CN114326776A - Intelligent power line inspection unmanned aerial vehicle with anti-collision obstacle avoidance function - Google Patents
Intelligent power line inspection unmanned aerial vehicle with anti-collision obstacle avoidance function Download PDFInfo
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- CN114326776A CN114326776A CN202110413641.XA CN202110413641A CN114326776A CN 114326776 A CN114326776 A CN 114326776A CN 202110413641 A CN202110413641 A CN 202110413641A CN 114326776 A CN114326776 A CN 114326776A
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Abstract
The invention discloses an intelligent power line inspection unmanned aerial vehicle with anti-collision and obstacle-avoidance functions, which comprises an unmanned aerial vehicle main body and an unmanned aerial vehicle frame. The unmanned aerial vehicle navigation positioning module is used for positioning a flight route, the visual positioning unit is used for recording at each photographing point, a flight map is drawn according to information recorded by the unmanned aerial vehicle navigation positioning module and the visual positioning unit, and a flight control system is loaded on the unmanned aerial vehicle by means of technologies such as path control and the like, so that intelligent operation of unmanned aerial vehicle power line inspection and application of intelligent flight of the unmanned aerial vehicle in power line inspection can be realized, the labor cost can be further saved, and the operation efficiency of the power line inspection and even the whole power grid system can be improved; the flight sampler login module is used for regularly checking the standard and service capability of the flight sampler, so that the standardization of the intelligent line patrol of the unmanned aerial vehicle in the later period is ensured, and the power grid line patrol service capability of the flight sampler is improved.
Description
Technical Field
The invention relates to the technical field of inspection unmanned aerial vehicles, in particular to an intelligent power line inspection unmanned aerial vehicle with anti-collision and obstacle avoidance functions.
Background
The most widely applied power line patrol method in the traditional technology is manual periodic line patrol, the method has the disadvantages of high labor intensity, more time consumption, low efficiency and high risk, and some lines are caused by topographic factors to cause abnormal line patrol difficulty. Along with unmanned aerial vehicle technique and navigation and wireless communication technology's rapid development and constantly ripe in recent years, many electric power enterprises at home and abroad begin to try to adopt unmanned aerial vehicle to assist and carry out the electric power system construction, because unmanned aerial vehicle is patrolling and examining and the influence that the topography survey time measuring did not receive the topography, it is relatively lower consequently to realize the degree of difficulty, the cost is also easily controlled, at present unmanned aerial vehicle application, can carry on relevant optical detection instrument on unmanned aerial vehicle usually, thereby can realize the detection to electric wire netting operating condition, so that in time discover potential safety hazard.
Disclosure of Invention
The invention aims to provide an intelligent power line inspection unmanned aerial vehicle with anti-collision and obstacle avoidance functions, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: an intelligent power line inspection unmanned aerial vehicle with anti-collision and obstacle avoidance functions comprises an unmanned aerial vehicle main body and an unmanned aerial vehicle frame, wherein the unmanned aerial vehicle main body and the unmanned aerial vehicle frame are assembled with each other, a central processing unit is arranged in the unmanned aerial vehicle main body, a receiving end of the central processing unit is in signal connection with an output end of an unmanned aerial vehicle monitoring unit, a receiving end of the central processing unit is in signal connection with an output end of a flight sampling unit, a receiving end of the flight sampling unit is in signal connection with an output end of a flight sampler login module, a receiving end of the flight sampling unit is in signal connection with an output end of a sampling flight data screening module, a receiving end of the flight sampling unit is in signal connection with an output end of a sampling flight data uploading module, an output end of the sampling flight data uploading module is in signal connection with a receiving end of a sampling flight database, and an output end of the sampling flight database is in signal connection with a receiving end of a data transmission module, the output end of the data transmission module is in signal connection with the output end of the database, the output end of the database is in signal connection with the output end of the data storage module, the receiving end of the central processing unit is in signal connection with the output end of the visual positioning unit, the receiving end of the central processing unit is in signal connection with the output end of the path planning unit, the receiving end of the path planning unit is in signal connection with the output end of the geographic data updating module, the receiving end of the path planning unit is in signal connection with the output end of the data real-time updating module, and the receiving end of the path planning unit is in signal connection with the output end of the intelligent data analyzing module.
Further, the unmanned aerial vehicle monitoring unit includes unmanned aerial vehicle navigation speed measurement module and unmanned aerial vehicle navigation orientation module.
Furthermore, the receiving end of the flight sampler login module is in signal connection with the output end of the flight sampler capability examination module, and the receiving end of the flight sampler login module is in signal connection with the output end of the flight sampler examination result display module.
Furthermore, the receiving end of the flight sampler capability assessment module is in signal connection with the output end of the flight sampler capability assessment and evaluation module, and the receiving end of the flight sampler assessment result display module is in signal connection with the output end of the flight sampler capability assessment and evaluation module.
Furthermore, the receiving end of the visual positioning unit is in signal connection with the output end of the visual positioning terminal, the receiving end of the visual positioning unit is in signal connection with the output end of the digital image processing module, and the receiving end of the visual positioning unit is in signal connection with the output end of the object space geometric parameter and position calculation module.
Furthermore, the receiving end of the visual positioning terminal is in signal connection with the output end of the binocular camera, and the receiving end of the digital image processing module is in signal connection with the output end of the data modeling module.
Furthermore, the output end of the intelligent data analysis module is in signal connection with the receiving end of the unmanned aerial vehicle line patrol path analysis planning module.
Furthermore, the receiving end of the database is in signal connection with the output end of the flight sampling unit, the receiving end of the database is in signal connection with the output end of the visual positioning unit, the output end of the database is in signal connection with the receiving end of the data correction module, and the output end of the data correction module is in signal connection with the receiving end of the path planning unit.
Compared with the prior art, the invention has the beneficial effects that: according to the intelligent power line inspection unmanned aerial vehicle with the functions of collision avoidance and obstacle avoidance, by arranging the unmanned aerial vehicle monitoring unit, the unmanned aerial vehicle is monitored through the unmanned aerial vehicle navigation speed measuring module and the unmanned aerial vehicle navigation positioning module, so that the flight path is convenient to correct, and the unmanned aerial vehicle navigation positioning module is utilized for combined navigation, so that a high-precision and high-reliability unmanned aerial vehicle navigation positioning system is formed, the cost of the unmanned aerial vehicle is effectively reduced while the flight safety and the quality are ensured with high quality, and the unmanned aerial vehicle is enabled to get rid of dependence on ground systems such as radars, measurement and control stations and the like; the method comprises the steps that an unmanned aerial vehicle navigation positioning module is used for positioning a flight route, a visual positioning unit is used for recording at each photographing point, after a flight sampler conducts demonstration flight, a flight map is drawn according to information recorded by the unmanned aerial vehicle navigation positioning module and the visual positioning unit, a flight control system is loaded on the unmanned aerial vehicle by means of the technologies of path control and the like, so that intelligent operation of unmanned aerial vehicle power line inspection and application of unmanned aerial vehicle intelligent flight in power line inspection can be achieved, the labor cost can be further saved, and the operation efficiency of the power line inspection and even the whole power grid system can be improved; through the flight sampling unit, set up flight sampler and log in the module, regularly carry out standardization and service ability examination to the flight sampler, guarantee the unmanned aerial vehicle intelligence in later stage and patrol the standardization of line, and improve flight sampler's electric wire netting and patrol line service ability to ensure the smooth development of follow-up research and development work.
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In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings, in which:
FIG. 1 is a schematic view of an integral module connection structure according to the present invention;
fig. 2 is a schematic view of the overall appearance structure of the present invention.
In the figure: 1 unmanned aerial vehicle main body, 2 unmanned aerial vehicle frame, 3 central processing unit, 4 unmanned aerial vehicle monitoring unit, 5 unmanned aerial vehicle navigation speed measurement module, 6 unmanned aerial vehicle navigation positioning module, 7 flight sampling unit, 8 flight sampler login module, 9 sampling flight data screening module, 10 sampling flight data upload module, 11 flight sampler ability assessment module, 12 flight sampler ability assessment module, 13 flight sampler assessment result display module, 14 sampling flight database, 15 data transmission module, 16 database, 17 data storage module, 18 visual positioning unit, 19 visual positioning terminal, 20 digital image processing module, 21 object space geometric parameters and position calculation module, 22 binocular camera, 23 data modeling module, 24 path planning unit, 25 geographic data updating module, 26 data real-time updating module, 27 data intelligent analysis module, 28 unmanned aerial vehicle patrols line path analysis planning module, 29 data correction module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in figures 1 and 2, the invention relates to an intelligent power line inspection unmanned aerial vehicle with collision avoidance and obstacle avoidance functions, which comprises an unmanned aerial vehicle main body 1 and an unmanned aerial vehicle frame 2, wherein the unmanned aerial vehicle main body 1 and the unmanned aerial vehicle frame 2 are assembled with each other, a central processing unit 3 is arranged in the unmanned aerial vehicle main body 1, a receiving end of the central processing unit 3 is in signal connection with an output end of an unmanned aerial vehicle monitoring unit 4, the unmanned aerial vehicle monitoring unit 4 comprises an unmanned aerial vehicle navigation speed measuring module 5 and an unmanned aerial vehicle navigation positioning module 6, the unmanned aerial vehicle is monitored by the unmanned aerial vehicle navigation speed measuring module 5 and the unmanned aerial vehicle navigation positioning module 6 by arranging the unmanned aerial vehicle monitoring unit 4, so that the track can be corrected, the unmanned aerial vehicle navigation positioning module 6 comprises inertial navigation, positioning satellite navigation, Doppler navigation, terrain-assisted navigation and geomagnetic navigation, besides the navigation technologies introduced above can be combined, the method can also be applied to positioning and improving the precision by using some related technologies, such as an atmospheric data system, a dead reckoning technology and the like, and can obtain higher navigation performance than that of the unmanned aerial vehicle when any system is used alone by utilizing the complementary characteristics of the performance of the unmanned aerial vehicle, so that the unmanned aerial vehicle navigation positioning system with high precision and high reliability is formed, the flight safety and quality are ensured with high quality, the cost of the system is effectively reduced, and the unmanned aerial vehicle gets rid of the dependence on ground systems such as a radar, a measurement and control station and the like.
The receiving end of the central processing unit 3 is in signal connection with the output end of the flight sampling unit 7, the receiving end of the flight sampling unit 7 is in signal connection with the output end of the flight sampler login module 8, the receiving end of the flight sampler login module 8 is in signal connection with the output end of the flight sampler capability assessment module 11, the receiving end of the flight sampler login module 8 is in signal connection with the output end of the flight sampler capability assessment module 13, the receiving end of the flight sampler capability assessment module 11 is in signal connection with the output end of the flight sampler capability assessment module 12, the receiving end of the flight sampler capability assessment module 13 is in signal connection with the output end of the flight sampler capability assessment module 12, the receiving end of the flight sampling unit 7 is in signal connection with the output end of the sampling flight data screening module 9, the receiving end of the flight sampling unit 7 is in signal connection with the output end of the sampling flight data uploading module 10, the output end of a sampling flight data uploading module 10 is in signal connection with the receiving end of a sampling flight database 14, the output end of the sampling flight database 14 is in signal connection with the receiving end of a data transmission module 15, the output end of the data transmission module 15 is in signal connection with the receiving end of a database 16, the output end of the database 16 is in signal connection with the receiving end of a data storage module 17, the receiving end of a central processing unit 3 is in signal connection with the output end of a visual positioning unit 18, the visual positioning unit 18 acquires a target image through a visual sensor, and the image coordinates of the target are obtained through digital image processing and characteristic point extraction, and then the computer is used for realizing the rapid calculation of parameters such as the space geometric parameters and the position posture of a measured object, and the rapid calculation is mainly divided into two types of marked visual positioning and unmarked visual positioning, wherein the unmarked positioning needs the priori knowledge about a scene, firstly, an environment map can be obtained through a database 16, a receiving end of a visual positioning unit 18 is in signal connection with an output end of a visual positioning terminal 19, a receiving end of the visual positioning unit 18 is in signal connection with an output end of a digital image processing module 20, a receiving end of the visual positioning unit 18 is in signal connection with an output end of an object space geometric parameter and position calculation module 20, a flight route is positioned by using an unmanned aerial vehicle navigation positioning module 6, recording is carried out by using the visual positioning unit 18 at each photographing point, after demonstration flight is carried out by a flight sampler, a flight map is drawn according to information recorded by the unmanned aerial vehicle navigation positioning module 6 and the visual positioning unit 18, a flight control system is loaded on an unmanned aerial vehicle by means of technologies such as path control and the like, and further intelligent operation of unmanned aerial vehicle power line inspection and application of intelligent flight of the unmanned aerial vehicle in power line inspection can be realized, the cost of using manpower can further be saved, the power line is patrolled and examined and even whole electric wire netting system's operation efficiency is promoted.
The receiving end of the visual positioning terminal 19 is connected with the output end of the binocular camera 22 by signals, the receiving end of the digital image processing module 20 is connected with the output end of the data modeling module 22 by signals, the receiving end of the central processing unit 3 is connected with the output end of the path planning unit 24 by signals, the path planning unit 24 is used for the unmanned aerial vehicle to search an optimal or sub-optimal path without collision from the initial state to the target state according to a certain performance index (such as distance, time, energy and the like) so as to be smooth and safe as possible, the receiving end of the path planning unit 24 is connected with the output end of the geographic data updating module 25 by signals, the receiving end of the path planning unit 24 is connected with the output end of the data real-time updating module 26 by signals, the receiving end of the path planning unit 24 is connected with the output end of the intelligent data analyzing module 27 by signals, and the output end of the intelligent data analyzing module 27 is connected with the receiving end of the unmanned aerial vehicle line-tracking path analyzing and planning module 28 by signals, the receiving end of the database 16 is in signal connection with the output end of the flight sampling unit 7, the flight sampler login module 8 is arranged through the flight sampling unit 7, the flight sampler is regularly checked for standardization and service capability, the standardization of intelligent line patrol of the unmanned aerial vehicle in the later period is ensured, the power grid line patrol service capability of the flight sampler is improved, and therefore the subsequent research and development work is ensured to be smoothly carried out, the receiving end of the database 16 is in signal connection with the output end of the visual positioning unit 18, the output end of the database 16 is in signal connection with the receiving end of the data correction module 29, and the output end of the data correction module 29 is in signal connection with the receiving end of the path planning unit 24.
When the unmanned aerial vehicle navigation positioning system is used, the unmanned aerial vehicle monitoring unit 4 is arranged, the unmanned aerial vehicle is monitored through the unmanned aerial vehicle navigation speed measuring module 5 and the unmanned aerial vehicle navigation positioning module 6, so that the flight path can be corrected conveniently, and the unmanned aerial vehicle navigation positioning module 6 is used for combined navigation, so that the high-precision and high-reliability unmanned aerial vehicle navigation positioning system is formed, the cost of the unmanned aerial vehicle is effectively reduced while the flight safety and quality are ensured with high quality, and the unmanned aerial vehicle is enabled to get rid of the dependence on ground systems such as radars, measurement and control stations and the like; the unmanned aerial vehicle navigation positioning module 6 is used for positioning a flight route, the visual positioning unit 18 is used for recording at each photographing point, after the demonstration flight is carried out by a flight sampler, a flight map is drawn according to information recorded by the unmanned aerial vehicle navigation positioning module 6 and the visual positioning unit 18, and a flight control system is loaded on the unmanned aerial vehicle by means of technologies such as path control and the like, so that the intelligent operation of unmanned aerial vehicle power line inspection and the application of unmanned aerial vehicle intelligent flight in power line inspection can be realized, the labor cost can be further saved, and the operation efficiency of the power line inspection and even the whole power grid system can be improved; through flight sampling unit 7, set up flight sampler and log in module 8, regularly carry out standardization and service ability examination to the flight sampler, guarantee the standardization of unmanned aerial vehicle intelligence inspection line in later stage, and improve flight sampler's electric wire netting inspection service ability to ensure the smooth development of follow-up research and development work.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. The utility model provides an unmanned aerial vehicle is patrolled and examined to intelligent power line with barrier function is kept away in anticollision, includes unmanned aerial vehicle main part (1) and unmanned aerial vehicle frame (2), unmanned aerial vehicle main part (1) and unmanned aerial vehicle frame (2) are mutually assembled and are set up its characterized in that: the unmanned aerial vehicle comprises an unmanned aerial vehicle body (1), wherein a central processing unit (3) is arranged in the unmanned aerial vehicle body (1), a receiving end of the central processing unit (3) is connected with an output end signal of an unmanned aerial vehicle monitoring unit (4), a receiving end of the central processing unit (3) is connected with an output end signal of a flight sampling unit (7), a receiving end of the flight sampling unit (7) is connected with an output end signal of a flight sampler login module (8), a receiving end of the flight sampling unit (7) is connected with an output end signal of a sampling flight data screening module (9), a receiving end of the flight sampling unit (7) is connected with an output end signal of a sampling flight data uploading module (10), an output end of the sampling flight data uploading module (10) is connected with a receiving end signal of a sampling flight database (14), an output end of the sampling flight database (14) is connected with a receiving end signal of a data transmission module (15), the output end of the data transmission module (15) is in signal connection with the receiving end of the database (16), the output end of the database (16) is in signal connection with the receiving end of the data storage module (17), the receiving end of the central processing unit (3) is in signal connection with the output end of the visual positioning unit (18), the receiving end of the central processing unit (3) is in signal connection with the output end of the path planning unit (24), the receiving end of the path planning unit (24) is in signal connection with the output end of the geographic data updating module (25), the receiving end of the path planning unit (24) is in signal connection with the output end of the data real-time updating module (26), and the receiving end of the path planning unit (24) is in signal connection with the output end of the intelligent data analysis module (27).
2. The intelligent power line inspection unmanned aerial vehicle with anti-collision and obstacle-avoiding functions as claimed in claim 1, wherein: the unmanned aerial vehicle monitoring unit (4) comprises an unmanned aerial vehicle navigation speed measuring module (5) and an unmanned aerial vehicle navigation positioning module (6).
3. The intelligent power line inspection unmanned aerial vehicle with anti-collision and obstacle-avoiding functions as claimed in claim 1, wherein: the receiving end of the flight sampler login module (8) is in signal connection with the output end of the flight sampler capability examination module (11), and the receiving end of the flight sampler login module (8) is in signal connection with the output end of the flight sampler examination result display module (13).
4. The intelligent power line inspection unmanned aerial vehicle with anti-collision and obstacle-avoiding functions as claimed in claim 3, wherein: the receiving end of the flight sampler capability assessment module (11) is in signal connection with the output end of the flight sampler capability assessment and evaluation module (12), and the receiving end of the flight sampler assessment result display module (13) is in signal connection with the output end of the flight sampler capability assessment and evaluation module (12).
5. The intelligent power line inspection unmanned aerial vehicle with anti-collision and obstacle-avoiding functions as claimed in claim 1, wherein: the receiving end of the visual positioning unit (18) is in signal connection with the output end of the visual positioning terminal (19), the receiving end of the visual positioning unit (18) is in signal connection with the output end of the digital image processing module (20), and the receiving end of the visual positioning unit (18) is in signal connection with the output end of the object space geometric parameter and position calculation module (20).
6. The intelligent power line inspection unmanned aerial vehicle with anti-collision and obstacle-avoiding functions of claim 5, wherein: the receiving end of the visual positioning terminal (19) is in signal connection with the output end of the binocular camera (22), and the receiving end of the digital image processing module (20) is in signal connection with the output end of the data modeling module (22).
7. The intelligent power line inspection unmanned aerial vehicle with anti-collision and obstacle-avoiding functions as claimed in claim 1, wherein: the output end of the data intelligent analysis module (27) is in signal connection with the receiving end of the unmanned aerial vehicle line patrol path analysis planning module (28).
8. The intelligent power line inspection unmanned aerial vehicle with anti-collision and obstacle-avoiding functions as claimed in claim 1, wherein: the receiving end of the database (16) is in signal connection with the output end of the flight sampling unit (7), the receiving end of the database (16) is in signal connection with the output end of the visual positioning unit (18), the output end of the database (16) is in signal connection with the receiving end of the data correction module (29), and the output end of the data correction module (29) is in signal connection with the receiving end of the path planning unit (24).
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