intelligent unified management and control module for controlling the unmanned aerial vehicle, as shown in figure 1. The unmanned aerial vehicle is used for acquiring image information and air gas parameters of the airspace meteorological environment of the distribution line in real time. The intelligent unified management and control module carries out data analysis with the image information and the gaseous parameter of air of the meteorological environment that unmanned aerial vehicle acquireed, and then can real-time analysis examination point line distribution network unmanned aerial vehicle through the meteorological environment in airspace to based on the little meteorological forecast information of a plurality of routes of patrolling and examining, intelligent planning unmanned aerial vehicle patrols and examines the scheme.
The unmanned aerial vehicle intelligent autonomous inspection unified management and control system for the distribution line is suitable for distribution line equipment management departments of all power supply offices, simplifies and standardizes operation processes, shortens the time required by operation, and is used for improving the production management level of inspection businesses. And a work supervision mechanism is established, so that the work efficiency, the work quality and the safety are improved. The analysis of the operation result is enhanced, the management decision level is greatly improved, and meanwhile, the safe operation and stability of the power grid are guaranteed through the unmanned aerial vehicle inspection system, so that the power supply reliability is improved.
Further, in a preferred embodiment of the present application, the intelligent unified management and control module includes: image and command sending module, route intelligent planning module, task issue management module, multinode control module, equipment monitoring module, video passback and cloud platform control module, data management module, meteorological environment analysis module, patrol and examine archives module, real-time status and position display module, wherein:
and the image and command sending module is used for carrying out data analysis processing on the acquired image information of the airspace meteorological environment and the air gas parameters and sending the data to the path intelligent planning module.
And the path intelligent planning module is used for planning waypoint routes on line and intelligently planning an unmanned aerial vehicle inspection scheme. The passing point, the photographing position and the orientation of the holder can be set.
And the task issuing management module is used for checking the execution condition of each task, the acquired data and the related logs. The method supports the parallel issuing of multiple tasks, asynchronous execution of the tasks and event driving; providing support for the cooperative task and supporting open API; the task can be acquired automatically; and the device can be ensured to be networked, and the task can be issued.
And the multi-node control module is used for simultaneously controlling a plurality of devices, providing API for an upper layer, supporting parallel control, asynchronous control and cooperative control, and has unified log management, authentication and node security control.
And the equipment monitoring module is used for returning equipment information such as the current position, speed, electric quantity, track and the like in real time, and can customize the life.
And the video return and holder control module is used for returning the video by adopting a webrtc low-delay scheme. The delay is within 250ms, the resolution is self-adaptive, the method can be adapted to various clients, and the APP is not required to be installed.
And the data management module is used for remotely and automatically transmitting data back to the local server, can conveniently manage data processing by combining GPS information and automatically push reports by combining WeChat.
And the meteorological environment analysis module is used for analyzing the meteorological environment of the airspace in real time by adopting a mode of combining local sensor data and meteorological department door data, and is based on microclimate prediction information of a plurality of routing inspection paths.
And the file inspection module is used for realizing log recording, log management, shot image and photo management, management of generated results, and file searching, sorting and searching based on time. And an API interface is supported, and the system is conveniently butted with other systems. The user can check the execution time of the task from the task execution history function, and check and obtain the raw data shot by the unmanned aerial vehicle, including photos and videos. Meanwhile, viewing of automatic processing results is supported, and the automatic processing results comprise a two-dimensional orthographic view, a three-dimensional model and the like. The flight log downloading of each task and the server log downloading are supported, so that the client can conveniently know the running condition of the system in depth or open the system in depth.
And the real-time state and position display module is used for displaying the real-time state of the unmanned aerial vehicle, the real-time position of the unmanned aerial vehicle and the real-time state of the battery of the unmanned aerial vehicle in real time.
In the task execution process of the unmanned aerial vehicle, a user needs to know the flight state of the unmanned aerial vehicle in real time, and the real-time state of the unmanned aerial vehicle comprises the flying time, the flying speed, the battery power, the battery voltage, the flying height and the RTK signal strength.
Real-time position of unmanned aerial vehicle: can directly perceivedly superpose the unmanned aerial vehicle flight orbit that shows on the map. And simultaneously supports the switching of street maps and satellite maps.
Unmanned aerial vehicle battery real-time status: important parameters such as the battery serial number, the battery temperature, the capacity, the current, the residual capacity, the cycle number, the total voltage and the voltage of each cell of the unmanned aerial vehicle can be checked.
The intelligent path planning in the intelligent path planning module specifically comprises the following modes:
task planning based on Web;
planning tasks based on the PC ground station;
a specific embodiment of mission planning.
Automatic flight relies on path planning, and if a path is not planned, the aircraft does not know how to fly, and the flight of the aircraft can only be controlled manually. The path planning API can adapt to any algorithm, preset an air route, support an open source MAVLink format air route, and manually plan the air route. The MAVLink is a lightweight higher-layer open source communication protocol based on serial communication, and is mainly used for communicating with the unmanned aerial vehicle; compared with a plurality of self-defined protocols, the MSG code can be directly generated by an existing configuration tool, a plurality of corresponding function interfaces can be directly called, and self-encapsulation and self-analysis are not needed.
Further, in a preferred embodiment of the present application, as shown in fig. 3, the image and command sending module includes a device, a cloud server, and a user, where the device is connected to the cloud server, and the cloud server is connected to the user. Wherein:
the device contains a video stream and state control commands.
The cloud server comprises a video server, an MQTT message server, a background scheduling server and a database PostgreSQL.
The user comprises a real-time image transmission module, a management module and a real-time control module.
The output end of the video stream is connected with the input end of the video server, the output end of the video server is connected with the real-time image transmission module, the MQTT message server is connected with the PostgreSQL through the background scheduling server, the PostgreSQL is connected with the state control command, and the management module is connected with the background scheduling server.
Furthermore, the management module is mainly used for task management, authority control and task scheduling.
The low-delay image transmission is the basis of real-time control over the unmanned aerial vehicle, if the low-delay image cannot be transmitted remotely, the real-time control over the unmanned aerial vehicle is basically impossible, and if the image has a delay of two seconds, the image seen by the user is the image after the two seconds, and people cannot predict what happens after the two seconds. The video return and holder control module can realize image delay of 200 ms. This allows for substantially real-time control of the aircraft using WebRTC to transmit images.
The functional pairing of WebRTC and the legacy live protocol is shown in table 1.
TABLE 1
WebRTC compares performance to the traditional live protocol, as shown in table 2.
TABLE 2
According to the invention, the real-time state and position of the power distribution network unmanned aerial vehicle are tracked and displayed, and the running state and the communication link state of a wireless charging platform are displayed in a way that the route intelligent planning, the flight real-time position coordinate and the inspection target position reference of the power distribution network unmanned aerial vehicle work are unified; the system can analyze the meteorological environment of an airspace where the unmanned aerial vehicle of the power distribution network of the test point line passes in real time, and intelligently plans the inspection scheme of the unmanned aerial vehicle based on the microclimate prediction information of a plurality of inspection paths; the system is used for unified and standardized management of the inspection plan and the operation process, and autonomous inspection work of the unmanned aerial vehicle is realized. The method has the advantages that the power distribution defect hidden danger image library is accumulated, the power distribution network defect hidden danger is preliminarily identified and verified, and the application development of the south network in the power distribution network field defect hidden danger intelligent identification technology is promoted.
In the present invention, unless otherwise expressly stated or limited, the first feature may be "on" the second feature in direct contact with the second feature, or the first and second features may be in indirect contact via an intermediate. "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and the like.
The above description is for the purpose of illustrating embodiments of the invention and is not intended to limit the invention, and it will be apparent to those skilled in the art that any modification, equivalent replacement, or improvement made without departing from the spirit and principle of the invention shall fall within the protection scope of the invention.
Claims (9)
1. The intelligent autonomous inspection unified management and control system for the distribution line unmanned aerial vehicle is characterized by comprising the unmanned aerial vehicle and an intelligent unified management and control module for controlling the unmanned aerial vehicle; the unmanned aerial vehicle is used for acquiring image information and air gas parameters of an airspace meteorological environment of the distribution line in real time; the intelligent unified management and control module carries out data analysis with the image information and the air gas parameter of the meteorological environment that unmanned aerial vehicle acquireed, and then can real-time analysis examination point circuit distribution network unmanned aerial vehicle through the meteorological environment in airspace to based on the little meteorological forecast information of a plurality of routes of patrolling and examining, intelligent planning unmanned aerial vehicle patrols and examines the scheme.
2. The system of claim 1, wherein the intelligent unified management and control module comprises:
the image and command sending module is used for carrying out data analysis processing on the acquired image information of the airspace meteorological environment and the air gas parameters and sending the data to the intelligent path planning module;
the intelligent path planning module is used for planning a waypoint route on line and intelligently planning an unmanned aerial vehicle inspection scheme;
the task issuing management module is used for checking the execution condition of each task, the acquired data and the related logs;
the multi-node control module is used for simultaneously controlling a plurality of devices and providing an API (application program interface) for an upper layer;
the equipment monitoring module is used for returning equipment information in real time;
the video return and holder control module returns the video by adopting a webrtc scheme;
the data management module is used for remotely and automatically transmitting data back to the local server;
the meteorological environment analysis module is used for analyzing the meteorological environment of an airspace where the unmanned aerial vehicle passes through in real time in a mode of combining local sensor data and meteorological department data, and is based on microclimate prediction information of a plurality of routing inspection paths;
the system comprises a polling archive module, a data processing module and a data processing module, wherein the polling archive module is used for realizing log recording, log management, management of shot image pictures, management of generated results, and searching archives, sequencing and searching based on time;
and the real-time state and position display module is used for displaying the real-time state of the unmanned aerial vehicle, the real-time position of the unmanned aerial vehicle and the real-time state of the battery of the unmanned aerial vehicle in real time.
3. The system of claim 2, wherein the intelligent path planning module comprises:
task planning based on Web;
planning tasks based on the PC ground station;
a specific embodiment of mission planning.
4. The system of claim 2, wherein the image and command sending module comprises a device, a cloud server and a user, the device is connected with the cloud server, and the cloud server is connected with the user.
5. The system according to claim 4, wherein the equipment includes video streaming and status control commands; the cloud server comprises a video server, an MQTT message server, a background scheduling server and a database; the user comprises a real-time image transmission module, a management module and a real-time control module; the output end of the video stream is connected with the input end of the video server, the output end of the video server is connected with the real-time image transmission module, the MQTT message server is connected with the database through a background scheduling server, the database is connected with the state control command, and the management module is connected with the background scheduling server.
6. The system of claim 5, wherein the management module is mainly used for task management, authority control and task scheduling.
7. The system of claim 2, wherein the real-time status of the unmanned aerial vehicle includes time of flight, speed of flight, battery level, battery voltage, altitude, and RTK signal strength.
8. The system of claim 2, wherein the real-time position of the unmanned aerial vehicle is a flight trajectory of the unmanned aerial vehicle which can be visually displayed on a map in an overlapping manner.
9. The system of claim 2, wherein the real-time status of the battery of the unmanned aerial vehicle comprises a serial number of the battery, a temperature of the battery, a capacity of the battery, a current, a remaining capacity of the battery, a cycle number, a total voltage, and a voltage of each cell of the unmanned aerial vehicle.
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| CN114189824A (en) * | 2021-10-18 | 2022-03-15 | 广西电网有限责任公司电力科学研究院 | Unmanned aerial vehicle communication method based on Lora communication, inspection unmanned aerial vehicle and inspection unmanned aerial vehicle system |
| CN114326788A (en) * | 2021-12-06 | 2022-04-12 | 西安理工大学 | Three-dimensional inspection method and device for distribution network overhead line by using unmanned aerial vehicle |
| CN114625163A (en) * | 2022-02-15 | 2022-06-14 | 南方电网电力科技股份有限公司 | Unmanned aerial vehicle control device and inspection method based on unmanned aerial vehicle control device |
| CN114979214A (en) * | 2022-05-25 | 2022-08-30 | 广东电网有限责任公司 | Intelligent cooperative alarm system, method and device for power transmission line |
| CN116700357A (en) * | 2023-08-07 | 2023-09-05 | 国网安徽省电力有限公司合肥供电公司 | Intelligent inspection method for unmanned aerial vehicle formation of overhead transmission line |
| CN116935251A (en) * | 2023-09-18 | 2023-10-24 | 众芯汉创(江苏)科技有限公司 | Unmanned aerial vehicle-based distribution network single line diagram automatic check analysis method and system |
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