CN113562176A - Long-range inspection system for remotely-launched unmanned aerial vehicle - Google Patents
Long-range inspection system for remotely-launched unmanned aerial vehicle Download PDFInfo
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- CN113562176A CN113562176A CN202110929482.9A CN202110929482A CN113562176A CN 113562176 A CN113562176 A CN 113562176A CN 202110929482 A CN202110929482 A CN 202110929482A CN 113562176 A CN113562176 A CN 113562176A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D5/00—Aircraft transported by aircraft, e.g. for release or reberthing during flight
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
Abstract
The invention discloses a large-range inspection system for a remote-throwing unmanned aerial vehicle, which comprises S1, wherein a cabin of a vertical take-off and landing unmanned aerial vehicle carries a plurality of multi-rotor unmanned aerial vehicles to reach an area to be operated; s2, starting a throwing device to throw the unmanned aerial vehicle out; s3, the ground control system performs task planning on each multi-rotor unmanned aerial vehicle, and the multi-rotor unmanned aerial vehicle is transmitted to the ground system through the image transmission module; s4, after all the multi-rotor unmanned aerial vehicles are recovered into the cabin of the vertical take-off and landing unmanned aerial vehicle, the ground control system controls the vertical take-off and landing unmanned aerial vehicle to return and land to a specified position. The invention uses the vertical take-off and landing unmanned aerial vehicle to carry a plurality of multi-rotor unmanned aerial vehicles for operation, improves the operation efficiency and the operation radius, and saves take-off limit because the adopted vertical take-off and landing unmanned aerial vehicle does not need an additional runway. When VTOL unmanned aerial vehicle can realize automatic the patrolling and examining on a large scale, many rotor unmanned aerial vehicle then accomplish on a large scale the cooperation of becoming more meticulous and patrol and examine, realize the purpose of long-range input.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a large-range inspection system for a remotely-launched unmanned aerial vehicle.
Background
Along with the wide application of unmanned aerial vehicle by each trade, the performance requirement to unmanned aerial vehicle also constantly improves. Rotor unmanned aerial vehicle is patrolled and examined by the wide application in electric power field of patrolling and examining now, utilizes unmanned aerial vehicle to patrol and examine with automizing, is the mode that a comparison has the advantage at present. But because the battery capacity that many rotor unmanned aerial vehicle carried is limited, the operation radius is very limited to the distance between the cable that power inspection center (unmanned aerial vehicle automatic takeoff position) and need patrol and examine is all comparatively far away usually. At present, in the inspection process of the unmanned aerial vehicle, the method for solving the problem is to arrange an apron for charging the unmanned aerial vehicle on a tower pole of an electric tower. When the electric quantity of the unmanned aerial vehicle is insufficient, the unmanned aerial vehicle stops on the parking apron, and a new battery is replaced for the unmanned aerial vehicle through the automatic battery replacing device. But this technique need set up the air park on certain distance tower pole and change battery device automatically, and this mode need calculate the distance that the electric quantity is not enough in advance moreover to guarantee that unmanned aerial vehicle can step on and change the battery at the air park, lead to unmanned aerial vehicle to return the process and need spend certain time and electric quantity, this efficiency that will influence unmanned aerial vehicle's automation and patrol and examine. The other scheme is that the rotor unmanned aerial vehicle is manually carried to a designated place and then started to execute a task. However, this is difficult or impossible to achieve in rough mountain areas. The third solution is to use the fixed wing drone to quickly inspect along the cable line, and although the working radius of the battery carried by the fixed wing drone is large enough, the fixed wing drone cannot hover at a certain place (at most, hover within a certain allowable range), so that the requirement of fine inspection of the power grid inspection cannot be met.
Disclosure of Invention
The invention aims to solve the problems and provides a large-range inspection system for a remote throwing unmanned aerial vehicle, which is used for automatic inspection, large in inspection radius and high in efficiency. The system can realize the automatic routing inspection of the unmanned aerial vehicle on a large scale, and simultaneously guarantees to complete the large-scale refined cooperation routing inspection under the condition of the carrying capacity of the common battery.
The purpose of the invention can be achieved by adopting the following technical scheme:
a remote-throwing unmanned aerial vehicle large-range inspection method comprises the following steps:
s1, carrying a plurality of multi-rotor unmanned aerial vehicles in the cabin of the vertical take-off and landing unmanned aerial vehicle, realizing air route planning by a ground control system, and then controlling the vertical take-off and landing unmanned aerial vehicle to take off from the inspection center and reach an area to be operated;
s2, after the VTOL unmanned aerial vehicle flies to a region to be operated, starting a throwing device to throw the multiple rotor unmanned aerial vehicles out of the cabin in any posture, and then completing air posture recovery and air hovering of the multiple rotor unmanned aerial vehicles;
s3, the ground control system performs task planning on each multi-rotor unmanned aerial vehicle, and controls the route and performs fine inspection of a plurality of power inspection nodes hovering at fixed points through the positioning system on the multi-rotor unmanned aerial vehicle; the high-definition cameras on the multi-rotor unmanned aerial vehicle acquire the patrolling images and transmit the patrolling images to a ground system through an image transmission module, so that a single multi-rotor unmanned aerial vehicle power patrolling task is completed at one time; in the process of inspection, if the electric quantity is not enough to return to the vertical take-off and landing unmanned aerial vehicle after a certain multi-rotor unmanned aerial vehicle executes the designated task, the multi-rotor unmanned aerial vehicle sends information to a ground control system, and the ground control system controls the vertical take-off and landing unmanned aerial vehicle to be in butt joint with the multi-rotor unmanned aerial vehicle and to be recovered into a recovery cabin;
s4, after all the multi-rotor unmanned aerial vehicles are recovered into the cabin of the vertical take-off and landing unmanned aerial vehicle, the ground control system controls the vertical take-off and landing unmanned aerial vehicle to return and land to a specified position.
Further, the vertical take-off and landing drone in the step S1 first flies vertically upwards and then flies through the fixed wing.
Further, the data transmission is carried out between the ground control system and the VTOL unmanned aerial vehicle, between the ground control system and the multi-rotor unmanned aerial vehicle in the step S3 through a 5G communication module.
Further, data transmission is performed between the vertical take-off and landing drone and the multi-rotor drone in the step S3 through a wireless WIFI module or a wireless communication module of NRF24L 01.
Further, the first multi-rotor drone in step S3 is provided with a unique ID number; according to the ID number and the positioning information of the received recovery information of the multi-rotor unmanned aerial vehicle, the ground control system controls the vertical take-off and landing unmanned aerial vehicle to be in butt joint with the multi-rotor unmanned aerial vehicle with the corresponding ID number and recover the multi-rotor unmanned aerial vehicle into the recovery cabin.
Further, the vertical take-off and landing unmanned aerial vehicle in step S3 is provided with two high-definition cameras, and the vertical take-off and landing unmanned aerial vehicle acquires the ID number and GPS positioning information of the multi-rotor unmanned aerial vehicle to be recovered through a ground control system, and then flies to reach the vicinity of the multi-rotor unmanned aerial vehicle; a local communication network is established between the vertical take-off and landing unmanned aerial vehicle and the multi-rotor unmanned aerial vehicle so as to complete data information sharing, and the position of the multi-rotor unmanned aerial vehicle is locked through two high-definition cameras; treat to retrieve many rotor unmanned aerial vehicle and hover in the air, the aircraft hatch tangent plane on the VTOL unmanned aerial vehicle is perpendicular for many rotor unmanned aerial vehicle, and VTOL unmanned aerial vehicle will many rotor unmanned aerial vehicle retrieve the under-deck.
The utility model provides a long-range system of patrolling and examining of throwing in unmanned aerial vehicle method of patrolling and examining on a large scale which characterized in that: the multi-rotor unmanned aerial vehicle system comprises a vertical take-off and landing unmanned aerial vehicle, a multi-rotor unmanned aerial vehicle and a ground control system, wherein a cabin with a throwing device is arranged at the bottom of the vertical take-off and landing unmanned aerial vehicle, and the multi-rotor unmanned aerial vehicle is provided with a plurality of frames and is carried in the cabin; the ground control system controls the vertical take-off and landing unmanned aerial vehicle to fly to a to-be-operated area, and the vertical take-off and landing unmanned aerial vehicle controls the throwing device to throw the multi-rotor unmanned aerial vehicle out; ground control system carries out communication connection through 5G module and many rotor unmanned aerial vehicle, and controls many rotor unmanned aerial vehicle and patrol and examine.
Further, data transmission is carried out between the vertical take-off and landing unmanned aerial vehicle and the multi-rotor unmanned aerial vehicle through a wireless WIFI module or a wireless communication module of NRF24L 01; at the in-process of patrolling and examining, when a certain many rotor unmanned aerial vehicle carried out to accomplish after the appointed task electric quantity was not enough to return VTOL unmanned aerial vehicle, many rotor unmanned aerial vehicle sent information to ground control system, and ground control system control VTOL unmanned aerial vehicle and fly to many rotor unmanned aerial vehicle and set for the within range, make VTOL unmanned aerial vehicle and this many rotor unmanned aerial vehicle communication connection and retrieve in the recovery cabin.
The implementation of the invention has the following beneficial effects:
1. the invention uses the vertical take-off and landing unmanned aerial vehicle to carry a plurality of multi-rotor unmanned aerial vehicles for operation, does not need an additional runway, and saves take-off limit. When VTOL unmanned aerial vehicle can realize unmanned aerial vehicle automation on a large scale and patrol and examine, many rotor unmanned aerial vehicle then accomplish on a large scale the cooperation of refining and patrol and examine, realize the purpose of long-range input promptly, it is limited to have solved the battery capacity that current utilizes many rotor unmanned aerial vehicle to carry, and the operation radius is very limited, and fixed wing unmanned aerial vehicle has no way to hover in certain place, can not reach the problem of "essence inspection" demand that the electric wire netting was patrolled and examined. The invention has the advantages of automatic inspection, large inspection radius and high efficiency.
2. According to the invention, through the communication and control between the ground control system and the vertical take-off and landing unmanned aerial vehicle, between the ground control system and the multi-rotor unmanned aerial vehicle, and between the vertical take-off and landing unmanned aerial vehicle and the multi-rotor unmanned aerial vehicle, the cooperative cooperation between the vertical take-off and landing unmanned aerial vehicle and the multi-rotor unmanned aerial vehicle is realized, the functions of high efficiency, large range, refinement and automatic routing inspection are completed, and the system has the advantages of automatic routing inspection, large routing inspection radius and high efficiency.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a control flow block diagram of the large-scale inspection system for the remote launching unmanned aerial vehicle.
Fig. 2 is a schematic structural diagram of the large-scale inspection system for the remote-launch unmanned aerial vehicle.
Fig. 3 is a schematic structural view of a rotor unmanned aerial vehicle of the large-scale inspection system for remotely releasing an unmanned aerial vehicle, which is placed in a cabin.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Examples
Referring to fig. 1 to 3, the present embodiment relates to a method for remotely releasing a large-scale inspection of an unmanned aerial vehicle, including the following steps:
s1, carrying a plurality of multi-rotor unmanned aerial vehicles 2 in the cabin 11 of the vertical take-off and landing unmanned aerial vehicle 1, realizing air route planning by a ground control system to finish autonomous flight, and then controlling the vertical take-off and landing unmanned aerial vehicle 1 to take off from a patrol center and reach an area to be operated; in this process, the VTOL UAV 1 first flies vertically upward and then flies through the fixed wings. The method uses the vertical take-off and landing unmanned aerial vehicle 1 to carry a plurality of multi-rotor unmanned aerial vehicles 2 for operation, does not need an additional runway, and saves take-off limitation. When VTOL unmanned aerial vehicle 1 can realize unmanned aerial vehicle automation on a large scale and patrol and examine, many rotor unmanned aerial vehicle 2 then accomplish on a large scale the cooperation of becoming more meticulous and patrol and examine.
S2, after the VTOL unmanned aerial vehicle 1 flies to a region to be operated, starting a throwing device to throw the multi-rotor unmanned aerial vehicle 2 out of the cabin 11, and then controlling the multi-rotor unmanned aerial vehicle 2 to recover the attitude in the air and hover in the air by a ground control system; according to the many rotor unmanned aerial vehicle 2 that VTOL unmanned aerial vehicle 1 position and executive task correspond start different and put in device 10, carry out a plurality of electric power and patrol and examine the node and put in many rotor unmanned aerial vehicle 2. Many rotor unmanned aerial vehicle 2 requires that the volume is little light again enough, and many rotor unmanned aerial vehicle 2 can be carried as far as possible to VTOL unmanned aerial vehicle 1 to possess arbitrary gesture ability of taking off. After the VTOL UAV 1 is thrown out, the attitude of the multi-rotor UAV 2 is usually any attitude, so the air attitude is recovered and the hovering is very necessary.
S3, the ground control system performs task planning on each multi-rotor unmanned aerial vehicle 2, and controls the route and performs fine inspection of a plurality of power inspection nodes hovering at fixed points through the positioning system on the multi-rotor unmanned aerial vehicle 2; a high-definition camera on the multi-rotor unmanned aerial vehicle 2 acquires an inspection image and transmits the inspection image to a ground system through an image transmission module, so that a single multi-rotor unmanned aerial vehicle 2 power inspection task is completed at one time; in the process of inspection, if the electric quantity is not enough to return to the vertical take-off and landing unmanned aerial vehicle 1 after a certain multi-rotor unmanned aerial vehicle 2 executes a specified task, the multi-rotor unmanned aerial vehicle 2 sends information to a ground control system, and the ground control system controls the vertical take-off and landing unmanned aerial vehicle 1 to be in butt joint with the multi-rotor unmanned aerial vehicle 2 and to be recovered into a recovery cabin 12; data transmission is carried out between VTOL unmanned aerial vehicle 1 and many rotor unmanned aerial vehicle 2 through wireless WIFI module or NRF24L 01's wireless communication module. The first multi-rotor unmanned aerial vehicle 2 is provided with a unique ID number; according to the ID number and the positioning information of the received recovery information of the multi-rotor unmanned aerial vehicle 2, the ground control system controls the vertical take-off and landing unmanned aerial vehicle 1 to be in butt joint with the multi-rotor unmanned aerial vehicle 2 with the corresponding ID number and to be recovered into the recovery cabin 12. The vertical take-off and landing unmanned aerial vehicle 1 is provided with two high-definition cameras, the vertical take-off and landing unmanned aerial vehicle 1 acquires the ID number of the multi-rotor unmanned aerial vehicle 2 to be recovered and GPS positioning information through a ground control system, and then flies to reach the position near the multi-rotor unmanned aerial vehicle 2; a local communication network is established between the vertical take-off and landing unmanned aerial vehicle 1 and the multi-rotor unmanned aerial vehicle 2 to complete data information sharing, and the position of the multi-rotor unmanned aerial vehicle 2 is locked through two high-definition cameras; treat to retrieve many rotor unmanned aerial vehicle 2 and hover aloft, the 11 mouth tangent planes in cabin on the VTOL unmanned aerial vehicle 1 are perpendicular for many rotor unmanned aerial vehicle 2, and VTOL unmanned aerial vehicle 1 will many rotor unmanned aerial vehicle 2 retrieve in retrieving cabin 12. All carry out data transmission through 5G communication module between ground control system and VTOL unmanned aerial vehicle 1, ground control system and many rotor unmanned aerial vehicle 2.
Specifically, 2 system throughput of many rotor unmanned aerial vehicle are limited and the electric power task of patrolling and examining often is off-line processing, therefore design many rotor unmanned aerial vehicle 2 is light as far as possible. After the multi-rotor unmanned aerial vehicle 2 realizes the air attitude recovery and stable flight, firstly combining the mission planning of a ground control system to each multi-rotor unmanned aerial vehicle 2, and acquiring local information (mission planning and route points of the multi-rotor unmanned aerial vehicle 2 per se) through a 5G communication module; then, according to the position information provided by the positioning system, fine inspection of a plurality of power inspection nodes hovering at fixed points is started, inspection results obtained by the high-definition camera are quickly transmitted back to the ground system through the 5G communication module, and a single multi-rotor unmanned aerial vehicle 2 power inspection task is completed.
Many rotor unmanned aerial vehicle 2 accomplishes patrolling and examining of the regional electric power system node of a slice in coordination each other according to ground control system dynamic programming task, many rotor unmanned aerial vehicle 2. When some rotor unmanned aerial vehicle 2 carry out to accomplish appointed task or the electric quantity is not enough to support and accomplish the task, many rotor unmanned aerial vehicle 2 will trigger VTOL unmanned aerial vehicle 1's recovery task. The multi-rotor unmanned aerial vehicle 2 issues a recovery task through the 5G communication module and the ground control system, and shares the ID number (each multi-rotor unmanned aerial vehicle 2 and each vertical take-off and landing unmanned aerial vehicle 1 have unique ID numbers) of the multi-rotor unmanned aerial vehicle and global positioning information of the GPS. The ground control system optimally distributes the vertical take-off and landing unmanned aerial vehicle 1 according to the information issued by the multi-rotor unmanned aerial vehicle 2 and by combining the distance and the executed task category (whether the releasing task is executed and whether the recovery task of the multi-rotor unmanned aerial vehicle 2 is executed), and the multi-rotor unmanned aerial vehicle 2 is in butt joint with the vertical take-off and landing unmanned aerial vehicle 1.
Considering that the 5G communication module used by the ground control system is used for communicating all global unmanned aerial vehicles, in order to reduce the occupation of local communication on 5G communication network resources, the communication resources can be more sufficient and stable by creating a local communication network. Local communication network is through sharing mutual positional information, consider that positioning information receives noise jamming's uncertainty, use the high definition digtal camera on VTOL unmanned aerial vehicle 1 to carry out real-time calibration, consider promptly that VTOL unmanned aerial vehicle 1 possesses certain equipment carrying capacity, carry on two high definition digtal cameras (one inside unmanned aerial vehicle retrieves cabin 12, another position is retrieving cabin 12 rear portions in the unmanned aerial vehicle) on VTOL unmanned aerial vehicle 1 for lock many rotor unmanned aerial vehicle 2. Multi-rotor drone 2 itself carries the obvious feature points required for the positioning of the vision camera, such as small fluorescent balls, infrared light emitting sources of multipoint specific carrier frequencies, etc. The recovery cabin 12 is provided with a trapezoidal upward opening interface, the periphery of the recovery cabin is covered by a rope 13 net, and the rope 13 net has a certain winding effect on the propeller; the heights of the left end and the right end of the cabin 11 are gradually decreased from the tail part of the machine body to the nose, the designed shape increases the area of the multi-rotor unmanned aerial vehicle 2 entering the recovery cabin 12, and the recovery success rate is further increased. The specific operation of the multi-rotor unmanned aerial vehicle 2 recovery task is as follows: the vertical take-off and landing unmanned aerial vehicle 1 acquires the ID number of the multi-rotor unmanned aerial vehicle 2 to be recovered and the position information of a Global Positioning System (GPS) through a ground control system, and reaches the position near the multi-rotor unmanned aerial vehicle 2; then, a local communication network is established to quickly and stably complete data information sharing, the position of the multi-rotor unmanned aerial vehicle 2 is locked through a high-definition camera, the relative position is calculated, the positioning information is corrected, and the track of the multi-rotor unmanned aerial vehicle 2 is planned to take off and land vertically; to retrieve multi-rotor unmanned aerial vehicle 2 and hover in the air relatively static, the 12 mouthful tangent planes in recovery cabin on VTOL unmanned aerial vehicle 1 are perpendicular for multi-rotor unmanned aerial vehicle 2 (this has increased the recovery success rate). Considering that a bounce phenomenon may occur during the recovery process, the kinetic energy of the relative speed of the multi-rotor drone 2 and the vertical take-off and landing drone 1 is buffered using the net rope having a stretch property.
And S4, after all the multi-rotor unmanned aerial vehicles 2 are recovered into the cabin 11 of the vertical take-off and landing unmanned aerial vehicle 1, the ground control system controls the vertical take-off and landing unmanned aerial vehicle 1 to return and land to a specified position.
This embodiment still provides a long-range system of patrolling and examining of throwing in unmanned aerial vehicle method of patrolling and examining on a large scale, its characterized in that: the multi-rotor unmanned aerial vehicle system comprises a vertical take-off and landing unmanned aerial vehicle 1, a multi-rotor unmanned aerial vehicle 2 and a ground control system, wherein the bottom of the vertical take-off and landing unmanned aerial vehicle 1 is provided with a cabin 11 with a throwing device 10, and the multi-rotor unmanned aerial vehicle 2 is provided with a plurality of frames and is carried in the cabin 11; the ground control system controls the vertical take-off and landing unmanned aerial vehicle 1 to fly to a to-be-operated area, and the vertical take-off and landing unmanned aerial vehicle 1 controls the throwing device to throw the multi-rotor unmanned aerial vehicle 2 out; ground control system carries out communication connection through 5G module and many rotor unmanned aerial vehicle 2, and controls many rotor unmanned aerial vehicle 2 and patrol and examine.
Data transmission is carried out between the vertical take-off and landing unmanned aerial vehicle 1 and the multi-rotor unmanned aerial vehicle 2 through a wireless WIFI module or a wireless communication module of NRF24L 01; in the in-process of patrolling and examining, when certain many rotor unmanned aerial vehicle 2 carries out to accomplish behind the assigned task that the electric quantity is not enough to return VTOL unmanned aerial vehicle 1, many rotor unmanned aerial vehicle 2 sends information to ground control system, and ground control system control VTOL unmanned aerial vehicle 1 and fly to many rotor unmanned aerial vehicle 2 and set for the within range, make VTOL unmanned aerial vehicle 1 and this 2 communication connection of many rotor unmanned aerial vehicle and retrieve in the recovery cabin 12.
While the invention has been described in connection with what is presently considered to be the most practical and preferred embodiment, it is to be understood that the invention is not to be limited to the disclosed embodiment, but on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.
Claims (8)
1. The long-range unmanned aerial vehicle throwing inspection method is characterized by comprising the following steps:
s1, carrying a plurality of multi-rotor unmanned aerial vehicles in the cabin of the vertical take-off and landing unmanned aerial vehicle, realizing air route planning by a ground control system, and then controlling the vertical take-off and landing unmanned aerial vehicle to take off from the inspection center and reach an area to be operated;
s2, after the VTOL unmanned aerial vehicle flies to a region to be operated, starting a throwing device to throw the multiple rotor unmanned aerial vehicles out of the cabin in any posture, and then completing air posture recovery and air hovering of the multiple rotor unmanned aerial vehicles;
s3, the ground control system performs task planning on each multi-rotor unmanned aerial vehicle, and controls the route and performs fine inspection of a plurality of power inspection nodes hovering at fixed points through the positioning system on the multi-rotor unmanned aerial vehicle; the high-definition cameras on the multi-rotor unmanned aerial vehicle acquire the patrolling images and transmit the patrolling images to a ground system through an image transmission module, so that a single multi-rotor unmanned aerial vehicle power patrolling task is completed at one time; in the process of inspection, if the electric quantity is not enough to return to the vertical take-off and landing unmanned aerial vehicle after a certain multi-rotor unmanned aerial vehicle executes the designated task, the multi-rotor unmanned aerial vehicle sends information to a ground control system, and the ground control system controls the vertical take-off and landing unmanned aerial vehicle to be in butt joint with the multi-rotor unmanned aerial vehicle and to be recovered into a recovery cabin;
s4, after all the multi-rotor unmanned aerial vehicles are recovered into the cabin of the vertical take-off and landing unmanned aerial vehicle, the ground control system controls the vertical take-off and landing unmanned aerial vehicle to return and land to a specified position.
2. The method for remotely releasing the unmanned aerial vehicle for the wide range inspection according to claim 1, wherein the VTOL unmanned aerial vehicle in the step S1 first ascends vertically to fly and then flies through the fixed wings.
3. The method for the wide-range inspection of the remotely-launched unmanned aerial vehicle according to claim 1, wherein the ground control system in the step S3 and the VTOL unmanned aerial vehicle, the ground control system and the multi-rotor unmanned aerial vehicle are all in data transmission through a 5G communication module.
4. The method for the wide-range inspection by the remote launch drone, according to claim 1, wherein the vertical take-off and landing drone and the multi-rotor drone in the step S3 are in data transmission through a wireless WIFI module or a wireless communication module of NRF24L 01.
5. The method for the wide-range inspection of remote-launch unmanned aerial vehicles according to claim 1, wherein the first multi-rotor unmanned aerial vehicle in step S3 is provided with a unique ID number; according to the ID number and the positioning information of the received recovery information of the multi-rotor unmanned aerial vehicle, the ground control system controls the vertical take-off and landing unmanned aerial vehicle to be in butt joint with the multi-rotor unmanned aerial vehicle with the corresponding ID number and recover the multi-rotor unmanned aerial vehicle into the recovery cabin.
6. The method for the large-range inspection of the remotely-launched unmanned aerial vehicle according to claim 1, wherein the VTOL unmanned aerial vehicle in step S3 is provided with two high-definition cameras, acquires the ID number and the GPS positioning information of the multi-rotor unmanned aerial vehicle to be recovered through a ground control system, and flies to reach the vicinity of the multi-rotor unmanned aerial vehicle; a local communication network is established between the vertical take-off and landing unmanned aerial vehicle and the multi-rotor unmanned aerial vehicle so as to complete data information sharing, and the position of the multi-rotor unmanned aerial vehicle is locked through two high-definition cameras; treat to retrieve many rotor unmanned aerial vehicle and hover in the air, the aircraft hatch tangent plane on the VTOL unmanned aerial vehicle is perpendicular for many rotor unmanned aerial vehicle, and VTOL unmanned aerial vehicle will many rotor unmanned aerial vehicle retrieve the under-deck.
7. The inspection system for the large-range inspection method of the remote launching unmanned aerial vehicle based on claim 1, is characterized in that: the multi-rotor unmanned aerial vehicle system comprises a vertical take-off and landing unmanned aerial vehicle, a multi-rotor unmanned aerial vehicle and a ground control system, wherein a cabin with a throwing device is arranged at the bottom of the vertical take-off and landing unmanned aerial vehicle, and the multi-rotor unmanned aerial vehicle is provided with a plurality of frames and is carried in the cabin; the ground control system controls the vertical take-off and landing unmanned aerial vehicle to fly to a to-be-operated area, and the vertical take-off and landing unmanned aerial vehicle controls the throwing device to throw the multi-rotor unmanned aerial vehicle out; ground control system carries out communication connection through 5G module and many rotor unmanned aerial vehicle, and controls many rotor unmanned aerial vehicle and patrol and examine.
8. The inspection system for the large-range inspection method of the remote launching unmanned aerial vehicle based on claim 7 is characterized in that: data transmission is carried out between the vertical take-off and landing unmanned aerial vehicle and the multi-rotor unmanned aerial vehicle through a wireless WIFI module or a wireless communication module of NRF24L 01; at the in-process of patrolling and examining, when a certain many rotor unmanned aerial vehicle carried out to accomplish after the appointed task electric quantity was not enough to return VTOL unmanned aerial vehicle, many rotor unmanned aerial vehicle sent information to ground control system, and ground control system control VTOL unmanned aerial vehicle and fly to many rotor unmanned aerial vehicle and set for the within range, make VTOL unmanned aerial vehicle and this many rotor unmanned aerial vehicle communication connection and retrieve in the recovery cabin.
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| CN114217634A (en) * | 2021-12-06 | 2022-03-22 | 中国人民解放军国防科技大学 | Unmanned aerial vehicle Bluetooth communication system and method based on Internet of things |
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