CN114137997A - Power inspection method, device, equipment and storage medium - Google Patents
Power inspection method, device, equipment and storage medium Download PDFInfo
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- CN114137997A CN114137997A CN202111442563.2A CN202111442563A CN114137997A CN 114137997 A CN114137997 A CN 114137997A CN 202111442563 A CN202111442563 A CN 202111442563A CN 114137997 A CN114137997 A CN 114137997A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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Abstract
The embodiment of the invention discloses a power inspection method, a device, equipment and a storage medium. The method comprises the following steps: acquiring a tower position set containing at least one piece of tower position information to be detected, and determining a routing inspection route according to the tower position information to be detected; the unmanned aerial vehicle set is controlled to sequentially detect each tower to be detected in the tower position set according to the routing inspection route, and detection results corresponding to each tower to be detected are received; determining a power inspection result according to each detection result; wherein, including two unmanned aerial vehicles that can intercommunicate at least in the unmanned aerial vehicle group, each unmanned aerial vehicle detects the same different position that waits to detect the shaft tower simultaneously in the unmanned aerial vehicle group. According to the technical scheme of the embodiment of the invention, the problems of low precision, high operation difficulty and long routing path in the existing full-autonomous flight routing inspection are solved, the unnecessary path length in the full-autonomous flight routing inspection is reduced, the routing inspection efficiency and the routing inspection precision are improved, and the routing inspection labor cost is reduced.
Description
Technical Field
The embodiment of the invention relates to the technical field of power system detection, in particular to a power inspection method, a device, equipment and a storage medium.
Background
In recent years, unmanned aerial vehicle inspection is gradually applied to power grid inspection business, and the unmanned aerial vehicle inspection mainly performs flight inspection through manual operation or completes semi-automatic flight inspection through operations such as manual teaching and GIS dotting, however, both manual operation and semi-automatic flight inspection need to consume a large amount of labor cost.
The existing full-autonomous flight inspection can reduce labor cost, but has higher requirements on sensing and positioning of airplanes and targets, higher difficulty, higher precision than manual inspection, and lower local fine adjustment capability than manual operation. Meanwhile, the existing full-autonomous flight inspection is to inspect one tower through one airplane, and in the inspection process of towers along the line in a power grid line, in order to ensure safe flight, the inspection flight path is longer than a manual flight path, the overall inspection efficiency is equivalent to that of manual inspection, and the greater efficiency advantage is not embodied.
Disclosure of Invention
The invention provides a power inspection method, a device, equipment and a storage medium, which realize full autonomous flight inspection of a power grid through an unmanned aerial vehicle unit, improve inspection efficiency while ensuring inspection accuracy and reduce labor cost.
In a first aspect, an embodiment of the present invention provides a power inspection method, including:
acquiring a tower position set containing at least one piece of tower position information to be detected, and determining a routing inspection route according to the tower position information to be detected;
the unmanned aerial vehicle set is controlled to sequentially detect each tower to be detected in the tower position set according to the routing inspection route, and detection results corresponding to each tower to be detected are received;
determining a power inspection result according to each detection result;
wherein, including two unmanned aerial vehicles that can intercommunicate at least in the unmanned aerial vehicle group, each unmanned aerial vehicle detects the same different position that waits to detect the shaft tower simultaneously in the unmanned aerial vehicle group.
Further, confirm according to each shaft tower position information that detects and patrol and examine the route, include:
acquiring the lifting position of the unmanned aerial vehicle set;
determining at least one achievable alternative routing inspection route according to the set of the taking-off and landing positions and the tower positions;
comprehensively determining the inspection cost of each alternative inspection route according to the route length and the gradient climbing information of each alternative inspection route;
and determining the alternative routing inspection route with the lowest routing inspection cost as the routing inspection route.
Further, control unmanned aerial vehicle group and examine each shaft tower that detects in the set of shaft tower position according to patrolling and examining the route in proper order, include:
determining the current tower to be detected in the routing inspection route;
arranging each unmanned aerial vehicle in the unmanned aerial vehicle unit on the tops of different directions of the current tower to be detected according to a preset inspection rule;
detecting a detection target in the current tower to be detected from top to bottom by each unmanned aerial vehicle;
determining a detection result corresponding to the current tower to be detected according to the single-side detection result of each unmanned aerial vehicle, and uploading the detection result corresponding to the current tower to be detected;
if the current tower to be detected is the last tower to be detected in the routing inspection route, ending the detection and enabling the unmanned aerial vehicle set to fly to the landing position; and if not, determining the next tower to be detected in the routing inspection route as a new current tower to be detected, and returning to execute the step of configuring each unmanned aerial vehicle in the unmanned aerial vehicle unit on the tops of the current tower to be detected in different directions according to the preset inspection rule.
Further, when each unmanned aerial vehicle detects the detection target in the tower to be detected from top to bottom, the method further comprises the following steps:
if all the unmanned aerial vehicles lose the detection target in the tower to be detected currently, determining the detection failure as the tower to be detected currently and the detection result corresponding to each tower to be detected positioned behind the tower to be detected currently in the inspection route, and controlling the unmanned aerial vehicle unit to fly to the landing position;
if a detection target in the tower to be detected currently is lost in some unmanned aerial vehicles in the unmanned aerial vehicle set, the flight state of the unmanned aerial vehicle losing the detection target is adjusted according to the flight information of the unmanned aerial vehicle not losing the detection target, so that the unmanned aerial vehicle set can continuously detect the tower to be detected currently.
Further, according to the flight information of the unmanned aerial vehicle not losing the detection target, adjusting the flight state of the unmanned aerial vehicle losing the detection target, including:
determining the unmanned aerial vehicle losing the detection target as an abnormal unmanned aerial vehicle, and determining the unmanned aerial vehicle not losing the detection target as a normal unmanned aerial vehicle;
determining the navigation point coordinate and the direction attitude of the abnormal unmanned aerial vehicle according to the flight information of the normal unmanned aerial vehicle and a preset routing inspection rule;
and adjusting the flight state of the abnormal unmanned aerial vehicle according to the navigation point coordinate and the direction attitude.
Further, after adjusting the flight state of the abnormal unmanned aerial vehicle according to the waypoint coordinates and the direction attitude, the method further comprises the following steps:
if the abnormal unmanned aerial vehicle still cannot identify the detection target and the duration time which cannot be identified exceeds a preset time threshold, marking the detection target and the current tower to be detected;
and taking the mark as a detection result of the current tower to be detected.
Further, after confirming the electric power inspection result according to each detection result, the method further comprises the following steps:
determining a rechecking inspection target according to the power inspection result;
and generating a rechecking inspection task according to the rechecking inspection target.
In a second aspect, an embodiment of the present invention further provides a power inspection device, including:
the route determining module is used for acquiring a tower position set containing at least one piece of tower position information to be detected and determining a routing inspection route according to the tower position information to be detected;
the detection module is used for controlling the unmanned aerial vehicle unit to sequentially detect each tower to be detected in the tower position set according to the routing inspection route and receiving a detection result corresponding to each tower to be detected;
the inspection result determining module is used for determining a power inspection result according to each detection result;
wherein, including two unmanned aerial vehicles that can intercommunicate at least in the unmanned aerial vehicle group, each unmanned aerial vehicle detects the same different position that waits to detect the shaft tower simultaneously in the unmanned aerial vehicle group.
In a third aspect, an embodiment of the present invention further provides a power inspection apparatus, where the power inspection apparatus includes: a storage device and one or more processors;
storage means for storing one or more programs;
when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the power patrol method as described above in the first aspect.
In a fourth aspect, embodiments of the present invention also provide a storage medium containing computer-executable instructions for performing the power patrol method according to the first aspect when executed by a computer processor.
According to the power inspection method, the device, the equipment and the storage medium, the inspection route is determined according to the position information of each tower to be detected by acquiring the position set of the tower comprising the position information of at least one tower to be detected; the unmanned aerial vehicle set is controlled to sequentially detect each tower to be detected in the tower position set according to the routing inspection route, and detection results corresponding to each tower to be detected are received; determining a power inspection result according to each detection result; wherein, including two unmanned aerial vehicles that can intercommunicate at least in the unmanned aerial vehicle group, each unmanned aerial vehicle detects the same different position that waits to detect the shaft tower simultaneously in the unmanned aerial vehicle group. By adopting the technical scheme, when the power grid is inspected, the inspection route is planned for the unmanned aerial vehicle set according to the position information of a plurality of towers to be detected in the power grid, and then the unmanned aerial vehicle set comprising at least two unmanned aerial vehicles is controlled to detect each tower to be detected in the inspection route, and each unmanned aerial vehicle in the unmanned aerial vehicle set detects the same tower to be detected simultaneously, so that the increase of flight paths caused by the fact that each side of each tower is completely detected when only one unmanned aerial vehicle inspects the towers is avoided, and the unmanned aerial vehicles detect the same tower simultaneously, the positions among the unmanned aerial vehicles can be mutually verified, the inspection stability in the process of performing full-autonomous flight inspection by the unmanned aerial vehicles is improved, the problems of low accuracy, high operation difficulty and long inspection path in the existing full-autonomous flight inspection are solved, and the unnecessary path length in the full-autonomous flight inspection is reduced, the inspection efficiency and the inspection precision are improved, and the inspection labor cost is reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a flowchart of a power inspection method according to a first embodiment of the present invention;
fig. 2 is a flowchart of a power inspection method in the second embodiment of the present invention;
fig. 3 is a flowchart illustrating a second embodiment of the present invention, in which the flight status of an unmanned aerial vehicle that has lost a detection target is adjusted according to flight information of the unmanned aerial vehicle that has not lost the detection target;
fig. 4 is a schematic structural diagram of a power inspection device in a third embodiment of the present invention;
fig. 5 is a schematic structural diagram of a power inspection apparatus according to a fourth embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings. It should be understood that the described embodiments are only some embodiments of the invention, and not all 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.
When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the invention, as detailed in the appended claims.
In the description of the present invention, it is to be understood that the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not necessarily used to describe a particular order or sequence, nor are they to be construed as indicating or implying relative importance. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.
Example one
Fig. 1 is a flowchart of a power inspection method according to an embodiment of the present invention, where the present embodiment is applicable to a situation of performing full-automatic flight inspection on a power grid, and the method may be executed by a power inspection device, where the power inspection device may be implemented by software and/or hardware, and the power inspection device may be configured on a power inspection apparatus, and the power inspection apparatus may be configured by two or more physical entities or may be configured by one physical entity.
It should be clear that the power inspection method provided by the embodiment of the present invention may be applied not only to power inspection for towers in a power grid, but also to scenes for inspection for symmetrical or quasi-symmetrical targets, such as fan inspection, building inspection, and the like.
As shown in fig. 1, a power inspection method provided in an embodiment of the present invention specifically includes the following steps:
s101, a tower position information set containing at least one piece of tower position information to be detected is obtained, and an inspection route is determined according to the tower position information to be detected.
In the present embodiment, a tower is understood to be a rod-shaped or tower-shaped structure in the power grid, which supports the overhead transmission line conductors and the overhead ground wires and keeps a certain distance between them and between the ground, and a plurality of towers are arranged in the same line. The tower to be detected can be specifically understood as a tower in a power grid which needs to be subjected to power inspection. The position information of the tower to be detected can be specifically understood as information for representing the position of the tower to be detected in the power grid, so that the unmanned aerial vehicle can fly to the designated tower according to the information, optionally, the position information of the tower to be detected can be determined by Global Positioning System (GPS) information, or can be determined by means of Beidou satellite System information or a wireless Positioning System, and the embodiment of the invention is not limited to this. Furthermore, in the process of primary power inspection, the power grid in the area is often required to be inspected, and a plurality of towers to be detected are necessarily included, so that the position information of the towers to be detected corresponding to all the towers to be detected can be combined into a set, and the set is determined as a tower position set. The routing inspection route can be specifically understood as a traveling route when the unmanned aerial vehicle or staff inspects the power grid.
Specifically, according to the power grid that needs to patrol and examine at present, confirm the pole tower that detects that wherein need patrol and examine, acquire the pole tower position information that detects of each pole tower that detects, and detect pole tower position information generation pole tower position set according to each, because the slope climbing condition between two points need be considered when unmanned aerial vehicle flies, if it surpasss unmanned aerial vehicle climbing ability, then need adjust the flight path, and too much climbing will lead to unmanned aerial vehicle duration to reduce, can patrol and examine the reduction of pole tower quantity, the event need detect pole tower position information according to each in the pole tower position set, and the slope climbing condition between each pole tower that detects confirms invalid flight length minimum route, and regard it as the route of patrolling and examining of unmanned aerial vehicle unit.
S102, the unmanned aerial vehicle unit is controlled to sequentially detect the towers to be detected in the tower position set according to the routing inspection route, and detection results corresponding to the towers to be detected are received.
Wherein, including two unmanned aerial vehicles that can intercommunicate at least in the unmanned aerial vehicle group, each unmanned aerial vehicle detects the same different position that waits to detect the shaft tower simultaneously in the unmanned aerial vehicle group.
In this embodiment, the unmanned aerial vehicle group can be specifically understood as being composed of a plurality of unmanned aerial vehicles, the unmanned aerial vehicle combination which is detected by all the unmanned aerial vehicles simultaneously on the same tower to be detected is selectable, the unmanned aerial vehicle group can comprise two unmanned aerial vehicles which can communicate with each other, so as to complete the detection on the same tower to be detected in different directions, it is clear that the number of the unmanned aerial vehicles in the unmanned aerial vehicle group can also exceed two, the unmanned aerial vehicle combination is used for carrying out more detailed detection on the tower to be detected in a direction division manner or playing a role in redundancy backup, the unmanned aerial vehicle group used for detection plays a role in replacing or maintaining stable detection when the unmanned aerial vehicle fails, and the number of the unmanned aerial vehicles in the unmanned aerial vehicle group is not limited in the embodiment of the present invention. The detection result can be specifically understood as a detection result that the unmanned aerial vehicle detects an object at the joint of the high-voltage line and the tower on the tower to be detected, and whether the object is missing or has a fault is represented.
Specifically, determining a tower to be detected as a starting point in an inspection route according to a takeoff position of the unmanned aerial vehicle, controlling the unmanned aerial vehicle to fly to the top end of the unmanned aerial vehicle according to position information of the unmanned aerial vehicle to detect an object of a high-voltage wire at the connection position of the tower, uploading a detection result to a server or sending the detection result to a ground station after detection is completed, further determining the next tower to be detected according to the inspection route, and controlling the unmanned aerial vehicle to fly to a corresponding position for detection until all towers to be detected in the inspection route are detected completely.
In the embodiment of the invention, the tower to be detected in the routing inspection route is detected by adopting the unmanned aerial vehicle group comprising at least two unmanned aerial vehicles which can communicate with each other, so that the invalid flight path of the unmanned aerial vehicle is reduced, and the routing inspection efficiency is improved.
And S103, determining a power inspection result according to each detection result.
In this embodiment, the power inspection result may be specifically understood as a detection report used to represent whether each tower has a fault or completes detection in the power inspection.
Specifically, according to the received detection result corresponding to each tower to be detected, the object at the joint of the high-voltage line and the tower existing in each tower to be detected is lost or failed, and the information of the tower to be detected, which is not detected, is comprehensively generated into the electric power inspection result.
According to the embodiment of the invention, a tower position set containing at least one piece of tower position information to be detected is obtained, and a routing inspection route is determined according to the tower position information to be detected; the unmanned aerial vehicle set is controlled to sequentially detect each tower to be detected in the tower position set according to the routing inspection route, and detection results corresponding to each tower to be detected are received; determining a power inspection result according to each detection result; wherein, including two unmanned aerial vehicles that can intercommunicate at least in the unmanned aerial vehicle group, each unmanned aerial vehicle detects the same different position that waits to detect the shaft tower simultaneously in the unmanned aerial vehicle group. By adopting the technical scheme, when the power grid is inspected, the inspection route is planned for the unmanned aerial vehicle set according to the position information of a plurality of towers to be detected in the power grid, and then the unmanned aerial vehicle set comprising at least two unmanned aerial vehicles is controlled to detect each tower to be detected in the inspection route, and each unmanned aerial vehicle in the unmanned aerial vehicle set detects the same tower to be detected simultaneously, so that the increase of flight paths caused by the fact that each side of each tower is completely detected when only one unmanned aerial vehicle inspects the towers is avoided, and the unmanned aerial vehicles detect the same tower simultaneously, the positions among the unmanned aerial vehicles can be mutually verified, the inspection stability in the process of performing full-autonomous flight inspection by the unmanned aerial vehicles is improved, the problems of low accuracy, high operation difficulty and long inspection path in the existing full-autonomous flight inspection are solved, and the unnecessary path length in the full-autonomous flight inspection is reduced, the inspection efficiency and the inspection precision are improved, and the inspection labor cost is reduced.
Example two
Fig. 2 is a flowchart of an electric power inspection method provided in the second embodiment of the present invention, the technical scheme of the second embodiment of the present invention is further optimized based on the optional technical schemes, an inspection route with the lowest inspection cost is determined according to the take-off and landing positions of the unmanned aerial vehicle group and the position set of the towers, then a tower to be detected is currently selected from the inspection routes, and is detected from top to bottom by the unmanned aerial vehicle group, an adjustment method of the unmanned aerial vehicle group and a determination method of a detection result of the tower to be detected are determined for the case where all unmanned aerial vehicles lose detection targets and part of unmanned aerial vehicles lose detection targets in the detection process of the unmanned aerial vehicle group, and a rechecking task is generated for the towers that need to be rechecked in the electric power inspection result after the electric power inspection result is determined. Through many unmanned aerial vehicle combinations patrol and examine for can adjust the flight gesture according to normal unmanned aerial vehicle when part unmanned aerial vehicle loses the detection target, guarantee the sustainability of patrolling and examining, improve and patrol and examine efficiency and stability, carry out recheck according to the electric power inspection result after accomplishing the detection simultaneously and patrol and examine the generation of task, promoted and patrolled and examined the precision, reduced the shaft tower number that needs the manual work to patrol and examine, reduced and patrolled and examined the cost of labor.
As shown in fig. 2, a power inspection method provided by the second embodiment of the present invention specifically includes the following steps:
s201, a tower position set containing at least one piece of tower position information to be detected is obtained.
S202, acquiring the lifting position of the unmanned aerial vehicle set.
In the present embodiment, the take-off and landing position is specifically understood to be a preset position where the unmanned aerial vehicle can take off and land.
Specifically, since the unmanned aerial vehicle often needs a relatively flat platform during taking off and landing, before routing inspection route planning, the position of the platform where the unmanned aerial vehicle takes off and lands needs to be determined, that is, the taking off and landing positions of the unmanned aerial vehicle can be the same or different for obtaining the taking off and landing positions of the unmanned aerial vehicle, which is not limited in the embodiment of the present invention.
And S203, determining at least one achievable alternative routing inspection route according to the set of the take-off and landing positions and the tower positions.
Specifically, the takeoff position of the unmanned aerial vehicle unit is used as a starting point, the landing position of the unmanned aerial vehicle unit is used as a terminal point, all towers in the tower position set are connected, each tower in the tower position set can be reached by the unmanned aerial vehicle unit at least once, and all connecting lines, which are not beyond the climbing capability of the unmanned aerial vehicle and have the total connecting line length smaller than the maximum flight path of the unmanned aerial vehicle unit, of all the towers are determined as alternative routing inspection routes which can be realized by the unmanned aerial vehicle unit.
For example, assuming that a tower position set includes position information of three towers to be detected, and the three towers to be detected are represented by numbers 1 to 3, 6 routing inspection routes can be planned by taking a takeoff position of the unmanned aerial vehicle as a starting point and a landing position as an end point, where the routes are respectively: a starting point- > a tower 1- > a tower 2- > a tower 3- > a terminal point; a starting point- > a tower 1- > a tower 3- > a tower 2- > a terminal point; a starting point- > a tower 2- > a tower 1- > a tower 3- > a terminal point; a starting point- > a tower 2- > a tower 3- > a tower 1- > a terminal point; a starting point- > a tower 3- > a tower 1- > a tower 2- > a terminal point; the starting point- > tower 3- > tower 2- > tower 1- > the terminal point. The height difference between the tower 1 and the tower 3 exceeds the climbing capacity of the unmanned aerial vehicle unit, and the route length of the starting point- > tower 3- > tower 1- > tower 2- > terminal exceeds the maximum flying distance of the unmanned aerial vehicle unit, so that the finally determined achievable alternative routing inspection route is only: a starting point- > a tower 1- > a tower 2- > a tower 3- > a terminal point; a starting point- > a tower 2- > a tower 3- > a tower 1- > a terminal point; and the starting point- > pole tower 3- > pole tower 2- > pole tower 1- > the terminal point.
And S204, comprehensively determining the inspection cost of each alternative inspection route according to the route length and the gradient climbing information of each alternative inspection route.
In this embodiment, the inspection cost is specifically understood as the cost consumed by the unmanned aerial vehicle for one flight, and is related to both the flight distance and the climbing distance, and the inspection cost is higher when the flight distance is longer and the climbing height is higher.
Specifically, the total route length of each alternative patrol route and the climbing distance involved in the patrol route are determined, and according to the preset flight cost of the unit flight distance and the climbing cost of the unit climbing distance, the sum of the product of the total route length and the flight cost and the product of the climbing distance and the climbing cost is determined as the patrol cost of the alternative patrol route.
And S205, determining the alternative routing inspection route with the lowest routing inspection cost as the routing inspection route.
Specifically, for controlling the routing inspection cost in the power routing inspection process, the routing inspection cost of each alternative routing inspection route needs to be compared and determined, and the alternative routing inspection route with the lowest routing inspection cost is determined as the routing inspection route applied to the unmanned aerial vehicle set. Because it is minimum to patrol and examine the cost for unmanned aerial vehicle unit flight distance is shorter, and climbing distance is less, has reduced the loss to unmanned aerial vehicle, has promoted and has patrolled and examined efficiency.
And S206, determining the current tower to be detected from the routing inspection route.
Specifically, according to the tower to be detected which is closest to the current moment and has been detected by the unmanned aerial vehicle set, the tower to be detected which is positioned behind the unmanned aerial vehicle set in the routing inspection route is determined as the current tower to be detected, if the tower to be detected which has been detected does not exist, the unmanned aerial vehicle set can be considered to have just taken off from the take-off position, and at the moment, the first tower to be detected in the routing inspection route is determined as the current tower to be detected; if the undetected tower to be detected does not exist in the routing inspection route, the unmanned aerial vehicle unit can be considered to finish the routing inspection of all the towers in the routing inspection route, the current tower to be detected does not need to be determined at the moment, and the unmanned aerial vehicle unit is controlled to fly to the preset landing position.
S207, arranging all unmanned aerial vehicles in the unmanned aerial vehicle unit on the tops of the towers to be detected in different directions according to preset inspection rules.
In this embodiment, the preset routing inspection rule may be specifically understood as a rule for determining the position of each unmanned aerial vehicle in the unmanned aerial vehicle set, where each unmanned aerial vehicle is used to detect the tower to be detected, that is, a rule for allocating different detection positions to the unmanned aerial vehicles according to different numbers of the unmanned aerial vehicles in the unmanned aerial vehicle set.
Specifically, fly to wait to detect the shaft tower at present at unmanned aerial vehicle unit after, according to the unmanned aerial vehicle number in the unmanned aerial vehicle unit, confirm in the unmanned aerial vehicle unit that each unmanned aerial vehicle should wait to detect the position that the shaft tower detected at present in the rule by predetermineeing, and according to the top that the position control that determines each unmanned aerial vehicle flies to waiting to detect the shaft tower at present and correspond the position. Exemplarily, when the unmanned aerial vehicle group only comprises two unmanned aerial vehicles that can communicate with each other, can set up two unmanned aerial vehicles symmetry in the present both sides top that waits to detect the shaft tower, also make two unmanned aerial vehicles in the testing process with the magnet that is similar to a glass both sides and holds the same motion.
S208, detecting the detection target in the tower to be detected from top to bottom by each unmanned aerial vehicle.
In this embodiment, the detection target may be specifically understood as an object at a connection point between a high-voltage wire and a tower in the tower to be detected, and specifically may include a ground wire hanging point, an insulator and high-voltage wire hanging point, and an insulator body.
Specifically, because the tower connecting line is complicated in the power grid, the tower to be detected is often required to be identified by locating the ground wire hanging point, and the initial detection target of the tower to be detected is determined according to the ground wire hanging point, and is difficult to detect from bottom to top, so that after each unmanned aerial vehicle in the unmanned aerial vehicle unit is controlled to fly to different directions of the top of the tower to be detected, the detection target of the tower to be detected in the current direction corresponding to the unmanned aerial vehicle can be controlled to detect from top to bottom.
Furthermore, each unmanned aerial vehicle needs to firstly identify a detection target, the detection target can be detected only after the detection target is successfully identified, and the situation that all unmanned aerial vehicles or part of unmanned aerial vehicles in the unmanned aerial vehicle set lose the detection target may occur in the detection process.
When the unmanned aerial vehicles detect the detection target of the current tower to be detected from top to bottom, if the unmanned aerial vehicles lose the detection target of the current tower to be detected, determining that the detection failure is the current tower to be detected and the detection result corresponding to each tower to be detected behind the current tower to be detected in the inspection route, and controlling the unmanned aerial vehicle set to fly to the landing position;
if a detection target in the tower to be detected currently is lost in some unmanned aerial vehicles in the unmanned aerial vehicle set, the flight state of the unmanned aerial vehicle losing the detection target is adjusted according to the flight information of the unmanned aerial vehicle not losing the detection target, so that the unmanned aerial vehicle set can continuously detect the tower to be detected currently. .
Specifically, in the detection process, if all unmanned aerial vehicles in the unmanned aerial vehicle set all lose the detection target that waits to detect at present in the shaft tower, then can regard as unmanned aerial vehicle set trouble or wait to detect at present and detect the shaft tower and have the problem of detecting the target disappearance, because the inside unable mutual reference of unmanned aerial vehicle set continues to detect with adjustment flight position, for guaranteeing the smooth return of unmanned aerial vehicle set, avoid unmanned aerial vehicle crash etc. bigger economic loss, can wait to detect at present in the shaft tower and the route of patrolling and examining and lie in waiting to detect at present and detect each detection result that the shaft tower corresponds that detects behind the shaft tower all confirm to detect as the detection failure, so that follow-up to wait to detect the shaft tower and continue to patrol and examine, and control unmanned aerial vehicle set return to navigate and fly to the landing position. It is clear that what is provided in the embodiment of the present invention is only one possible implementation manner, and when each unmanned aerial vehicle in the unmanned aerial vehicle unit loses the detection target in the tower to be detected currently, the unmanned aerial vehicle unit is directly controlled to fly to the position of the tower to be detected next to the tower to be detected currently in the routing inspection route to detect the tower to be detected currently, and the direct return voyage is only an implementation means adopted to ensure the safety of the unmanned aerial vehicle unit.
Specifically, in the detection process, if some unmanned aerial vehicles in the unmanned aerial vehicle set lose the detection target in the tower to be detected currently, the reason that it may produce is that the tower to be detected currently is really lost the detection target, unmanned aerial vehicle trouble and unmanned aerial vehicle mistake discernment in arbitrary one, in order to guarantee going on smoothly of electric power patrolling and examining, and there is the unmanned aerial vehicle that can normally discern the detection target in the unmanned aerial vehicle set, so the unmanned aerial vehicle that loses the detection target in the unmanned aerial vehicle set according to distinguishable detection target's unmanned aerial vehicle of preferential attempt adjusts, so that unmanned aerial vehicle set can continue to detect the tower to be detected currently.
Further, fig. 3 is a flowchart illustrating a process of adjusting the flight status of the unmanned aerial vehicle missing the detection target according to the flight information of the unmanned aerial vehicle not missing the detection target according to a second embodiment of the present invention, as shown in fig. 3, specifically including the following steps:
s301, determining the unmanned aerial vehicle losing the detection target as an abnormal unmanned aerial vehicle, and determining the unmanned aerial vehicle not losing the detection target as a normal unmanned aerial vehicle.
Specifically, because each unmanned aerial vehicle in the unmanned aerial vehicle group can be in real time with the information transmission who gathers to the bus when waiting to detect the shaft tower to detect at present, all the other unmanned aerial vehicle's flight state can be known to each unmanned aerial vehicle in the event unmanned aerial vehicle group, and then can in time definitely lose the unmanned aerial vehicle of detection objective and confirm it as unusual unmanned aerial vehicle.
S302, determining the waypoint coordinates and the direction attitude of the abnormal unmanned aerial vehicle according to the flight information of the normal unmanned aerial vehicle and a preset routing inspection rule.
In this embodiment, the flight information may specifically be understood as position information, orientation information, and flight attitude information of the unmanned aerial vehicle when flying, where the position information may be represented by waypoint coordinates.
The utility model discloses an unmanned aerial vehicle, including among the preset patrolling and examining rule that each unmanned aerial vehicle should detect the position of treating the shaft tower, so under the condition of the flight information of known one of them unmanned aerial vehicle, can be according to this unmanned aerial vehicle and the relative position who treats the shaft tower, confirm position and the gesture that all the other unmanned aerial vehicles should be in at the present moment among the unmanned aerial vehicle group, can confirm the position and the flight gesture that unusual unmanned aerial vehicle should this moment according to the flight information of normal unmanned aerial vehicle among the unmanned aerial vehicle group, also can confirm the waypoint coordinate and the direction gesture of unusual unmanned aerial vehicle.
Connect the above-mentioned example, suppose that only two unmanned aerial vehicles that can communicate with each other in the unmanned aerial vehicle group, lose the detection target when one of them unmanned aerial vehicle, confirm it as unusual unmanned aerial vehicle, then can be according to normal unmanned aerial vehicle's flight information, confirm its and the symmetrical position of waiting to detect the shaft tower at present as the flight position that unusual unmanned aerial vehicle should be, confirm its opposite direction of orientation direction as the direction that unusual unmanned aerial vehicle should be faced, confirm its flight gesture as the due flight gesture of unusual unmanned aerial vehicle, also can confirm the flight state of unusual unmanned aerial vehicle in the unmanned aerial vehicle group.
S303, adjusting the flight state of the abnormal unmanned aerial vehicle according to the navigation point coordinates and the direction attitude.
Further, after the flight attitude of the abnormal unmanned aerial vehicle is adjusted according to the waypoint coordinates and the direction attitude, the abnormal unmanned aerial vehicle can continue to detect the current tower to be detected at the position. If the abnormal unmanned aerial vehicle cannot identify the detection target after being adjusted and the duration time which cannot be identified exceeds a preset time threshold, marking the detection target and the current tower to be detected; and taking the mark as a detection result of the current tower to be detected.
Specifically, after the abnormal unmanned aerial vehicle is adjusted, the detection target cannot be identified within a certain time, so that the problem that the detection target is lost in the tower to be detected currently can be considered, the detection target which cannot be detected and the tower to be detected currently are marked accordingly, and the mark can be uploaded as a detection result of the tower to be detected currently.
S209, determining a detection result corresponding to the tower to be detected currently according to the single-side detection result of each unmanned aerial vehicle, and uploading the detection result corresponding to the tower to be detected currently.
Specifically, because each unmanned aerial vehicle can only detect the one side of the present shaft tower that waits to detect that it faces, the testing result that so obtained is the unilateral testing result, and the unilateral testing result that corresponds with each unmanned aerial vehicle makes up and to obtain the testing result that the present shaft tower that waits to detect corresponds to upload after determining the testing result that the present shaft tower that waits to detect, so that server or ground station can receive the testing result that respectively waits to detect the shaft tower and acquire patrolling and examining the in-process.
S210, judging whether the tower to be detected is the last tower to be detected in the routing inspection route or not, if so, executing a step S212; if not, step S211 is executed.
Specifically, whether the tower to be detected is the last tower to be detected in the routing inspection route is determined according to the position information or the sequencing information of the tower to be detected in the routing inspection route, if yes, the routing inspection is considered to be finished, and step S212 can be executed; if not, the other towers to be detected in the routing inspection route are considered to need to be detected continuously, and at this time, step S211 is executed.
S211, determining the next tower to be detected in the routing inspection route as a new current tower to be detected, and returning to execute the step S207.
Specifically, when the detection needs to be continued, the tower to be detected which is ranked at the position below the current tower to be detected is determined in the routing inspection route, the tower to be detected is determined as a new tower to be detected, and the step S207 is returned to be executed, so that the unmanned aerial vehicle unit flies to the top of the unmanned aerial vehicle unit to detect each detection target on the unmanned aerial vehicle unit.
Optionally, after a new tower to be detected currently is determined, the unmanned aerial vehicle set can be controlled to directly fly to the new tower to be detected currently along the line from the detection completion position, and when the detection from top to bottom is not needed, the detection from bottom to top can be directly performed on the new tower to be detected, so that the flight path length of the unmanned aerial vehicle set is further reduced.
And S212, finishing detection and enabling the unmanned aerial vehicle set to fly to a landing position.
Specifically, after it is determined that all towers to be detected in the routing inspection route are detected, the unmanned aerial vehicle set is controlled to fly to the landing position to land according to the predetermined coordinates of the landing position of the unmanned aerial vehicle set.
And S213, receiving the detection result corresponding to each tower to be detected.
And S214, determining a power inspection result according to each detection result.
S215, rechecking the inspection target according to the power inspection result.
In this embodiment, rechecking the inspection target may specifically be understood as the detection target on the tower or the tower that is needed to be detected again and has an abnormality in the incomplete inspection of the current power inspection.
Specifically, according to the electric power inspection result, the tower with the detection result of failed detection, the detection target marked in the detection result and the tower are determined as recheck inspection targets.
And S216, generating a rechecking inspection task according to the rechecking inspection target.
In this embodiment, the rechecking inspection task may be specifically understood as task information that includes rechecking inspection target position information, so that a worker can recheck an abnormal portion in the power grid.
Specifically, a corresponding rechecking inspection path is generated according to the determined position information corresponding to the rechecking inspection target, and possible problems of each rechecking inspection target are labeled so as to generate a rechecking inspection task for manual rechecking inspection.
According to the technical scheme of the embodiment of the invention, before the unmanned aerial vehicle set carries out inspection, the inspection route with the lowest inspection cost is determined according to the rising and landing positions of the unmanned aerial vehicle set and the position set of the towers, and when the unmanned aerial vehicle set carries out inspection on the detection targets on the towers to be detected, the detection is carried out from top to bottom, the unmanned aerial vehicle can return to the ground in time and the detection result of the undetected tower is determined aiming at the fact that all unmanned aerial vehicles lose the detection target in the detection process, meanwhile, when part of unmanned aerial vehicles lose the detection target, the unmanned aerial vehicles are preferably adjusted according to the rest unmanned aerial vehicles in the unmanned aerial vehicle set, if the unmanned aerial vehicles still cannot be identified, the detection target in the tower is marked, so that the stability of the detection process is higher, the determined detection result is more accurate, and simultaneously, after the electric power inspection result is determined, generating a rechecking inspection task for the pole tower needing rechecking in the electric power inspection result. Through many unmanned aerial vehicle combinations patrol and examine for can adjust the flight gesture according to normal unmanned aerial vehicle when part unmanned aerial vehicle loses the detection target, guarantee the sustainability of patrolling and examining, improve and patrol and examine efficiency and stability, carry out recheck according to the electric power inspection result after accomplishing the detection simultaneously and patrol and examine the generation of task, promoted and patrolled and examined the precision, reduced the shaft tower number that needs the manual work to patrol and examine, reduced and patrolled and examined the cost of labor.
EXAMPLE III
Fig. 4 is a schematic structural diagram of a power inspection device according to a third embodiment of the present invention, where the power inspection device includes: a route determining module 41, a detecting module 42 and a routing inspection result determining module 43.
The route determining module 41 is configured to obtain a tower position set including at least one piece of tower position information to be detected, and determine an inspection route according to the tower position information to be detected; the detection module 42 is used for controlling the unmanned aerial vehicle set to sequentially detect each tower to be detected in the tower position set according to the routing inspection route and receive a detection result corresponding to each tower to be detected; an inspection result determining module 43, configured to determine an electric power inspection result according to each detection result; wherein, including two unmanned aerial vehicles that can intercommunicate at least in the unmanned aerial vehicle group, each unmanned aerial vehicle detects the same different position that waits to detect the shaft tower simultaneously in the unmanned aerial vehicle group.
According to the technical scheme of the embodiment of the invention, the unmanned unit comprising at least two unmanned aerial vehicles is controlled to detect each tower to be detected in the inspection route, and each unmanned aerial vehicle in the unmanned unit detects the same tower to be detected simultaneously, so that the increase of a flight path caused by ensuring complete detection of each side of the tower when only one unmanned aerial vehicle inspects the tower is avoided, and the unmanned aerial vehicles detect the same tower simultaneously, the positions among the unmanned aerial vehicles can be mutually verified, the inspection stability in the process of performing full-autonomous flight inspection by the unmanned aerial vehicles is improved, the problems of low precision, high operation difficulty and long inspection path in the existing full-autonomous flight inspection are solved, the length of unnecessary paths in the full-autonomous flight inspection is reduced, the inspection efficiency and the inspection precision are improved, and the inspection labor cost is reduced.
Optionally, the route determining module 41 includes:
and the taking-off and landing position acquisition unit is used for acquiring the taking-off and landing position of the unmanned aerial vehicle set.
And the alternative route determining unit is used for determining at least one achievable alternative routing inspection route according to the set of the take-off and landing position and the tower position.
And the inspection cost determining unit is used for comprehensively determining the inspection cost of each alternative inspection route according to the route length and the gradient climbing information of each alternative inspection route.
And the routing inspection route determining unit is used for determining the alternative routing inspection route with the lowest routing inspection cost as the routing inspection route.
Optionally, the detecting module 42 includes:
and the tower determining unit is used for determining the current tower to be detected in the routing inspection route.
And the detection position configuration unit is used for configuring each unmanned aerial vehicle in the unmanned aerial vehicle unit on the tops of the towers to be detected in different directions according to the preset inspection rule.
And the detection unit is used for detecting the detection target in the tower to be detected from top to bottom by each unmanned aerial vehicle.
And the result determining unit is used for determining the detection result corresponding to the tower to be detected currently according to the single-side detection result of each unmanned aerial vehicle and uploading the detection result corresponding to the tower to be detected currently.
The next tower determining unit is used for finishing detection and enabling the unmanned aerial vehicle set to fly to a landing position if the current tower to be detected is the last tower to be detected in the routing inspection route; and if not, determining the next tower to be detected in the routing inspection route as a new current tower to be detected, and returning to execute the step of configuring each unmanned aerial vehicle in the unmanned aerial vehicle unit on the tops of the current tower to be detected in different directions according to the preset inspection rule.
Further, when each unmanned aerial vehicle detects the detection target in the tower to be detected from top to bottom, the method further comprises the following steps:
if all the unmanned aerial vehicles lose the detection target in the tower to be detected currently, determining the detection failure as the tower to be detected currently and the detection result corresponding to each tower to be detected positioned behind the tower to be detected currently in the inspection route, and controlling the unmanned aerial vehicle unit to fly to the landing position;
if a detection target in the tower to be detected currently is lost in some unmanned aerial vehicles in the unmanned aerial vehicle set, the flight state of the unmanned aerial vehicle losing the detection target is adjusted according to the flight information of the unmanned aerial vehicle not losing the detection target, so that the unmanned aerial vehicle set can continuously detect the tower to be detected currently.
Further, according to the flight information of the unmanned aerial vehicle not losing the detection target, adjusting the flight state of the unmanned aerial vehicle losing the detection target, including:
determining the unmanned aerial vehicle losing the detection target as an abnormal unmanned aerial vehicle, and determining the unmanned aerial vehicle not losing the detection target as a normal unmanned aerial vehicle;
determining the navigation point coordinate and the direction attitude of the abnormal unmanned aerial vehicle according to the flight information of the normal unmanned aerial vehicle and a preset routing inspection rule;
and adjusting the flight state of the abnormal unmanned aerial vehicle according to the navigation point coordinate and the direction attitude.
Further, after adjusting the flight state of the abnormal unmanned aerial vehicle according to the waypoint coordinates and the direction attitude, the method further comprises the following steps:
if the abnormal unmanned aerial vehicle still cannot identify the detection target and the duration time which cannot be identified exceeds a preset time threshold, marking the detection target and the current tower to be detected;
and taking the mark as a detection result of the current tower to be detected.
Optionally, the power inspection device still includes:
and the rechecking target determining module is used for determining the rechecking inspection target according to the power inspection result.
And the rechecking task generating module is used for generating a rechecking inspection task according to the rechecking inspection target.
The power inspection device provided by the embodiment of the invention can execute the power inspection method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
Example four
Fig. 5 is a schematic structural diagram of a power inspection apparatus according to a fourth embodiment of the present invention. This equipment is patrolled and examined to electric power includes: a processor 50, a storage device 51, a display 52, an input device 53, and an output device 54. The number of the processors 50 in the power inspection apparatus may be one or more, and one processor 50 is taken as an example in fig. 5. The number of the storage devices 51 in the power inspection apparatus may be one or more, and one storage device 51 is illustrated in fig. 5. The processor 50, the storage device 51, the display screen 52, the input device 53, and the output device 54 of the power inspection apparatus may be connected by a bus or other means, and the bus connection is exemplified in fig. 5. In an embodiment, the power inspection equipment can be a computer, a notebook, an intelligent tablet or the like.
The storage device 51, as a computer-readable storage medium, may be used for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the power inspection apparatus according to any embodiment of the present application (e.g., the route determining module 41, the detecting module 42, and the inspection result determining module 43). The storage device 51 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of the device, and the like. Further, the storage 51 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the storage 51 may further include memory located remotely from the processor 50, which may be connected to the device over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The display screen 52 may be a touch-enabled display screen 52, which may be a capacitive screen, an electromagnetic screen, or an infrared screen. In general, the display screen 52 is used for displaying data according to instructions from the processor 50, and is also used for receiving touch operations applied to the display screen 52 and sending corresponding signals to the processor 50 or other devices.
The input means 53 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function controls of the presentation apparatus, and may also be a camera for acquiring images and a sound pickup apparatus for acquiring audio data. The output device 54 may include an audio device such as a speaker. It should be noted that the specific composition of the input device 53 and the output device 54 may be set according to actual conditions.
The processor 50 executes various functional applications and data processing of the device by executing software programs, instructions and modules stored in the storage device 51, that is, implements the power patrol method described above.
The power inspection equipment can be used for executing the power inspection method provided by any embodiment, and has corresponding functions and beneficial effects.
EXAMPLE five
An embodiment of the present invention further provides a storage medium containing computer-executable instructions, which when executed by a computer processor, are configured to perform a power patrol method, including:
acquiring a tower position set containing at least one piece of tower position information to be detected, and determining a routing inspection route according to the tower position information to be detected;
the unmanned aerial vehicle set is controlled to sequentially detect each tower to be detected in the tower position set according to the routing inspection route, and detection results corresponding to each tower to be detected are received;
determining a power inspection result according to each detection result;
wherein, including two unmanned aerial vehicles that can intercommunicate at least in the unmanned aerial vehicle group, each unmanned aerial vehicle detects the same different position that waits to detect the shaft tower simultaneously in the unmanned aerial vehicle group.
Of course, the storage medium containing the computer-executable instructions provided by the embodiments of the present invention is not limited to the method operations described above, and may also perform related operations in the power inspection method provided by any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the above search apparatus, each included unit and module are merely divided according to functional logic, but are not limited to the above division as long as the corresponding functions can be implemented; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A power inspection method is characterized by comprising the following steps:
acquiring a tower position set containing at least one piece of tower position information to be detected, and determining a routing inspection route according to the tower position information to be detected;
controlling the unmanned aerial vehicle set to sequentially detect each tower to be detected in the tower position set according to the routing inspection route and receive a detection result corresponding to each tower to be detected;
determining a power inspection result according to each detection result;
the unmanned aerial vehicle set at least comprises two unmanned aerial vehicles which can communicate with each other, and each unmanned aerial vehicle in the unmanned aerial vehicle set detects different directions of the same tower to be detected at the same time.
2. The method according to claim 1, wherein the determining the routing inspection route according to the position information of each tower to be detected comprises:
acquiring the lifting position of the unmanned aerial vehicle set;
determining at least one achievable alternative routing inspection route according to the take-off and landing position and the tower position set;
comprehensively determining the inspection cost of each alternative inspection route according to the route length and the gradient climbing information of each alternative inspection route;
and determining the alternative routing inspection route with the lowest routing inspection cost as the routing inspection route.
3. The method according to claim 1, wherein the controlling the unmanned aerial vehicle unit to sequentially detect each tower to be detected in the tower position set according to the routing inspection route comprises:
determining the current tower to be detected in the routing inspection route;
arranging each unmanned aerial vehicle in the unmanned aerial vehicle unit on the tops of the towers to be detected in different directions according to a preset routing inspection rule;
detecting a detection target in the current tower to be detected from top to bottom by each unmanned aerial vehicle;
determining a detection result corresponding to the current tower to be detected according to the single-side detection result of each unmanned aerial vehicle, and uploading the detection result corresponding to the current tower to be detected;
if the current tower to be detected is the last tower to be detected in the inspection route, ending the detection and enabling the unmanned aerial vehicle set to fly to a landing position; and if not, determining the next tower to be detected in the routing inspection route as a new current tower to be detected, and returning to execute the step of configuring each unmanned aerial vehicle in the unmanned aerial vehicle set on the tops of the current tower to be detected in different directions according to preset inspection rules.
4. The method according to claim 3, wherein, when each of the drones performs top-to-bottom detection on the detection target in the tower to be currently detected, the method further comprises:
if the unmanned aerial vehicles lose the detection targets in the towers to be detected currently, determining detection failures as the towers to be detected currently and detection results corresponding to the towers to be detected which are positioned behind the towers to be detected currently in the inspection route, and controlling the unmanned aerial vehicle set to fly to a landing position;
if a detection target in the tower to be detected currently is lost in some unmanned aerial vehicles in the unmanned aerial vehicle set, adjusting the flight state of the unmanned aerial vehicle losing the detection target according to the flight information of the unmanned aerial vehicle not losing the detection target, so that the unmanned aerial vehicle set can continuously detect the tower to be detected currently.
5. The method of claim 4, wherein said adjusting the flight status of the drone missing the detected target according to the flight information of the drone not missing the detected target comprises:
determining the unmanned aerial vehicle losing the detection target as an abnormal unmanned aerial vehicle, and determining the unmanned aerial vehicle not losing the detection target as a normal unmanned aerial vehicle;
determining the waypoint coordinates and the direction attitude of the abnormal unmanned aerial vehicle according to the flight information of the normal unmanned aerial vehicle and the preset routing inspection rule;
and adjusting the flight state of the abnormal unmanned aerial vehicle according to the waypoint coordinates and the direction attitude.
6. The method of claim 5, further comprising, after said adjusting the flight status of the anomalous drone as a function of the waypoint coordinates and the directional attitude:
if the abnormal unmanned aerial vehicle still cannot identify the detection target and the duration time which cannot be identified exceeds a preset time threshold, marking the detection target and the current tower to be detected;
and taking the mark as a detection result of the current tower to be detected.
7. The method of claim 1, wherein after determining the power inspection result according to each of the detection results, further comprising:
determining a rechecking inspection target according to the power inspection result;
and generating a rechecking inspection task according to the rechecking inspection target.
8. The utility model provides a power inspection device which characterized in that includes:
the route determining module is used for acquiring a tower position set containing at least one piece of tower position information to be detected and determining a routing inspection route according to the tower position information to be detected;
the detection module is used for controlling the unmanned aerial vehicle set to sequentially detect each tower to be detected in the tower position set according to the routing inspection route and receiving a detection result corresponding to each tower to be detected;
the inspection result determining module is used for determining a power inspection result according to each detection result;
the unmanned aerial vehicle set at least comprises two unmanned aerial vehicles which can communicate with each other, and each unmanned aerial vehicle in the unmanned aerial vehicle set detects different directions of the same tower to be detected at the same time.
9. The utility model provides an equipment is patrolled and examined to electric power which characterized in that, equipment is patrolled and examined to electric power includes: a storage device and one or more processors;
the storage device to store one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the power patrol method of any of claims 1-7.
10. A storage medium containing computer-executable instructions for performing the power patrol method of any one of claims 1-7 when executed by a computer processor.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114911271A (en) * | 2022-06-23 | 2022-08-16 | 深圳市多翼创新科技有限公司 | Wide-area distributed cooperative operation system and method based on cloud unmanned aerial vehicle |
| CN116820137A (en) * | 2023-08-28 | 2023-09-29 | 天津市普迅电力信息技术有限公司 | Unmanned aerial vehicle power distribution network routing inspection route generation method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114911271A (en) * | 2022-06-23 | 2022-08-16 | 深圳市多翼创新科技有限公司 | Wide-area distributed cooperative operation system and method based on cloud unmanned aerial vehicle |
| CN116820137A (en) * | 2023-08-28 | 2023-09-29 | 天津市普迅电力信息技术有限公司 | Unmanned aerial vehicle power distribution network routing inspection route generation method |
| CN116820137B (en) * | 2023-08-28 | 2023-11-14 | 天津市普迅电力信息技术有限公司 | Unmanned aerial vehicle power distribution network routing inspection route generation method |
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