CN114442653B - Memory, inspection control method, device, equipment and system based on unmanned aerial vehicle - Google Patents
Memory, inspection control method, device, equipment and system based on unmanned aerial vehicle Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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Abstract
The invention discloses a memory, a patrol control method, a device, equipment and a system based on an unmanned aerial vehicle, wherein the method comprises the following steps: when the oil and gas pipeline inspection is started, generating azimuth angle data of the unmanned aerial vehicle relative to the first beacon according to the position data of the unmanned aerial vehicle and the first beacon; determining a patrol path by taking the first beacon as a target beacon according to the azimuth data; calculating the distance between the unmanned aerial vehicle and the target beacon in real time in the process of flying to the target beacon, and acquiring azimuth data of the next beacon relative to the target beacon; generating a control instruction for closing the target beacon when the distance is smaller than a preset threshold value; returning to the previous step after re-determining the target beacon and the routing inspection path according to the azimuth angle data until the next beacon of the target beacon is empty; according to the invention, the unmanned aerial vehicle is controlled in real time without depending on external communication signals such as GPS and the like in the inspection process, and the probability of exposing the positions of the oil and gas pipelines caused by interception of the external communication signals can be effectively avoided.
Description
Technical Field
The invention relates to the field of conveying pipeline safety, in particular to a memory, and a method, a device, equipment and a system for controlling inspection based on an unmanned aerial vehicle.
Background
With the development of unmanned aerial vehicle field in recent years, unmanned aerial vehicle inspection oil gas pipeline has replaced artifical inspection in traditional meaning gradually, has improved inspection work efficiency greatly.
In order to realize accurate oil and gas pipeline inspection under various climatic conditions, an inspection control mode based on Doppler navigation exists in the prior art.
With the gradual increment of oil and gas pipelines in China, the problem of pipeline information confidentiality is more and more important, the information exposure of the oil and gas pipelines can cause great loss, and according to the principle of external confidentiality of oil field pipeline information, the unmanned aerial vehicle is used for carrying out high-quality, high-efficiency and high-confidentiality inspection on the pipelines on the premise of not exposing the information such as the coordinates of the oil and gas pipelines.
The inventor finds that in the prior art, the inspection control mode based on Doppler navigation needs to start the GPS system and emit electric waves in the whole course during working, so that the position of the oil gas pipeline is easy to leak, the concealment is poor, and the information of the oil gas pipeline is exposed.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person of ordinary skill in the art.
Disclosure of Invention
The invention aims to improve confidentiality of oil and gas pipeline information in the inspection process of an unmanned aerial vehicle.
The invention provides a patrol control method based on an unmanned aerial vehicle, which comprises the following steps:
S11, when the oil and gas pipeline inspection is started, generating azimuth angle data of the unmanned aerial vehicle relative to a first beacon according to position data of the unmanned aerial vehicle and the first beacon; the first beacon machine is the first beacon machine of a plurality of beacon machines distributed at the near field position of the oil and gas pipeline according to a preset rule; the preset rules comprise interval setting among the beacons and upstream and downstream sequences of the beacons; the beacon comprises own position data and azimuth angle data relative to the next beacon;
s12, determining a patrol path by taking the first beacon as a target beacon according to the azimuth data;
s13, calculating the distance between the unmanned aerial vehicle and the target beacon in real time in the process of flying towards the target beacon, and acquiring azimuth data of the next beacon relative to the target beacon; generating a control instruction for closing the target beacon when the distance is smaller than a preset threshold value;
S14, returning to the step S13 after re-determining the target beacon and the patrol path according to the azimuth data until the next beacon of the target beacon is empty.
In the present invention, further comprising: and when the next beacon of the target beacon is empty, starting the GPS of the unmanned aerial vehicle and automatically returning.
In the invention, the beacon machine is arranged on a cathode protection pile along the pipeline of the inspection object and is powered by the cathode protection pile.
In the invention, the calculating the distance between the unmanned aerial vehicle and the target beacon in real time in the process of flying to the target beacon comprises the following steps:
And calculating the radial speed according to the Doppler frequency between the unmanned aerial vehicle and the target beacon, and further calculating the distance between the unmanned aerial vehicle and the target beacon.
In the invention, the preset threshold is a preset radial speed threshold, or is obtained by conversion according to the preset radial speed threshold.
In the present invention, further comprising: and generating a control instruction for starting all the beacons when the oil and gas pipeline inspection is started, or generating a control instruction for starting a target beacon after determining that a certain beacon is the target beacon.
In another aspect of the present invention, there is also provided an unmanned aerial vehicle-based inspection control apparatus, including:
The starting control unit is used for generating azimuth angle data of the unmanned aerial vehicle relative to the first beacon machine according to the position data of the unmanned aerial vehicle and the first beacon machine when the oil and gas pipeline inspection is started; the first beacon machine is the first beacon machine of a plurality of beacon machines distributed at the near field position of the oil and gas pipeline according to a preset rule; the preset rules comprise interval setting among the beacons and upstream and downstream sequences of the beacons; the beacon comprises own position data and azimuth angle data relative to the next beacon;
the path determining unit is used for determining a patrol path by taking the first beacon as a target beacon according to the azimuth data;
The path control unit is used for calculating the distance between the unmanned aerial vehicle and the target beacon in real time in the process of flying to the target beacon and acquiring azimuth data of the next beacon relative to the target beacon; generating a control instruction for closing the target beacon when the distance is smaller than a preset threshold value;
And the traversal control unit is used for returning to the path control unit after redefining the target beacon and the routing inspection path according to the azimuth angle data until the next beacon of the target beacon is empty.
In the present invention, further comprising:
and the return control unit is used for starting the GPS of the unmanned aerial vehicle and automatically returning when the next beacon of the target beacon is empty.
In another aspect of the invention, a memory is also provided, comprising a software program adapted to be executed by a processor for performing the steps of the above-described drone-based inspection control method.
According to the embodiment of the invention, the method for controlling the inspection of the unmanned aerial vehicle comprises the steps of storing the computer program on a memory, and enabling the computer to execute the method according to each aspect and achieve the same technical effects when the computer program is executed by the computer.
The other side of the embodiment of the invention also provides an inspection system based on the unmanned aerial vehicle, which comprises the following components: the system comprises a plurality of beacons which are distributed at the near field positions of the oil and gas pipeline according to a preset rule, an unmanned aerial vehicle for inspection, and the inspection control equipment based on the unmanned aerial vehicle;
The beacon machine is used for transmitting a wireless communication beacon signal with a preset frequency;
The unmanned aerial vehicle comprises an automatic flight module, a patrol module, a data transmission system module and a recording module; the automatic flight module is used for calculating according to the radio beacon signals received by the data transmission system, and correcting the heading through the built-in compass so as to control the flight height and direction of the unmanned aerial vehicle; the inspection module comprising a camera is used for acquiring inspection information during pipeline inspection; the data transmission system module is used for receiving and analyzing the wireless telecommunication standard signal; the recording module is used for recording the inspection information;
The inspection control equipment is used for controlling the unmanned aerial vehicle and starting and closing the beacons.
Compared with the prior art, the invention has the following beneficial effects:
according to the inspection control method, on one hand, the unmanned aerial vehicle is not dependent on external communication signals such as GPS and the like in the inspection process, so that the probability of exposing the positions of the oil and gas pipelines caused by interception of the external communication signals can be effectively avoided; on the other hand, the beacon machine is started only when the oil and gas pipeline inspection is started, and the beacon machine in the position where the inspection is finished can be timely closed along with the progress of the inspection process, so that the time for the beacon machine to transmit radio beacon signals can be effectively reduced, and the probability of exposing the position of the oil and gas pipeline can be further reduced.
The foregoing description is only an overview of the present invention, and it is to be understood that it is intended to provide a more clear understanding of the technical means of the present invention and to enable the technical means to be carried out in accordance with the contents of the specification, while at the same time providing a more complete understanding of the above and other objects, features and advantages of the present invention, and one or more preferred embodiments thereof are set forth below, together with the detailed description given below, along with the accompanying drawings.
Drawings
FIG. 1 is a step diagram of a drone-based inspection control method of the present invention;
Fig. 2 is a schematic structural diagram of the inspection control device based on the unmanned aerial vehicle in the invention;
Fig. 3 is a schematic structural diagram of the inspection control device based on the unmanned aerial vehicle in the invention.
Detailed Description
The following detailed description of embodiments of the invention is, therefore, to be taken in conjunction with the accompanying drawings, and it is to be understood that the scope of the invention is not limited to the specific embodiments.
Throughout the specification and claims, unless explicitly stated otherwise, the term "comprise" or variations thereof such as "comprises" or "comprising", etc. will be understood to include the stated element or component without excluding other elements or other components.
The terms "first," "second," and the like herein are used for distinguishing between two different elements or regions and are not intended to limit a particular position or relative relationship. In other words, in some embodiments, the terms "first," "second," etc. may also be interchanged with one another.
Example 1
In order to improve confidentiality of oil and gas pipeline information in an unmanned aerial vehicle inspection process, as shown in fig. 1, the embodiment of the invention provides an unmanned aerial vehicle-based inspection control method, which comprises the following steps:
S11, when the oil and gas pipeline inspection is started, generating azimuth angle data of the unmanned aerial vehicle relative to a first beacon according to position data of the unmanned aerial vehicle and the first beacon; the first beacon machine is the first beacon machine of a plurality of beacon machines distributed at the near field position of the oil and gas pipeline according to a preset rule; the preset rules comprise interval setting among the beacons and upstream and downstream sequences of the beacons; the beacon comprises own position data and azimuth angle data relative to the next beacon;
The unmanned aerial vehicle-based inspection system for realizing the embodiment of the invention can comprise three main parts, namely a plurality of beacons which are respectively distributed at the near field position of the oil and gas pipeline according to the preset rule, an unmanned aerial vehicle for inspection and an unmanned aerial vehicle-based inspection control device; the inspection control device in the embodiment of the invention can comprise computer equipment and wireless communication equipment which are arranged at the measurement and control station; in practical applications, the unmanned aerial vehicle may be a fixed-wing unmanned aerial vehicle or a multi-rotor unmanned aerial vehicle.
Specifically, the beacon is used for transmitting a radio beacon signal with a preset frequency; the unmanned aerial vehicle comprises an automatic flight module, a patrol module, a data transmission system module and a recording module; the automatic flight module is used for calculating according to the radio beacon signals received by the data transmission system, and correcting the heading through the built-in compass so as to control the flight height and direction of the unmanned aerial vehicle; the inspection module comprising a camera is used for acquiring inspection information during pipeline inspection; the data transmission system module is used for receiving and analyzing the wireless telecommunication standard signal; the recording module is used for recording the inspection information; the inspection control device is used for controlling the unmanned aerial vehicle and starting and closing each beacon machine.
In practical application, each beacon can be arranged in the near field of the oil gas pipeline along the oil gas pipeline, preferably, the beacon can be arranged on a cathode protection pile along the pipeline of the inspection object, and the cathode protection pile supplies power for the beacon; therefore, a power supply device is not required to be arranged for each beacon machine independently, and construction cost is further saved.
In the embodiment of the invention, a plurality of beacons established along the oil and gas pipeline have a certain upstream-downstream relationship, so that the next beacon of each beacon can be determined;
then, each beacon machine also stores the position data of the beacon machine and the azimuth angle data of the beacon machine relative to the next beacon machine, so that a basis can be provided for the unmanned aerial vehicle to fly to the next beacon machine for path calculation through the azimuth angle data of the next beacon machine in one beacon machine.
When the oil and gas pipeline inspection is started, the position data of the first beacon machine (namely, the first beacon machine determined according to the upstream-downstream relation of the plurality of beacon machines) in the plurality of beacon machines and the current position data of the unmanned aerial vehicle are required to be firstly acquired, and the azimuth angle data of the unmanned aerial vehicle relative to the first beacon machine is calculated and generated.
S12, determining a patrol path by taking the first beacon as a target beacon according to the azimuth data;
According to the current position data of the unmanned aerial vehicle and the azimuth angle data of the unmanned aerial vehicle relative to the first beacon, a corresponding inspection path (the inspection path at the moment is the path from the current position of the unmanned aerial vehicle to the position of the first beacon) can be determined by taking the first beacon as a target beacon; at this moment, unmanned aerial vehicle can start to patrol and examine the route according to patrolling and examining the route and begin to carry out oil gas pipeline.
S13, calculating the distance between the unmanned aerial vehicle and the target beacon in real time in the process of flying towards the target beacon, and acquiring azimuth data of the next beacon relative to the target beacon; generating a control instruction for closing the target beacon when the distance is smaller than a preset threshold value;
In the process of flying to the target beacon machine, the unmanned aerial vehicle can receive the radio beacon signal sent by the target beacon machine, the distance between the unmanned aerial vehicle and the target beacon machine can be calculated according to the Doppler effect according to the standard frequency of the radio beacon signal and the current frequency of the radio beacon signal received currently, namely, the radial speed can be obtained according to the Doppler frequency between the unmanned aerial vehicle and the target beacon machine, and then the distance between the unmanned aerial vehicle and the target beacon machine is calculated.
Every time the unmanned aerial vehicle reaches the position of a beacon, means that the position guiding task of the beacon is completed; in the embodiment of the invention, in order to reduce the starting time of the beacon machine as much as possible and reduce the time for the beacon machine to send the radio beacon signal, a distance threshold is set, and then a closing mechanism of the target beacon machine is triggered; in practical application, since the flying speed of the unmanned aerial vehicle is fast, an advance is required to generate a control instruction for closing the target beacon, so that a preset threshold for the distance between the unmanned aerial vehicle and the target beacon can be determined by a person skilled in the art according to the practical working condition and the experimental result.
In practical applications, the preset threshold may be a preset radial velocity threshold, or may be obtained by converting the preset radial velocity threshold.
S14, returning to the step S13 after re-determining the target beacon and the patrol path according to the azimuth data until the next beacon of the target beacon is empty.
In the process that the unmanned aerial vehicle flies to the target beacon machine, the target beacon machine also needs to send azimuth data of the next beacon machine to the unmanned aerial vehicle, so that the unmanned aerial vehicle can re-determine a new target beacon machine after reaching the current target beacon machine, and a new inspection path is generated.
According to the newly generated inspection path, by continuously repeating step S13, all the beacons can be traversed until the last beacon, which has no next beacon, means that the data acquisition process in the inspection task has been completed.
It should be noted that, in the embodiment of the present invention, the starting mode for each beacon machine when the oil gas pipeline inspection is started may be unified starting or step-by-step starting; the unified starting refers to starting all the beacons when the oil gas pipeline inspection is started; the distributed start is performed sequentially in the flight process of the unmanned aerial vehicle, so that the sending time of a beacon machine wireless telecommunication beacon signal is further reduced, and the concealment and safety of oil and gas pipeline information are further improved; the distributed starting method of the beacon machine specifically includes that after a certain beacon machine is determined to be a target beacon machine, a control instruction for starting the target beacon machine is generated; in practical application, the control station can be realized by a remote control switch which is arranged on each cathode protection pile in a linkage way. Thus, after the unmanned aerial vehicle reaches one target beacon, the unmanned aerial vehicle can start the new target beacon through confirmation of the new target beacon and shut down the arrived beacon.
In the embodiment of the invention, the method further comprises the step of controlling the return of the unmanned aerial vehicle, and the method specifically comprises the following steps: and when the next beacon of the target beacon is empty, starting the GPS of the unmanned aerial vehicle and automatically returning.
In the embodiment of the invention, after the unmanned aerial vehicle completes data acquisition in the inspection process, the GPS module can be started to generate the return route, and the GPS signal serving as external communication data does not relate to the position information of the oil gas pipeline at the moment, so that the risk of leakage of the information of the oil gas pipeline does not exist.
In summary, on the one hand, the embodiment of the invention does not depend on external communication signals such as GPS and the like to control the unmanned aerial vehicle in real time in the process of inspection, so that the probability of exposing the position of the oil gas pipeline caused by interception of the external communication signals can be effectively avoided; on the other hand, in the embodiment of the invention, the beacon is started only when the oil and gas pipeline inspection is started, and the beacon in the position where the inspection is finished can be timely closed along with the progress of the inspection process, so that the time for the beacon to transmit radio beacon signals can be effectively reduced, and the probability of exposing the position of the oil and gas pipeline can be further reduced.
Example two
In another aspect of the embodiment of the present invention, a patrol control device based on an unmanned aerial vehicle is provided, and fig. 2 shows a schematic structural diagram of the patrol control device based on an unmanned aerial vehicle provided in the embodiment of the present invention, where the patrol control device based on an unmanned aerial vehicle is a device corresponding to the patrol control method based on an unmanned aerial vehicle in the embodiment corresponding to fig. 1, that is, the patrol control method based on an unmanned aerial vehicle in the embodiment corresponding to fig. 1 is implemented by means of a virtual device, and each virtual module forming the patrol control device based on an unmanned aerial vehicle may be executed by an electronic device, for example, a network device, a terminal device, or a server. Specifically, the unmanned aerial vehicle-based inspection control device in the embodiment of the invention comprises:
The starting control unit 01 is used for generating azimuth angle data of the unmanned aerial vehicle relative to the first beacon machine according to the position data of the unmanned aerial vehicle and the first beacon machine when the oil and gas pipeline inspection is started; the first beacon machine is the first beacon machine of a plurality of beacon machines distributed at the near field position of the oil and gas pipeline according to a preset rule; the preset rules comprise interval setting among the beacons and upstream and downstream sequences of the beacons; the beacon comprises own position data and azimuth angle data relative to the next beacon;
The path determining unit 02 is used for determining a patrol path by taking the first beacon as a target beacon according to the azimuth data;
The path control unit 03 is used for calculating the distance between the unmanned aerial vehicle and the target beacon in real time in the process of flying to the target beacon, and acquiring azimuth data of the next beacon relative to the target beacon; generating a control instruction for closing the target beacon when the distance is smaller than a preset threshold value;
And the traversal control unit 04 is used for returning to the path control unit after redefining the target beacon and the patrol path according to the azimuth data until the next beacon of the target beacon is empty.
Preferably, in an embodiment of the present invention, the method further includes:
and the return control unit is used for starting the GPS of the unmanned aerial vehicle and automatically returning when the next beacon of the target beacon is empty.
Because the working principle and the beneficial effects of the unmanned aerial vehicle-based inspection control device in the embodiment of the invention have been described and illustrated in the unmanned aerial vehicle-based inspection control method corresponding to fig. 1, the two can be referred to each other, and the detailed description is omitted.
Example III
In an embodiment of the present invention, a memory is further provided, where the memory includes a software program, and the software program is adapted to execute each step in the unmanned aerial vehicle-based inspection control method corresponding to fig. 1 by using a processor.
The embodiment of the invention can be realized by a software program mode, namely, by writing a software program (and an instruction set) for realizing each step in the inspection control method based on the unmanned aerial vehicle corresponding to fig. 1, the software program is stored in a storage device, and the storage device is arranged in a computer device, so that a processor of the computer device can call the software program to realize the purpose of the embodiment of the invention.
Example IV
In the embodiment of the invention, the storage device included in the unmanned aerial vehicle-based inspection control device comprises a corresponding computer program product, and when the program instructions included in the computer program product are executed by a computer, the computer can execute the unmanned aerial vehicle-based inspection control method in the above aspects and realize the same technical effects.
Fig. 3 is a schematic hardware structure of an unmanned aerial vehicle-based inspection control device as an electronic device according to an embodiment of the present invention, and as shown in fig. 3, the device includes one or more processors 610, a bus 630, and a memory 620. Taking a processor 610 as an example, the apparatus may further comprise: input means 640, output means 650.
The processor 610, memory 620, input devices 640, and output devices 650 may be connected by a bus or other means, for example in fig. 3.
Memory 620, as a non-transitory computer readable storage medium, may be used to store non-transitory software programs, non-transitory computer executable programs, and modules. The processor 610 executes various functional applications of the electronic device and data processing, i.e., implements the processing methods of the method embodiments described above, by running non-transitory software programs, instructions, and modules stored in the memory 620.
Memory 620 may include a storage program area that may store an operating system, at least one application program required for functionality, and a storage data area; the storage data area may store data, etc. In addition, memory 620 may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, memory 620 optionally includes memory remotely located relative to processor 610, which may be connected to the processing device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 640 may receive input numeric or character information and generate signal inputs. The output 650 may include a display device such as a display screen.
The one or more modules are stored in the memory 620 and, when executed by the one or more processors 610, perform:
S11, when the oil and gas pipeline inspection is started, generating azimuth angle data of the unmanned aerial vehicle relative to a first beacon according to position data of the unmanned aerial vehicle and the first beacon; the first beacon machine is the first beacon machine of a plurality of beacon machines distributed at the near field position of the oil and gas pipeline according to a preset rule; the preset rules comprise interval setting among the beacons and upstream and downstream sequences of the beacons; the beacon comprises own position data and azimuth angle data relative to the next beacon;
s12, determining a patrol path by taking the first beacon as a target beacon according to the azimuth data;
s13, calculating the distance between the unmanned aerial vehicle and the target beacon in real time in the process of flying towards the target beacon, and acquiring azimuth data of the next beacon relative to the target beacon; generating a control instruction for closing the target beacon when the distance is smaller than a preset threshold value;
S14, returning to the step S13 after re-determining the target beacon and the patrol path according to the azimuth data until the next beacon of the target beacon is empty.
In the present invention, further comprising: and when the next beacon of the target beacon is empty, starting the GPS of the unmanned aerial vehicle and automatically returning.
Example five
The other side of the embodiment of the invention also provides an inspection system based on the unmanned aerial vehicle, which comprises the following components: the system comprises a plurality of beacons which are distributed at the near field positions of the oil and gas pipeline according to a preset rule, an unmanned aerial vehicle for inspection, and the inspection control equipment based on the unmanned aerial vehicle;
The beacon machine is used for transmitting a wireless communication beacon signal with a preset frequency;
The unmanned aerial vehicle comprises an automatic flight module, a patrol module, a data transmission system module and a recording module; the automatic flight module is used for calculating according to the radio beacon signals received by the data transmission system, and correcting the heading through the built-in compass so as to control the flight height and direction of the unmanned aerial vehicle; the inspection module comprising a camera is used for acquiring inspection information during pipeline inspection; the data transmission system module is used for receiving and analyzing the wireless telecommunication standard signal; the recording module is used for recording the inspection information;
The inspection control equipment is used for controlling the unmanned aerial vehicle and starting and closing the beacons.
Because the working principle and the beneficial effects of the unmanned aerial vehicle-based inspection system in the embodiment of the invention have been described and illustrated in the unmanned aerial vehicle-based inspection control method corresponding to fig. 1, the two inspection systems can be referred to each other, and the detailed description thereof is omitted.
The product can execute the method provided by the embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method. Technical details not described in detail in this embodiment may be found in the methods provided in the embodiments of the present invention.
In the several embodiments provided in the present invention, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage device, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage device includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), reRAM, MRAM, PCM, NAND FLASH, NOR Flash, memristor, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will appreciate that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (12)
1. The inspection control method based on the unmanned aerial vehicle is characterized by comprising the following steps of:
S11, when the oil and gas pipeline inspection is started, generating azimuth angle data of the unmanned aerial vehicle relative to a first beacon according to position data of the unmanned aerial vehicle and the first beacon; the first beacon machine is the first beacon machine of a plurality of beacon machines distributed at the near field position of the oil and gas pipeline according to a preset rule; the preset rules comprise interval setting among the beacons and upstream and downstream sequences of the beacons; the beacon comprises own position data and azimuth angle data relative to the next beacon;
s12, determining a patrol path by taking the first beacon as a target beacon according to the azimuth data;
s13, calculating the distance between the unmanned aerial vehicle and the target beacon in real time in the process of flying towards the target beacon, and acquiring azimuth data of the next beacon relative to the target beacon; generating a control instruction for closing the target beacon when the distance is smaller than a preset threshold value;
S14, returning to the step S13 after re-determining the target beacon and the patrol path according to the azimuth data until the next beacon of the target beacon is empty.
2. The unmanned aerial vehicle-based inspection control method of claim 1, further comprising:
and when the next beacon of the target beacon is empty, starting the GPS of the unmanned aerial vehicle and automatically returning.
3. The unmanned aerial vehicle-based inspection control method of claim 2, wherein the beacon is arranged on a cathode protection pile along the pipeline of the inspection object and is powered by the cathode protection pile.
4. The unmanned aerial vehicle-based inspection control method of claim 1, wherein the calculating the distance between the unmanned aerial vehicle and the target beacon in real time during the flight to the target beacon comprises:
And calculating the radial speed according to the Doppler frequency between the unmanned aerial vehicle and the target beacon, and further calculating the distance between the unmanned aerial vehicle and the target beacon.
5. The unmanned aerial vehicle-based inspection control method of claim 4, wherein the preset threshold is a preset radial velocity threshold or is obtained by conversion according to a preset radial velocity threshold.
6. The unmanned aerial vehicle-based inspection control method of claim 2, further comprising:
Generating a control instruction for starting all the beacons when the oil and gas pipeline inspection is started, or,
After determining that a certain beacon is a target beacon, generating a control instruction for starting the target beacon.
7. Inspection control device based on unmanned aerial vehicle, its characterized in that includes:
The starting control unit is used for generating azimuth angle data of the unmanned aerial vehicle relative to the first beacon machine according to the position data of the unmanned aerial vehicle and the first beacon machine when the oil and gas pipeline inspection is started; the first beacon machine is the first beacon machine of a plurality of beacon machines distributed at the near field position of the oil and gas pipeline according to a preset rule; the preset rules comprise interval setting among the beacons and upstream and downstream sequences of the beacons; the beacon comprises own position data and azimuth angle data relative to the next beacon;
the path determining unit is used for determining a patrol path by taking the first beacon as a target beacon according to the azimuth data;
The path control unit is used for calculating the distance between the unmanned aerial vehicle and the target beacon in real time in the process of flying to the target beacon and acquiring azimuth data of the next beacon relative to the target beacon; generating a control instruction for closing the target beacon when the distance is smaller than a preset threshold value;
And the traversal control unit is used for returning to the path control unit after redefining the target beacon and the routing inspection path according to the azimuth angle data until the next beacon of the target beacon is empty.
8. The unmanned aerial vehicle-based patrol control apparatus of claim 7, further comprising:
and the return control unit is used for starting the GPS of the unmanned aerial vehicle and automatically returning when the next beacon of the target beacon is empty.
9. A memory comprising a software program adapted to be executed by a processor with the steps of the drone-based inspection control method according to any one of claims 1 to 6.
10. A drone-based inspection control device comprising a bus, a processor, and a memory as in claim 9;
The bus is used for connecting the memory and the processor;
the processor is configured to execute the set of instructions in the memory.
11. Inspection system based on unmanned aerial vehicle, characterized in that includes: a plurality of beacons deployed according to a preset rule at near field locations of the oil and gas pipeline, an unmanned aerial vehicle for inspection, and an unmanned aerial vehicle-based inspection control device as set forth in claim 10;
The beacon machine is used for transmitting a wireless communication beacon signal with a preset frequency;
The unmanned aerial vehicle comprises an automatic flight module, a patrol module, a data transmission system module and a recording module; the automatic flight module is used for calculating according to the radio beacon signals received by the data transmission system, and correcting the heading through the built-in compass so as to control the flight height and direction of the unmanned aerial vehicle; the inspection module comprising a camera is used for acquiring inspection information during pipeline inspection; the data transmission system module is used for receiving and analyzing the wireless telecommunication standard signal; the recording module is used for recording the inspection information;
The inspection control equipment is used for controlling the unmanned aerial vehicle and starting and closing the beacons.
12. The unmanned aerial vehicle-based inspection system of claim 11, wherein the unmanned aerial vehicle comprises a fixed-wing unmanned aerial vehicle or a multi-rotor unmanned aerial vehicle.
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| CN111610802A (en) * | 2020-05-29 | 2020-09-01 | 中国石油化工股份有限公司 | Relay control method and system for unmanned aerial vehicle flight |
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| CN111610802A (en) * | 2020-05-29 | 2020-09-01 | 中国石油化工股份有限公司 | Relay control method and system for unmanned aerial vehicle flight |
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