CN114185363B - 5G link-based electric power inspection unmanned aerial vehicle multi-machine integrated management system - Google Patents
5G link-based electric power inspection unmanned aerial vehicle multi-machine integrated management system Download PDFInfo
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Abstract
The invention provides a 5G link-based multi-machine integrated management system of an electric power inspection unmanned aerial vehicle, which comprises an unmanned aerial vehicle, a microcontroller arranged on the unmanned aerial vehicle, a cooperative device, a collecting device, an obstacle avoidance device, a transmission device, a task device, a server and a processor, wherein the cooperative device is loaded on the unmanned aerial vehicle and transmits state data among a plurality of unmanned aerial vehicles; the acquisition device acquires images or video signals of a plurality of unmanned aerial vehicles in the operation process; the obstacle avoidance device collects obstacles at the front ends of the operation of the plurality of unmanned aerial vehicles; the transmission device receives data of a plurality of unmanned aerial vehicles and transmits the data to the server; the task device manages tasks of the plurality of unmanned aerial vehicles. According to the invention, the unmanned aerial vehicles are mutually matched in the inspection process by adopting the cooperative matching among the cooperative devices on the unmanned aerial vehicles, so that the power line is inspected from different angles, and the inspection efficiency and inspection quality are improved.
Description
Technical Field
The invention relates to the technical field of power grid inspection, in particular to a 5G link-based multi-machine integrated management system of an electric power inspection unmanned aerial vehicle.
Background
In the process of cluster information sharing, how to transfer the perceived target and platform state information to other individuals, so that the whole system can meet the available bandwidth limit to reduce the detected probability and meet the requirements of cooperative control and decision making, is a very important problem. In the multi-unmanned aerial vehicle collaborative detection system, a plurality of unmanned aerial vehicles can be provided with different sensors, and a larger range, higher precision and stronger robustness are obtained through mutual collaborative work. To realize collaborative awareness of situations, collaborative target detection, target identification and fusion estimation, collaborative situation understanding and sharing are needed to obtain complete, clear and accurate information, and support is provided for decision making.
As the CN109523011B prior art discloses a multi-sensor self-adaptive management method for multi-unmanned aerial vehicle collaborative detection, in a multi-unmanned aerial vehicle collaborative detection network, different kinds of sensors with different working modes can provide descriptions of different characteristics of targets, and by integrating information of a plurality of characteristics, more effective and more accurate identity estimation and judgment than any one sensor in a system can be generated. Therefore, in the cooperative detection process of multiple unmanned aerial vehicles, on one hand, the target recognition probability can be maximized by fusing various different detection characteristic information; on the other hand, considering the uniqueness of the target, the contribution degree of different target features to target identity recognition is different, so that an unmanned aerial vehicle carrying suitable sensors in the multi-sensor management process should be selected to ensure that the detection of the target features is most beneficial to recognition.
Another typical multi-view state gesture sensing navigation method of a substation inspection unmanned aerial vehicle disclosed in the prior art like CN111741263B is that, because a large number of power devices exist in a substation, such as a power transformer, a voltage current transformer, a high-voltage circuit breaker and other power devices, and a substation extension reconstruction project, the condition of a substation internal wiring is complex, the space between devices is dense, the risk of collision between the unmanned aerial vehicle and the electrified devices in the substation exists, compared with a transmission line, the actual environment of the substation is different, inspection objects at different times are likely to be completely different, the targets of the inspection of the unmanned aerial vehicle substation are more complex and various, and this results in that the navigation positioning mode of the existing unmanned aerial vehicle according to the fixed line flight is not applicable, and the accuracy of the unmanned aerial vehicle navigation positioning is low.
The invention is designed for solving the problems that the multi-machine coordination capability is poor, the data of multiple machines cannot be synthesized, the intelligent of the multi-frame unmanned aerial vehicle is poor, the recognition precision is low, the images of the multiple machines cannot be distributed in a self-adaptive manner, the manual rechecking is relied on, the manual labor intensity is high and the like in the field.
Disclosure of Invention
The invention aims to provide a 5G link-based multi-machine integrated management system for an electric power inspection unmanned aerial vehicle, aiming at the defects existing in the current electric power network inspection.
In order to overcome the defects in the prior art, the invention adopts the following technical scheme:
the utility model provides an electric power inspection unmanned aerial vehicle multi-machine integrated management system based on 5G link, includes unmanned aerial vehicle and sets up the microcontroller on the unmanned aerial vehicle, still includes cooperative device, collection system, keeps away barrier device, transmission device, task device, server and treater, the treater respectively with cooperative device, collection system, keep away barrier device, transmission device, task device and server control connection,
the cooperative device is loaded on the unmanned aerial vehicle and transmits state data among a plurality of unmanned aerial vehicles; the acquisition device acquires images or video signals of a plurality of unmanned aerial vehicles in the operation process; the obstacle avoidance device is used for collecting obstacles at the front ends of the operation of the plurality of unmanned aerial vehicles; the transmission device receives data of a plurality of unmanned aerial vehicles and transmits the data to the server; the task device manages tasks of a plurality of unmanned aerial vehicles; the server is connected with the cooperative device, the acquisition device, the obstacle avoidance device and the transmission device, and collects and stores the detected data;
The cooperative device comprises a state acquisition mechanism and a following mechanism, and the state acquisition mechanism detects the self state of the unmanned aerial vehicle; the following mechanism monitors the states of the adjacent unmanned aerial vehicles; the state of the unmanned aerial vehicle comprises an ID, a position, electric quantity, a model and a patrol image or video of the unmanned aerial vehicle;
the following mechanism comprises a detection radar and a steering module, the detection component is arranged on the steering module, and the position data of the adjacent unmanned aerial vehicle are acquired under the adjustment of the steering module;
acquiring an initial position S of the detection radar to the adjacent unmanned aerial vehicle 0 And tracking the position S in real time i And (3) calculating the search range F of the adjacent unmanned aerial vehicle according to the following formula:
d is the safety distance between two adjacent unmanned aerial vehicles; initial position S 0 Is (x) 0 ，y 0 ) The method comprises the steps of carrying out a first treatment on the surface of the Tracking position S in real time i Is (x) i ，y i )；
According to the above and the position D of the unmanned aerial vehicle and the obstacle Fixing device (u, v) the distance between the two, then obtaining the cooperative distance total of the unmanned aerial vehicle,
wherein λ is a weight coefficient, the value of which is determined by λ=1/d; d (D) Fixing device The maximum safe distance value between the obstacle coordinates and the unmanned aerial vehicle; k is the total number of obstacles on the travel path; h i Threat coefficients for the ith obstacle; r is (r) i The center distance between the ith barrier and the unmanned aerial vehicle is the i;
the following conditions are also required for the threat coefficients:
wherein Δβ is an obstacle avoidance adjustment angle between an obstacle and the unmanned aerial vehicle.
Optionally, the collecting device is detachably connected with the unmanned aerial vehicle, wherein the collecting device comprises a collecting mechanism and a steering mechanism, and the steering mechanism adjusts the detection angle of the collecting mechanism; the acquisition mechanism acquires image or video data of the power line; the acquisition mechanism comprises a detection camera and a data storage unit, wherein the data storage unit stores image or video data of the detection camera; the angle that detection camera was gathered through steering mechanism adjustment:
the steering mechanism comprises a steering cavity, a steering driving mechanism, an angle marking piece, an angle detection piece, an indication rod, a fixing seat and a connecting rod, wherein the steering driving mechanism is in driving connection with the connecting rod to form a driving part, and the driving part is arranged in the steering cavity; the fixed seat is nested with the rod body of the connecting rod and rotates along with the rotation of the connecting rod; one end of the indicating rod is connected with the outer wall of the fixed seat, and the other end of the indicating rod is connected with the angle detection piece; the angle marking pieces are arranged on the inner wall of the steering cavity, are distributed at equal intervals along the inner wall of the steering cavity, and are arranged opposite to the angle detection pieces.
Optionally, the obstacle avoidance device performs an obstacle avoidance operation based on the data of the following mechanism or the detection device; the obstacle avoidance device comprises a plurality of obstacle avoidance arrays and an attitude adjusting unit, wherein each obstacle avoidance array is arranged below each propeller and is detachably clamped with the lower end face of the propeller; the gesture adjusting unit acquires the current gesture of the unmanned aerial vehicle and the position data of the obstacle and triggers the adjustment of the gesture; wherein the adjustment amount Fly (T) of the posture adjustment unit is calculated according to the following formula,
Fly(T)＝Fly(t)-Fly(t-1)
Fly(t)＝(K p +K i )×Trans x ×cosα+K d ×(Station y -Station 0 )×sinα+Δω
Fly(t-1)＝K p (Gyro z -Gyro 0 )×tanα+Δω
wherein Fly (t) is an initial position adjustment amount; fly (t-1) is the transfer adjustment amount; k (K) p Is an x-axis angle differential parameter; k (K) i Balance angle proportion parameters for a y axis; k (K) d Stabilizing the auxiliary parameter for the z axis; trans is a distance value adjusted along the x axis by the unmanned aerial vehicle; station y The distance value is adjusted along the y axis for the unmanned aerial vehicle; alpha is the running direction angle of the unmanned aerial vehicle;
Gyro z distance value adjusted along z-axis for unmanned aerial vehicle
Δω is an adjustment amount deviation assist coefficient, satisfying:
wherein E is 1 Is the temperature of the current environment; e (E) 2 Wind direction of the current environment; e (E) 3 Is the steering distance of the unmanned aerial vehicle; e (E) 4 Is the total weight of the unmanned aerial vehicle.
Optionally, the transmission device is arranged on the ground or a guiding position in the inspection range and is used for carrying out auxiliary transmission on data acquired by multiple unmanned aerial vehicles; the transmission device comprises a transmission mechanism and a supporting mechanism, wherein the transmission mechanism is arranged on the supporting mechanism; the supporting mechanism supports the transmission mechanism and is contacted with the ground; the transmission mechanism comprises a transmission radar, a rotation member and a pairing module, wherein the rotation member rotates the transmission radar at a set rotation speed; the pairing module establishes a pairing relation with a plurality of unmanned aerial vehicles so as to establish a plurality of connection nodes; each connecting node communicates with the unmanned aerial vehicle through a transmission radar and transmits data;
The supporting mechanism comprises a supporting seat and a plurality of supporting rods, the transmission mechanism is arranged on the upper end face of the supporting seat, the supporting rods are arranged on one side, away from the transmission mechanism, of the supporting seat, are hinged with the outer wall of the supporting seat, and are distributed at equal intervals along the periphery of the supporting seat.
Optionally, the task device includes a feedback module and a task module, where the task module uploads a task detected by the unmanned aerial vehicle, so as to implement execution of the task by the unmanned aerial vehicle; the feedback module collects the execution state of the unmanned aerial vehicle and feeds the execution state back to a server or a cloud platform;
the task module comprises a task manager and a permission management unit, wherein the task manager is connected with the unmanned aerial vehicle in a pairing manner to distribute tasks; the permission management unit establishes a task transmission communication link with the unmanned aerial vehicle so as to manage task priority and safety;
the task module accesses the database, compares the task record with the current execution task record of the unmanned aerial vehicle, creates a group of allocation tasks with priority arranged according to the scheduling sequence of the priority management unit, and allocates the tasks to the unmanned aerial vehicle according to the corresponding scheduling priority; the state of the current execution task record is fed back or recorded by the feedback module; if the current execution task is not completed, prompting a server or a cloud platform to reject the task allocation through the feedback module.
Optionally, the feedback module includes a status monitoring unit and a feedback unit, where the status monitoring unit monitors a status parameter of the unmanned aerial vehicle; the feedback unit feeds back to the server and the cloud platform based on the data of the state monitoring unit;
the state of the unmanned aerial vehicle comprises a connection state of the unmanned aerial vehicle, an ID (identity), a position, an electric quantity, a model number and a patrol image or video of the unmanned aerial vehicle.
Optionally, the steering module is arranged at the upper top of the unmanned aerial vehicle body and is detachably clamped with the unmanned aerial vehicle; the steering module comprises a rotating member and a storage cavity, wherein the rotating member is arranged in the storage cavity and is detachably clamped with the rotating member, the rotating member comprises a rotating seat and a rotating driving mechanism, the following member is arranged at the upper top of the rotating seat, and the lower bottom of the rotating seat is in driving connection with the rotating driving mechanism.
The beneficial effects obtained by the invention are as follows:
1. through the cooperative cooperation among the cooperative devices on the unmanned aerial vehicles, the unmanned aerial vehicles are mutually matched in the inspection process, the electric power line is inspected from different angles, and the inspection efficiency and the inspection quality are improved;
2. The obstacle avoidance device can be used for independently collecting the position and the size of an obstacle at the front end of the operation of the unmanned aerial vehicle; the device can also be matched with the acquisition device to acquire the obstacle at the front end of the unmanned aerial vehicle and trigger obstacle avoidance operation;
3. through the cooperation of the transmission device and the unmanned aerial vehicle, the unmanned aerial vehicle and the transmission device can carry out data transmission with large load;
4. the detection radar and the steering module are matched with each other, so that adjacent unmanned aerial vehicles can be followed, and obstacle avoidance on the running front-end obstacle is considered;
5. the task transmission communication link is established with the unmanned aerial vehicle through the permission management unit, so that the task priority and the flight safety of the unmanned aerial vehicle are managed, meanwhile, the unmanned aerial vehicle with multiple frames is cooperatively managed, and the high efficiency and the reliability of inspection are improved.
For a further understanding of the nature and the technical aspects of the present invention, reference should be made to the following detailed description of the invention and the accompanying drawings, which are provided for purposes of reference only and are not intended to limit the invention.
Drawings
The invention will be further understood from the following description taken in conjunction with the accompanying drawings. The components in the figures are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the embodiments. Like reference numerals designate corresponding parts throughout the different views.
Fig. 1 is a schematic structural view of the unmanned aerial vehicle and the following mechanism of the present invention.
Fig. 2 is an enlarged schematic view of a detail at a in fig. 1.
Fig. 3 is a schematic structural view of the clamping member of the present invention.
Fig. 4 is a schematic structural view of the following mechanism of the present invention.
Fig. 5 is a schematic bottom view of the follower mechanism of the present invention.
Fig. 6 is a schematic structural diagram of the collecting device of the present invention.
Fig. 7 is a schematic view of a part of the steering mechanism according to the present invention.
Fig. 8 is an enlarged schematic view of a detail at B in fig. 7.
Fig. 9 is a schematic cross-sectional view at C-C of fig. 8.
Fig. 10 is a schematic structural view of the transmission device.
Reference numerals illustrate: 1-a steering module; 2-detecting a probe; 3-a supporting seat; 4-a bottom plate; 5-clamping claws; 6-a storage chamber; 7-connecting copper plates; 8-a clamping seat; 9-a fuselage body; 10-power contact; 11-a collection device; 12-obstacle avoidance arrays; 13-propeller; 14-a follower mechanism; 15-a steering mechanism; 16-an offset member; 17-a detection camera; 18-an infrared probe; 19-an indicator bar; 20-angle marker; 21-an angle detecting member; 22-steering chamber; 23-a driving part; 24-connecting rods; 25-a transmission mechanism; 26-a telescopic rod; 27-a supporting seat; 28-supporting rods; 29-a vertical plate; 30-fixing seats; 31-a rotation member.
Detailed Description
The following embodiments of the present invention are described in terms of specific examples, and those skilled in the art will appreciate the advantages and effects of the present invention from the disclosure herein. The invention is capable of other and different embodiments and its several details are capable of modification and variation in various respects, all without departing from the spirit of the present invention. The drawings of the present invention are merely schematic illustrations, and are not intended to be drawn to actual dimensions. The following embodiments will further illustrate the related art content of the present invention in detail, but the disclosure is not intended to limit the scope of the present invention.
Embodiment one: according to fig. 1, 2, 3, 4, 5, 6, 7, 8, 9 and 10, the embodiment provides a 5G link-based power inspection unmanned aerial vehicle multi-machine integrated management system, which comprises an unmanned aerial vehicle, a microcontroller arranged on the unmanned aerial vehicle, a cooperative device, a collection device, an obstacle avoidance device, a transmission device, a task device, a server and a processor, wherein the processor is respectively in control connection with the cooperative device, the collection device, the obstacle avoidance device, the transmission device, the task device and the server,
The cooperative device is loaded on the unmanned aerial vehicle and transmits state data among a plurality of unmanned aerial vehicles; the acquisition device acquires images or video signals of a plurality of unmanned aerial vehicles in the operation process; the obstacle avoidance device is used for collecting obstacles at the front ends of the operation of the plurality of unmanned aerial vehicles; the transmission device receives data of a plurality of unmanned aerial vehicles and transmits the data to the server; the task device manages tasks of a plurality of unmanned aerial vehicles; the server is connected with the cooperative device, the acquisition device, the obstacle avoidance device and the transmission device, and collects and stores the detected data;
the cooperative device comprises a state acquisition mechanism and a following mechanism, and the state acquisition mechanism detects the self state of the unmanned aerial vehicle; the following mechanism monitors the states of the adjacent unmanned aerial vehicles; the state of the unmanned aerial vehicle comprises an ID, a position, electric quantity, a model and a patrol image or video of the unmanned aerial vehicle;
the following mechanism comprises a detection radar and a steering module, the detection component is arranged on the steering module, and the position data of the adjacent unmanned aerial vehicle are acquired under the adjustment of the steering module;
Acquiring an initial position S of the detection radar to the adjacent unmanned aerial vehicle 0 And tracking the position S in real time i And (3) calculating the search range F of the adjacent unmanned aerial vehicle according to the following formula:
d is the safety distance between two adjacent unmanned aerial vehicles; initial position S 0 Is (x) 0 ，y 0 ) The method comprises the steps of carrying out a first treatment on the surface of the Tracking position S in real time i Is (x) i ，y i )；
According to the above, unmanned aerial vehiclePosition D with obstacle Fixing device (u, v) the distance between the two, then obtaining the cooperative distance total of the unmanned aerial vehicle,
wherein λ is a weight coefficient, the value of which is determined by λ=1/d; d (D) Fixing device The maximum safe distance value between the obstacle coordinates and the unmanned aerial vehicle; k is the total number of obstacles on the travel path; h i Threat coefficients for the ith obstacle; r is (r) i The center distance between the ith barrier and the unmanned aerial vehicle is the i;
the following conditions are also required for the threat coefficients:
wherein Δβ is an obstacle avoidance adjustment angle of the obstacle and the unmanned aerial vehicle;
optionally, the collecting device is detachably connected with the unmanned aerial vehicle, wherein the collecting device comprises a collecting mechanism and a steering mechanism, and the steering mechanism adjusts the detection angle of the collecting mechanism; the acquisition mechanism acquires image or video data of the power line; the acquisition mechanism comprises a detection camera and a data storage unit, wherein the data storage unit stores image or video data of the detection camera; the angle that detection camera was gathered through steering mechanism adjustment:
The steering mechanism comprises a steering cavity, a steering driving mechanism, an angle marking piece, an angle detection piece, an indication rod, a fixing seat and a connecting rod, wherein the steering driving mechanism is in driving connection with the connecting rod to form a driving part, and the driving part is arranged in the steering cavity; the fixed seat is nested with the rod body of the connecting rod and rotates along with the rotation of the connecting rod; one end of the indicating rod is connected with the outer wall of one side of the fixed seat, and the other end of the indicating rod is connected with the angle detection piece; the angle marking pieces are arranged on the inner wall of the steering cavity, are distributed at equal intervals along the inner wall of the steering cavity, and are arranged opposite to the angle detection pieces;
optionally, the obstacle avoidance device performs an obstacle avoidance operation based on the data of the following mechanism or the detection device; the obstacle avoidance device comprises a plurality of obstacle avoidance arrays and an attitude adjusting unit, wherein each obstacle avoidance array is arranged below each propeller and is detachably clamped with the lower end face of the propeller; the gesture adjusting unit acquires the current gesture of the unmanned aerial vehicle and the position data of the obstacle and triggers the adjustment of the gesture; wherein the adjustment amount Fly (T) of the posture adjustment unit is calculated according to the following formula,
Fly(T)＝Fly(t)-Fly(t-1)
Fly(t)＝(K p +K i )×Trans x ×cosα+K d ×(Station y -Station 0 )×sinα+Δω
Fly(t-1)＝K p (Gyro z -Gyro 0 )×tanα+Δω
Wherein Fly (t) is an initial position adjustment amount; fly (t-1) is the transfer adjustment amount; k (K) p Is an x-axis angle differential parameter; k (K) i Balance angle proportion parameters for a y axis; k (K) d Stabilizing the auxiliary parameter for the z axis; trans is a distance value adjusted along the x axis by the unmanned aerial vehicle; station y The distance value is adjusted along the y axis for the unmanned aerial vehicle; alpha is the running direction angle of the unmanned aerial vehicle; t is time, T epsilon T.t-1 epsilon T; gyro z Distance value adjusted along z-axis for unmanned aerial vehicle
Δω is an adjustment amount deviation assist coefficient, satisfying:
wherein E is 1 Is the temperature of the current environment; e (E) 2 Wind direction of the current environment; e (E) 3 Is the steering distance of the unmanned aerial vehicle; e (E) 4 Is the total weight of the unmanned aerial vehicle;
optionally, the transmission device is arranged on the ground or a guiding position in the inspection range and is used for carrying out auxiliary transmission on data acquired by multiple unmanned aerial vehicles; the transmission device comprises a transmission mechanism and a supporting mechanism, wherein the transmission mechanism is arranged on the supporting mechanism; the supporting mechanism supports the transmission mechanism and is contacted with the ground; the transmission mechanism comprises a transmission radar, a rotation member and a pairing module, wherein the rotation member rotates the transmission radar at a set rotation speed; the pairing module establishes a pairing relation with a plurality of unmanned aerial vehicles so as to establish a plurality of connection nodes; each connecting node communicates with the unmanned aerial vehicle through a transmission radar and transmits data;
The supporting mechanism comprises a supporting seat and a plurality of supporting rods, the transmission mechanism is arranged on the upper end face of the supporting seat, and each supporting rod is arranged on one side, far away from the transmission mechanism, of the supporting seat, hinged with the outer wall of the supporting seat and distributed at equal intervals along the periphery of the supporting seat;
optionally, the task device includes a feedback module and a task module, where the task module uploads a task detected by the unmanned aerial vehicle, so as to implement execution of the task by the unmanned aerial vehicle; the feedback module collects the execution state of the unmanned aerial vehicle and feeds the execution state back to a server or a cloud platform;
the task module comprises a task manager and a permission management unit, wherein the task manager is connected with the unmanned aerial vehicle in a pairing manner to distribute tasks; the permission management unit establishes a task transmission communication link with the unmanned aerial vehicle so as to manage task priority and safety;
the task module accesses the database, compares the task record with the current execution task record of the unmanned aerial vehicle, creates a group of allocation tasks with priority arranged according to the scheduling sequence of the priority management unit, and allocates the tasks to the unmanned aerial vehicle according to the corresponding scheduling priority; the state of the current execution task record is fed back or recorded by the feedback module; if the current execution task is not completed, prompting a server or a cloud platform to reject the task allocation through the feedback module;
Optionally, the feedback module includes a status monitoring unit and a feedback unit, where the status monitoring unit monitors a status parameter of the unmanned aerial vehicle; the feedback unit feeds back to the server and the cloud platform based on the data of the state monitoring unit;
the state of the unmanned aerial vehicle comprises a connection state of the unmanned aerial vehicle, an ID (identity), a position, electric quantity, a model number and a patrol image or video of the unmanned aerial vehicle;
optionally, the steering module is arranged at the upper top of the unmanned aerial vehicle body and is detachably clamped with the unmanned aerial vehicle; the steering module comprises a rotating member and a storage cavity, wherein the rotating member is arranged in the storage cavity and is detachably clamped with the rotating member, the rotating member comprises a rotating seat and a rotating driving mechanism, the following member is arranged at the upper top of the rotating seat, and the lower bottom of the rotating seat is in driving connection with the rotating driving mechanism.
Embodiment two: the embodiment is to be understood as comprising at least all the features of any one of the foregoing embodiments, and further improved on the basis of the features, according to fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7, fig. 8, fig. 9 and fig. 10, and further provides a multi-machine integrated management system of an electric power inspection unmanned aerial vehicle based on a 5G link, which comprises an unmanned aerial vehicle, a microcontroller arranged on the unmanned aerial vehicle, and further comprises a cooperative device, a collecting device, an obstacle avoidance device, a transmission device, a task device, a server and a processor, wherein the processor is respectively in control connection with the cooperative device, the collecting device, the obstacle avoidance device, the transmission device, the task device and the server, and performs precise control on each device under the control of the processor; in addition, the server is in control connection with the processor, the transmission device and the task device to form a cloud platform, and a plurality of unmanned aerial vehicles can be managed through the cloud platform and image or video data of the unmanned aerial vehicles can be acquired based on actual requirements; meanwhile, in the embodiment, the unmanned aerial vehicle, the 5G link and the comprehensive management system are matched, so that image transmission and inspection of the power line can be smoothly performed; meanwhile, the whole system is also based on the operation of a cloud platform, and all data are interacted with a human-computer interface through the cloud platform so as to realize real-time monitoring of the inspection of the power line;
The unmanned aerial vehicle comprises a body, a power supply module and a propeller, wherein the power supply module is arranged in the body; the screw propeller is connected with the machine body through a fixed rod, and meanwhile, the power supply module, the screw propeller and the microcontroller are mutually and electrically connected;
in addition, each unmanned aerial vehicle establishes electrical connection with the cloud platform through a remote communication transmission function of the unmanned aerial vehicle, or establishes a connection relation with the cloud platform through the transmission device, wherein the connection is performed through the transmission device, so that in a scene of poor signals, a communication network can be established between the transmission device and the unmanned aerial vehicle, and the unmanned aerial vehicle can patrol and examine a power line in a certain area; in the process, the transmission device is used as an intermediate control point, and after communication is recovered, the stored data and the cloud platform are transmitted by the transmission device;
the collaborative device is loaded on the unmanned aerial vehicle and transmits state data among a plurality of unmanned aerial vehicles so as to establish that the plurality of unmanned aerial vehicles patrol a certain power line and trigger the acquisition of image data of the power line; in addition, through the cooperative cooperation among the cooperative devices on the unmanned aerial vehicles, the unmanned aerial vehicles are mutually matched in the inspection process, the power line is inspected from different angles, and the inspection efficiency and the inspection quality are improved;
The acquisition device acquires images or video signals of a plurality of unmanned aerial vehicles in the operation process; the obstacle avoidance device collects the obstacles at the front ends of the operation of the plurality of unmanned aerial vehicles, if the obstacles are encountered, the obstacle avoidance device triggers the collection of the size and the position of the obstacles and triggers the obstacle avoidance operation; in this embodiment, the obstacle avoidance device may separately collect the position, the size and the size of the obstacle at the front end of the unmanned plane; the device can also be matched with the acquisition device to acquire the obstacle at the front end of the unmanned aerial vehicle and trigger obstacle avoidance operation; in this embodiment, the obstacle avoidance device is mainly used to collect the data of the obstacle alone, and trigger the obstacle avoidance operation of the unmanned aerial vehicle; the scene of the obstacle avoidance device and the acquisition device used together can be analogically expanded, and the details are not repeated in the embodiment;
the transmission device receives data of a plurality of unmanned aerial vehicles and transmits the data to the server; the transmission device is arranged in the identification range of the patrol electric power line and is used for carrying out auxiliary receiving on the acquired data of the unmanned aerial vehicle, and meanwhile, the situation that the acquired data cannot be transmitted to the server and the cloud platform in real time due to poor signal state in some patrol electric power lines can be prevented; in this example, the transmission device is placed near the power line of the unmanned aerial vehicle, and establishes a data transmission or guiding communication link with the unmanned aerial vehicle, so that the transmission device can take into account the buffering of data and the auxiliary guiding of the unmanned aerial vehicle; in the process of carrying out auxiliary guidance on the unmanned aerial vehicle, a plurality of unmanned aerial vehicles can also carry out auxiliary guidance through the transmission device so as to limit the inspection range of the unmanned aerial vehicle; meanwhile, the unmanned aerial vehicle and the transmission device can carry out data transmission with large load through the cooperation of the transmission device and the unmanned aerial vehicle;
The task device manages the tasks of the unmanned aerial vehicle, detects and monitors the state of the currently executed task of the unmanned aerial vehicle, and can also distribute the tasks or adjust the priorities among the tasks through the task device; the server is connected with the cooperative device, the acquisition device, the obstacle avoidance device and the transmission device, and collects and stores the detected data; wherein the data includes, but is not limited to, the following list of: position data of the obstacle, data of the inspection power line, state data of the unmanned aerial vehicle, and the like;
the cooperative device comprises a state acquisition mechanism and a following mechanism, and the state acquisition mechanism detects the self state of the unmanned aerial vehicle; the following mechanism monitors the states of the adjacent unmanned aerial vehicles; the state of the unmanned aerial vehicle comprises an ID, a position, electric quantity, a model and a patrol image or video of the unmanned aerial vehicle;
the following mechanism comprises a detection radar and a steering module, the detection component is arranged on the steering module, and the position data of the adjacent unmanned aerial vehicle are acquired under the adjustment of the steering module;
The state acquisition mechanisms are nested and arranged on each unmanned aerial vehicle and monitor the states of the unmanned aerial vehicles, so that the state data of each unmanned aerial vehicle can be acquired; the state acquisition mechanism is connected with a microcontroller inherent to the unmanned aerial vehicle and detects the states of the unmanned aerial vehicles under the control of the microcontroller; in addition, when the following mechanism is in limit clamping connection with the unmanned aerial vehicle, the unmanned aerial vehicle supplies power and controls the microcontroller fixed with the unmanned aerial vehicle so as to detect the positions and parameters of other surrounding unmanned aerial vehicles;
in addition, the detection radar comprises a group of detection probes, a pitching adjusting member and a supporting seat, wherein the group of detection probes are respectively connected with the pitching adjusting member in a driving way to form adjusting parts, and the adjusting parts are symmetrically arranged on two sides of the supporting seat, wherein the pitching adjusting member drives the detection probes to perform pitching operation, so that the positions of at least two unmanned aerial vehicles are detected, and the following of the unmanned aerial vehicles is realized; simultaneously, the pitching adjusting members can independently pitch the detection probes; the supporting seat is connected with the steering module and rotates along with the steering module;
The detection probes include, but are not limited to, the following list of: detecting cameras, infrared sensors, vision sensors, distance sensors, etc.; the detection radar and the steering module are matched with each other, so that adjacent unmanned aerial vehicles can be followed, and meanwhile, obstacle avoidance and the like on obstacles are considered;
optionally, the steering module is arranged at the upper top of the unmanned aerial vehicle body and is detachably clamped with the unmanned aerial vehicle; the steering module comprises a rotating member and a storage cavity, wherein the rotating member is arranged in the storage cavity and is detachably clamped with the rotating member, the rotating member comprises a rotating seat, a bottom plate and a rotating driving mechanism, the following member is arranged at the upper top of the rotating seat, and the lower bottom of the rotating seat is in driving connection with the rotating driving mechanism; the rotating seat is arranged on one side of the bottom plate, and a plurality of power supply contacts are arranged on the other side of the bottom plate;
the following mechanism further comprises a clamping component, wherein the clamping component is arranged in the storage cavity and is used for limiting and clamping the detection radar so as to limit the detection radar; the clamping component comprises a clamping seat, a plurality of clamping claws, a clamping driving mechanism and a movable groove, wherein the movable groove is formed along the peripheral diameter of the clamping seat, each clamping claw is arranged in the movable groove, and each clamping claw is in driving connection with the clamping driving mechanism and moves along the groove direction of the clamping groove; wherein the groove direction of the movable groove is parallel to the axis of the clamping seat; each clamping claw is used for limiting and clamping the bottom plate through the protrusion of the clamping claw when limiting the detection radar;
Meanwhile, a bottom plate of the storage cavity is provided with a movable cavity for each clamping claw to move, so that each clamping claw can move when being clamped; in addition, the clamping component further comprises a control switch, and the control switch controls the clamping driving mechanism to drive each clamping claw to act;
the detection radar is arranged on the steering module, rotates along with the steering module and rotates at a rotation speed of 35-60R/min; the detection radar is arranged on the rotating seat and driven by the rotating driving mechanism to rotate along the axis of the rotating seat;
the steering module is detachably clamped with the upper top of the unmanned aerial vehicle, wherein a plurality of connecting copper plates are arranged at the bottom of the storage cavity, each connecting copper plate and each power supply contact are arranged in opposite directions, and after the steering module is clamped, the steering module is powered through a contact head arranged on the unmanned aerial vehicle; meanwhile, after the steering module is clamped with the unmanned aerial vehicle, the microcontroller on the unmanned aerial vehicle is used for controlling, so that data collected by the detection radar can be transmitted to the microcontroller, and the microcontroller is used for regulating and controlling, so that the cooperative coordination and active obstacle avoidance of the unmanned aerial vehicle are realized;
Acquiring data of an initial position S0 and a real-time tracking position Si of the adjacent unmanned aerial vehicle in the detection radar, and calculating a search range F of the adjacent unmanned aerial vehicle according to the following formula:
d is the safety distance between two adjacent unmanned aerial vehicles; initial position S 0 Is (x) 0 ，y 0 ) The method comprises the steps of carrying out a first treatment on the surface of the Tracking position S in real time i Is (x) i ，y i )；
In this embodiment, in the process of inspecting the same power line, an unmanned aerial vehicle or a plurality of unmanned aerial vehicles inspect one power line, keep a relatively safe distance between the unmanned aerial vehicles, and fly synchronously and in parallel, so as to realize inspection of the power line, and at this time, the position of the tracking position is a safe position; if the unmanned aerial vehicle needs to be adjusted in the process of avoiding the obstacle, the position of the unmanned aerial vehicle is determined according to the detection radar, wherein the position of the unmanned aerial vehicle can be determined through visual identification, not only the x.y.z coordinate but also the three-dimensional deflection angle of the object relative to a camera can be obtained through visual identification, so that more abundant decision information can be obtained; meanwhile, visual recognition can be used for identifying not only targets but also most obstacles;
According to the above and the position D of the unmanned aerial vehicle and the obstacle Fixing device (u, v) the distance between the two, then obtaining the cooperative distance total of the unmanned aerial vehicle,
wherein λ is a weight coefficient, the value of which is determined by λ=1/d; d (D) Fixing device The maximum safe distance value between the obstacle coordinates and the unmanned aerial vehicle; k is the total number of obstacles on the travel path; h i Threat coefficients for the ith obstacle; r is (r) i The center distance between the ith barrier and the unmanned aerial vehicle is the i; such obstacles include, but are not limited to, the following list of several: porcelain insulators, strain towers, tangent towers, corner towers, transposition towers, V-shaped stay wire towers, upper-line-shaped iron towers, suspension insulators, porcelain cross arm insulators, lightning rods on the tower top and the like of a power supply circuit;
for the threat coefficient H i The following conditions are also required to be satisfied:
wherein Δβ is an obstacle avoidance adjustment angle of the obstacle and the unmanned aerial vehicle; the obstacle avoidance adjustment angle Δβ in the above formula may be calculated according to the following formula:
wherein v is the operation speed of the unmanned aerial vehicle; alpha is the running direction angle of the unmanned aerial vehicle; j is a longitudinal offset distance component of the unmanned plane running direction angle; h is a transverse offset distance component of the running direction angle of the unmanned aerial vehicle;
Optionally, the collecting device is detachably connected with the unmanned aerial vehicle, is arranged on the lower end face of the unmanned aerial vehicle body, and is used for carrying out inspection on the power line, and collecting the image or video data of the power line in the inspection process; the acquisition device comprises an acquisition mechanism and a steering mechanism, and the steering mechanism adjusts the detection angle of the acquisition mechanism; the acquisition mechanism acquires image or video data of the power line; the acquisition mechanism comprises a detection camera and a data storage unit, wherein the data storage unit stores image or video data of the detection camera; the angle that detection camera was gathered through steering mechanism adjustment:
the steering mechanism comprises a steering cavity, a steering driving mechanism, an angle marking piece, an angle detection piece, an indication rod, a fixing seat and a connecting rod, wherein the steering driving mechanism is in driving connection with the connecting rod to form a driving part, and the driving part is arranged in the steering cavity; the fixed seat is nested with the rod body of the connecting rod and rotates along with the rotation of the connecting rod; one end of the indicating rod is connected with the outer wall of the fixed seat, and the other end of the indicating rod is connected with the angle detection piece; the angle marking pieces are arranged on the inner wall of the steering cavity, are distributed at equal intervals along the inner wall of the steering cavity, and are arranged opposite to the angle detection pieces;
The acquisition device further comprises a deviation component, wherein the deviation component adjusts the angle of the steering mechanism in the horizontal direction; the offset component comprises a limiting plate, an offset seat, a vertical plate and an offset driving mechanism, wherein the offset seat is connected with the steering mechanism through the vertical plate and adjusts the rotation of the steering mechanism in the horizontal direction; the offset driving mechanism is arranged on the limiting plate and extends towards one side of the offset seat; the offset seat is provided with a bevel gear towards one side of the offset driving mechanism, and the offset driving mechanism is meshed with the bevel gear on the offset seat, so that the offset seat can rotate along the axis of the offset seat; meanwhile, in the process of rotating the offset seat, the steering mechanism is driven to rotate in the horizontal direction; the limiting plate is hinged with the offset seat through a limiting rod, and the limiting rod and the axis of the offset seat are coaxially arranged, so that the offset seat rotates along the axis of the limiting rod when rotating;
the steering mechanism and the acquisition mechanism are mutually matched, so that the acquisition mechanism can acquire image or video data during the inspection of the power line under the adjustment of the steering mechanism;
In addition, the acquisition mechanism further comprises an infrared probe, wherein the infrared probe is arranged below the detection camera, is connected with the lower end face of the detection camera, rotates along with the rotation of the detection camera, and is used for acquiring auxiliary image or video data of the power line; meanwhile, the heating position of the power line can be inspected, and the screening capability of abnormal positions is effectively improved;
optionally, the obstacle avoidance device performs an obstacle avoidance operation based on the data of the following mechanism or the detection device; the obstacle avoidance device comprises a plurality of obstacle avoidance arrays and an attitude adjusting unit, wherein each obstacle avoidance array is arranged below each propeller and is detachably clamped with the lower end face of the propeller; the gesture adjusting unit acquires the current gesture of the unmanned aerial vehicle and the position data of the obstacle and triggers the adjustment of the gesture;
wherein. The adjustment amount Fly (T) of the posture adjustment unit is calculated according to the following formula,
Fly(T)＝Fly(t)-Fly(t-1)
Fly(t)＝(K p +K i )×Trans x ×cosα+K d ×(Station y -Station 0 )×sinα+Δω
Fly(t-1)＝K p (Gyro z -Gyro 0 )×tanα+Δω
wherein Fly (t) is an initial position adjustment amount; fly (t-1) is the transfer adjustment amount; k (K) p Is an x-axis angle differential parameter; k (K) i Balance angle proportion parameters for a y axis; k (K) d Stabilizing the auxiliary parameter for the z axis; trans is a distance value adjusted along the x axis by the unmanned aerial vehicle; station y The distance value is adjusted along the y axis for the unmanned aerial vehicle; alpha is the running direction angle of the unmanned aerial vehicle; t is time, T epsilon T.t-1 epsilon T; gyro z The distance value is adjusted along the z axis for the unmanned aerial vehicle; Δω is an adjustment amount deviation assist coefficient, satisfying:
wherein E is 1 Is the temperature of the current environment; e (E) 2 Wind direction of the current environment; e (E) 3 Is the steering distance of the unmanned aerial vehicle; e (E) 4 Is the total weight of the unmanned aerial vehicle; the relationship between the wind direction and the wind direction comprises: if the wind direction has the following relation with the angle of the power line:
/>
in the table, f is a specific wind power grade, and the side wind direction angle is gamma;
each obstacle avoidance array comprises a fixed seat and an induction matrix element, wherein the induction matrix element is arranged on the fixed seat and used for detecting obstacles around the unmanned aerial vehicle; wherein, the fixing seat is detachably clamped with the lower end face of the propeller of the unmanned aerial vehicle; meanwhile, a plurality of conductive heads and a connecting touch plate are arranged at the upper top of each obstacle avoidance array, and the connecting touch plate and the conductive plates are used for transmitting power supply and data of the obstacle avoidance arrays; meanwhile, a plurality of power supply contact points and data guide plates are arranged on the lower end face of the propeller and one side of the obstacle avoidance array, wherein when the power supply contact points and the data guide plates are oppositely arranged and are in limiting clamping connection with the conductive heads and the connecting touch plate, the power supply contact points and the data guide plates can be mutually contacted to form mutually independent power-on loops and data transmission loops; the power supply module on the unmanned aerial vehicle body can supply power to the obstacle avoidance array through the power-on return; the data collected by the obstacle avoidance array can be transmitted to the microcontroller of the unmanned aerial vehicle through the data transmission loop, and autonomous obstacle avoidance is realized. In addition, the induction matrix element is electrically connected with the microcontroller of the unmanned aerial vehicle and acquires environmental parameters around the unmanned aerial vehicle based on the microcontroller so as to realize the obstacle avoidance operation of the unmanned aerial vehicle; the sensing matrix element comprises any one or more of a distance sensor or a range radar;
Meanwhile, the distance sensors or the distance measuring radars are distributed at equal intervals along the length direction of the fixing seat, so that the unmanned aerial vehicle can take into account autonomous obstacle avoidance and inspection of the power line in the running process; the distance sensor or the range radar acquires the position information of the obstacle, and the unmanned aerial vehicle can perform autonomous and stable posture adjustment through adjustment of the posture adjustment unit so as to realize active obstacle avoidance in the power line inspection process;
optionally, the transmission device is arranged on the ground or a guiding position in the inspection range and is used for carrying out auxiliary transmission on data acquired by multiple unmanned aerial vehicles; the transmission device comprises a transmission mechanism and a supporting mechanism, wherein the transmission mechanism is arranged on the supporting mechanism; the supporting mechanism supports the transmission mechanism and is contacted with the ground; the transmission mechanism comprises a transmission radar, a rotation member and a pairing module, wherein the rotation member rotates the transmission radar at a set rotation speed; the pairing module establishes a pairing relation with a plurality of unmanned aerial vehicles so as to establish a plurality of connection nodes; each connecting node communicates with the unmanned aerial vehicle through a transmission radar and transmits data;
The transmission device and each unmanned aerial vehicle are communicated through a 5G technology, so that data collected on the unmanned aerial vehicle can be transmitted in real time, relay transmission is carried out through the transmission device, and reliability and instantaneity of data transmission are effectively improved;
in particular, in the identified range, the communication and the transmission of data are valid only for the drone paired, while also taking account of the auxiliary guidance of the drone; the self-rotation component comprises a rotation seat, a self-rotation driving mechanism and a power supply module, wherein the power supply module is electrically connected with the self-rotation driving mechanism so as to drive the rotation seat by the self-rotation driving mechanism; one side of the rotating seat is connected with the detection radar, and the other side of the rotating seat is connected with a fixed gear and is in driving connection with the rotation driving mechanism through the fixed gear; meanwhile, a storage cavity for accommodating the fixed gear and the rotation driving mechanism is arranged in the rotation seat, and the fixed gear is meshed with the rotation driving mechanism, so that the rotation seat can rotate;
the supporting mechanism comprises a supporting seat and a plurality of supporting rods, the transmission mechanism is arranged on the upper end face of the supporting seat, and each supporting rod is arranged on one side, far away from the transmission mechanism, of the supporting seat, hinged with the outer wall of the supporting seat and distributed at equal intervals along the periphery of the supporting seat; the supporting seat is provided with a bulge towards one side of the transmission mechanism, the lower end surface of the rotating seat is provided with a groove which is nested with the bulge of the supporting seat, and the bulge and the groove are matched with each other, so that the supporting seat can assist in limiting the rotating seat in the rotating process of the rotating seat so as to prevent the rotating seat from shifting or lodging;
The transmission mechanism rotates at a rotation speed of 30-40r/min so as to realize auxiliary guidance of the unmanned aerial vehicle at the detection position; meanwhile, the transmission mechanism guides the unmanned aerial vehicle and receives data; meanwhile, one end of the supporting rod is hinged with the outer wall of the supporting seat and is spirally arranged along the periphery of the supporting seat; in addition, each supporting rod can stably support the supporting seat when supporting;
in another embodiment, as shown in fig. 10, the supporting seat and the rotating seat may be connected by a telescopic rod, that is, one end of the telescopic rod is provided with a protrusion and is nested with a groove on the end surface of the bottom end of the rotating seat, and the other end of the telescopic rod is fixedly connected with the upper end surface of the supporting seat, so that the rotating seat can be adjusted to different heights under the action of the telescopic rod, and different application scenarios of the transmission device are increased;
optionally, the task device includes a feedback module and a task module, where the task module uploads a task detected by the unmanned aerial vehicle, so as to implement execution of the task by the unmanned aerial vehicle; the feedback module collects the execution state of the unmanned aerial vehicle and feeds the execution state back to a server or a cloud platform;
The task module comprises a task manager and a permission management unit, wherein the task manager is connected with the unmanned aerial vehicle in a pairing manner to distribute tasks; the permission management unit establishes a task transmission communication link with the unmanned aerial vehicle so as to manage task priority and safety; meanwhile, collaborative management is carried out on multiple unmanned aerial vehicles, so that the high efficiency and reliability of inspection are improved;
the task module accesses the database, compares the task record with the current execution task record of the unmanned aerial vehicle, creates a group of allocation tasks with priority arranged according to the scheduling sequence of the priority management unit, and allocates the tasks to the unmanned aerial vehicle according to the corresponding scheduling priority; the state of the current execution task record is fed back or recorded by the feedback module; if the current execution task is not completed, prompting a server or a cloud platform to reject the task allocation through the feedback module;
the task module periodically updates the task set assigned to the requested drone and the corresponding scheduling order in which the priority assigned to the next task of the requested drone is prioritized; the priority is based on task parameters in the immediate task list; the task parameters include a task position S v Distance D of inspection v Target L of inspection power line v Unmanned aerial vehicle number Q of power line is patrolled and examined v Electric quantity loading (capacity) U of unmanned aerial vehicle v And inspection time W v The method comprises the steps of carrying out a first treatment on the surface of the The task parameters are issued by the cloud platform or the service, the data fed back by the feedback module are comprehensively analyzed, and task data such as the route, the observation target, the observation position and the like of the unmanned aerial vehicle are downloaded through a 5G link; meanwhile, when the feedback module transmits feedback signals to the cloud platform, all state information of the unmanned aerial vehicle and the inspection process is fed back through a 5G link;
the task parameters described above can be integrated for the priority, and calculated according to the following equation,
wherein, the Priority v Taking the priority, v is the times, and v takes a positive integer value; zeta type toy v For the weight coefficient of each task parameter, u=1, 2,3,4,5,6; for S v 、D v 、L v 、Q v 、U v And W is v V is the number of times, and is set according to specific conditions in the process of inspection, and corresponding weight coefficients are allocated to the task parameters, and the allocation of the weight coefficients can be set according to experience;
priority u The evaluation flow of (2) is as follows:
step1: weighting coefficient xi of each task parameter according to experience v Setting;
step 2: and determining specific data of the task parameters according to specific conditions, namely: determining a task position S v Distance D of inspection v Target L of inspection power line v Unmanned aerial vehicle number Q of power line is patrolled and examined v Electric quantity loading (capacity) U of unmanned aerial vehicle v And inspection time W v ：
step 3: calculating Priority index value Priority of demand v ；
step 4: for the Priority v Sorting from big to small is carried out, and the higher the value is, the higher the priority is;
optionally, the feedback module includes a status monitoring unit and a feedback unit, where the status monitoring unit monitors a status parameter of the unmanned aerial vehicle; the feedback unit feeds back to the server and the cloud platform based on the data of the state monitoring unit; the state of the unmanned aerial vehicle comprises a connection state of the unmanned aerial vehicle, an ID (identity), a position, electric quantity, a model number and a patrol image or video of the unmanned aerial vehicle;
when the feedback module feeds back the state parameters of the unmanned aerial vehicle, the feedback module can directly upload data to the server or cloud platform through the function of the unmanned aerial vehicle itselfThe station transmits; the data can be buffered with the transmission device and transmitted to the server or the cloud platform in real time through the transmission device, so that accurate monitoring or inspection of the data of the abnormal state of the unmanned aerial vehicle task on the way and the observation power line can be realized; in addition, the data fed back by the feedback module is judged according to experience by an operator or a patrol inspector; ending the inspection if the expected effect of the inspection setting is reached; if the set expected effect is not achieved, readjusting the task parameters of the inspection and readjusting the task position S v Distance D of inspection v Target L of inspection power line v Unmanned aerial vehicle number Q of power line is patrolled and examined v Electric quantity loading (capacity) U of unmanned aerial vehicle v And inspection time W v Waiting parameters and re-carrying out inspection until the expected effect is achieved; in addition, the above-described expected effects include image data/video data that has acquired an abnormal position in the power line, patrol status information fed back to the server and the cloud platform in real time, satisfaction of image or video data, and the like;
in addition, in the embodiment, all data transmission adopts a 5G technology, and the advantages of high speed, low time delay and large connection of 5G are fully utilized, so that the inspection of the power line by the multiple unmanned aerial vehicle can be efficient and reliable.
The foregoing disclosure is only a preferred embodiment of the present invention and is not intended to limit the scope of the invention, so that all equivalent technical changes made by applying the description of the present invention and the accompanying drawings are included in the scope of the present invention, and in addition, elements in the present invention can be updated as the technology develops.
Claims (6)
1. The utility model provides an electric power inspection unmanned aerial vehicle multi-machine integrated management system based on 5G link, includes unmanned aerial vehicle and sets up the microcontroller on the unmanned aerial vehicle, its characterized in that still includes cooperative device, collection device, keeps away barrier device, transmission device, task device, server and treater, the treater is connected with cooperative device, collection device, keeps away barrier device, transmission device, task device and server control respectively,
The cooperative device is loaded on the unmanned aerial vehicle and transmits state data among a plurality of unmanned aerial vehicles; the acquisition device acquires images or video signals of a plurality of unmanned aerial vehicles in the operation process; the obstacle avoidance device is used for collecting obstacles at the front ends of the operation of the plurality of unmanned aerial vehicles; the transmission device receives data of a plurality of unmanned aerial vehicles and transmits the data to the server; the task device manages tasks of a plurality of unmanned aerial vehicles; the server is connected with the cooperative device, the acquisition device, the obstacle avoidance device and the transmission device, and collects and stores the detected data;
the cooperative device comprises a state acquisition mechanism and a following mechanism, and the state acquisition mechanism detects the self state of the unmanned aerial vehicle; the following mechanism monitors the states of the adjacent unmanned aerial vehicles; the state of the unmanned aerial vehicle comprises an ID, a position, electric quantity, a model and a patrol image or video of the unmanned aerial vehicle;
the following mechanism comprises a detection radar and a steering module, wherein the detection radar is arranged on the steering module, and the position data of the adjacent unmanned aerial vehicle are acquired under the adjustment of the steering module;
Acquiring an initial position S of the detection radar to the adjacent unmanned aerial vehicle 0 And tracking the position S in real time i And (3) calculating the search range F of the adjacent unmanned aerial vehicle according to the following formula:
；
d is the safety distance between two adjacent unmanned aerial vehicles; initial position S 0 Is (x) 0 ，y 0 ) The method comprises the steps of carrying out a first treatment on the surface of the Tracking position S in real time i Is (x) i ，y i ）；
According to the above and the position D of the unmanned aerial vehicle and the obstacle Fixing device (u, v) obtaining a cooperative distance total of the unmanned aerial vehicle, the cooperationDistance total
；
Wherein λ is a weight coefficient, the value of which is determined by λ=1/d; d (D) Fixing device The maximum safe distance value between the obstacle coordinates and the unmanned aerial vehicle; k is the total number of obstacles on the travel path; h i Threat coefficients for the ith obstacle; r is (r) i The center distance between the ith barrier and the unmanned aerial vehicle is the i;
the following conditions are also required for the threat coefficients:
；
wherein Δβ is an obstacle avoidance adjustment angle between an obstacle and the unmanned aerial vehicle.
2. The 5G link-based multi-machine integrated management system of the electric power inspection unmanned aerial vehicle, which is characterized in that the acquisition device is detachably connected with the unmanned aerial vehicle, wherein the acquisition device comprises an acquisition mechanism and a steering mechanism, and the steering mechanism adjusts the detection angle of the acquisition mechanism; the acquisition mechanism acquires image or video data of the power line; the acquisition mechanism comprises a detection camera and a data storage unit, wherein the data storage unit stores image or video data of the detection camera; the angle that detection camera was gathered through steering mechanism adjustment:
The steering mechanism comprises a steering cavity, a steering driving mechanism, an angle marking piece, an angle detection piece, an indication rod, a fixing seat and a connecting rod, wherein the steering driving mechanism is in driving connection with the connecting rod to form a driving part, and the driving part is arranged in the steering cavity; the fixed seat is nested with the rod body of the connecting rod and rotates along with the rotation of the connecting rod; one end of the indicating rod is connected with the outer wall of the fixed seat, and the other end of the indicating rod is connected with the angle detection piece; the angle marking pieces are arranged on the inner wall of the steering cavity, are distributed at equal intervals along the inner wall of the steering cavity, and are arranged opposite to the angle detection pieces.
3. The 5G link-based power inspection unmanned aerial vehicle multi-machine integrated management system according to claim 2, wherein the transmission device is arranged on the ground or a guiding position of an inspection range and is used for carrying out auxiliary transmission on data acquired by multiple unmanned aerial vehicles; the transmission device comprises a transmission mechanism and a supporting mechanism, wherein the transmission mechanism is arranged on the supporting mechanism; the supporting mechanism supports the transmission mechanism and is contacted with the ground; the transmission mechanism comprises a transmission radar, a rotation member and a pairing module, wherein the rotation member rotates the transmission radar at a set rotation speed; the pairing module establishes a pairing relation with a plurality of unmanned aerial vehicles so as to establish a plurality of connection nodes; each connecting node communicates with the unmanned aerial vehicle through a transmission radar and transmits data;
The supporting mechanism comprises a supporting seat and a plurality of supporting rods, the transmission mechanism is arranged on the upper end face of the supporting seat, the supporting rods are arranged on one side, away from the transmission mechanism, of the supporting seat, are hinged with the outer wall of the supporting seat, and are distributed at equal intervals along the periphery of the supporting seat.
4. The 5G link-based power inspection unmanned aerial vehicle multi-machine integrated management system according to claim 3, wherein the task device comprises a feedback module and a task module, and the task module uploads a task detected by the unmanned aerial vehicle so that the unmanned aerial vehicle can execute the task; the feedback module collects the execution state of the unmanned aerial vehicle and feeds the execution state back to a server or a cloud platform;
the task module comprises a task manager and a permission management unit, wherein the task manager is connected with the unmanned aerial vehicle in a pairing manner to distribute tasks; the permission management unit establishes a task transmission communication link with the unmanned aerial vehicle so as to manage task priority and safety;
the task module accesses the database, compares the task record with the current execution task record of the unmanned aerial vehicle, creates a group of allocation tasks with priority arranged according to the scheduling sequence of the priority management unit, and allocates the tasks to the unmanned aerial vehicle according to the corresponding scheduling priority; the state of the current execution task record is fed back or recorded by the feedback module; if the current execution task is not completed, prompting a server or a cloud platform to reject the task allocation through the feedback module.
5. The 5G link-based power inspection unmanned aerial vehicle multi-machine integrated management system according to claim 4, wherein the feedback module comprises a state monitoring unit and a feedback unit, and the state monitoring unit monitors the state parameters of the unmanned aerial vehicle; the feedback unit feeds back to the server and the cloud platform based on the data of the state monitoring unit;
the state of the unmanned aerial vehicle comprises a connection state of the unmanned aerial vehicle, an ID (identity), a position, an electric quantity, a model number and a patrol image or video of the unmanned aerial vehicle.
6. The 5G link-based power inspection unmanned aerial vehicle multi-machine integrated management system according to claim 5, wherein the steering module is arranged at the upper top of the unmanned aerial vehicle body and is detachably clamped with the unmanned aerial vehicle; the steering module comprises a rotating member and a storage cavity, wherein the rotating member is arranged in the storage cavity and is detachably clamped with the rotating member, the rotating member comprises a rotating seat and a rotating driving mechanism, and the lower bottom of the rotating seat is in driving connection with the rotating driving mechanism.
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