CN115202376A - Unmanned aerial vehicle patrols and examines electric power grid management and control platform based on individual soldier removes - Google Patents
Unmanned aerial vehicle patrols and examines electric power grid management and control platform based on individual soldier removes Download PDFInfo
- Publication number
- CN115202376A CN115202376A CN202210566612.1A CN202210566612A CN115202376A CN 115202376 A CN115202376 A CN 115202376A CN 202210566612 A CN202210566612 A CN 202210566612A CN 115202376 A CN115202376 A CN 115202376A
- Authority
- CN
- China
- Prior art keywords
- aerial vehicle
- unmanned aerial
- inspection
- module
- acquisition
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The invention provides an unmanned aerial vehicle inspection power grid management and control platform based on individual soldier movement, which comprises a server, a database, an unmanned aerial vehicle, an electric bicycle, an acquisition module, an interaction module, a recovery module and a route planning module, wherein the acquisition module is used for inspecting a power transmission line so as to acquire image data of the power transmission line; the interaction module is used for interacting the unmanned aerial vehicle and the acquisition module so as to realize the cooperative interaction of the inspection position and the inspection angle; the recovery module is used for being matched with the unmanned aerial vehicle for recovery so as to stop the unmanned aerial vehicle on a recovery lifting plate of the electric bicycle; the route planning module is used for planning the routing inspection of the unmanned aerial vehicle so as to realize routing inspection of the power line. The routing module is used for planning the routing inspection route and the routing inspection point location of the unmanned aerial vehicle, so that the routing inspection precision and the routing inspection efficiency of the unmanned aerial vehicle are improved, and the routing inspection point location of the power transmission line can be ensured to be inspected to the greatest extent.
Description
Technical Field
The invention relates to the technical field of power network inspection, in particular to an unmanned aerial vehicle inspection power grid management and control platform based on individual soldier movement.
Background
At present, along with the development of unmanned aerial vehicle technique and automatic control technique, power line unmanned aerial vehicle patrols and examines technological development rapidly, is replacing traditional manual work mode of patrolling and examining gradually, has effectively reduced human cost and safe risk, has improved and has patrolled and examined work efficiency.
For example, CN103730864B prior art discloses a cooperative control method for unmanned aerial vehicle power line inspection, and in recent years, an unmanned aerial vehicle is usually equipped with some or all devices and sensors including a stable platform (or a pan/tilt head), a positioning and attitude determination system, a laser scanner, an infrared thermal imager, an ultraviolet imager, a video recorder, a visible light camera, and the like to perform inspection work. But owing to lack system global design, the synchronization and the mode of operation between various equipment and sensor are complicated for lack the contact under the most circumstances between the various sensors that load on the unmanned aerial vehicle, the transmission and the processing of data are also mutually independent, can't give play to multisource data of the synchronous inspection of multisensor and compare advantage and accuracy.
Another typical prior art, such as CN111510686B, discloses a method and a system for managing and controlling power inspection flight of an unmanned aerial vehicle based on a vehicle-mounted unmanned aerial vehicle, and at present, the working mode of using the unmanned aerial vehicle to inspect power has gradually stepped into the power inspection work, but the power inspection is often outdoors, and the inspection task is heavy, so the requirement on the unmanned aerial vehicle is high, the outdoor environment also has many limitations on the operation of the unmanned aerial vehicle, how to reduce the failure rate of the unmanned aerial vehicle caused by outdoor environmental factors, and how to improve the adaptability of the unmanned aerial vehicle to heavy operation tasks.
The method and the device are provided for solving the problems of unstable data transmission, relay transmission, poor cruising ability, poor control effect, poor adaptive capacity and interactivity of route routing inspection and the like in the field.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle inspection electric power grid management and control platform based on individual soldier movement aiming at the defects.
The invention adopts the following technical scheme:
an unmanned aerial vehicle inspection electric power gridding control platform based on individual soldier movement comprises a server, a database and an unmanned aerial vehicle, and further comprises an electric bicycle, an acquisition module, an interaction module, a recovery module and a route planning module,
the server is respectively connected with the acquisition module, the interaction module, the recovery module and the route planning module; the recovery module is arranged on the electric bicycle to recover the unmanned aerial vehicle after the inspection is finished;
the acquisition module is used for inspecting the power transmission line so as to acquire image data of the power transmission line; wherein the acquisition module is arranged on the unmanned aerial vehicle;
the interaction module is used for interacting the unmanned aerial vehicle and the acquisition module so as to realize the cooperative interaction of the inspection position and the inspection angle;
the recovery module is used for being matched with the unmanned aerial vehicle for recovery so as to stop the unmanned aerial vehicle on a recovery lifting plate of the electric bicycle;
the route planning module is used for planning an inspection line of the unmanned aerial vehicle so as to realize inspection of the power line;
the recovery module comprises a recovery unit and a positioning unit, and the recovery unit is used for recovering and guiding the unmanned aerial vehicle; the positioning unit is used for positioning the real-time position of the unmanned aerial vehicle so as to be matched with the recovery unit to recover the unmanned aerial vehicle;
the recovery unit comprises a guide component and a landing matching component, the landing matching component is used for matching the unmanned aerial vehicle with an electric bicycle, and after the matching is successful, the unmanned aerial vehicle is guided to be recovered through the guide component; the guiding component is used for guiding the unmanned aerial vehicle entering the recovery identification range so as to realize that the unmanned aerial vehicle can land on the recovery lifting plate; the positioning unit acquires the current positions of the unmanned aerial vehicle and the electric bicycle and calculates the distance dis between the unmanned aerial vehicle and the electric bicycle, wherein the distance between the unmanned aerial vehicle and the electric bicycle is calculated according to the following formula:
in the formula (x) 1 ，y 1 ，h 1 ) Position coordinates of the unmanned aerial vehicle; (x) 2 ，y 2 ，h 2 ) Is the position coordinate of the electric bicycle,
wherein h is 1 For the altitude value of the drone, the calculation is made according to the following formula:
k 1 +k 2 +k 3 ＝1
in the formula, k 1 、k 2 、k 3 The weight is set according to the operator; h 1 To be provided withA measured height value of an air pressure sensor on the drone; h 2 The height value is measured by an ultrasonic sensor arranged on the unmanned aerial vehicle; h 3 Measuring a height value for a laser sensor arranged on the unmanned aerial vehicle;
measured height value H for the air pressure sensor 1 Calculated according to the following formula:
in the formula, T i For the unmanned aerial vehicle is at height H i The temperature of (d); β is the temperature vertical conversion ratio; r is a gas constant; g is gravity acceleration; p 0 For the unmanned aerial vehicle is H in height 1 The corresponding atmospheric pressure; p i For the unmanned aerial vehicle is H in height i The corresponding atmospheric pressure;
measured height value H for the ultrasonic sensor 2 Calculated according to the following formula:
wherein c is the propagation speed of sound waves in air; t is the time of propagation;
if unmanned aerial vehicle with electric bicycle's distance dis is less than retrieving discernment scope threshold value D, then pass through the descending is mated the component and is established the mating relation to hover unmanned aerial vehicle extremely electric bicycle's recovery take off and land board directly over, and pass through the guide member guide unmanned aerial vehicle descends to be in on the electric bicycle.
Optionally, the landing pairing component comprises a pairing dispensing terminal, an induction radar and a pairing code base database,
the pairing issuing terminal is used for issuing pairing codes of the guide component and the electric bicycle; the induction radar is used for receiving the identity identification code of the unmanned aerial vehicle; the pairing code base database is used for comparing a new pairing code generated by the pairing issuing terminal, and the new pairing code is effective only when the generated new pairing code is inconsistent with the last pairing code stored in the pairing code base database;
and after the new pairing code is used, storing the new pairing code in the pairing code basic database, and updating the pairing code basic database.
Optionally, the route planning module includes a route planning unit and a task management unit, and the task management unit is configured to manage an inspection task of the unmanned aerial vehicle; the route planning unit is used for planning an inspection route of the unmanned aerial vehicle so as to cooperate with the unmanned aerial vehicle to inspect the power transmission line;
the task management unit comprises a task database, a task distributor and a task manager, wherein the task database stores basic task data related to the inspection position; the task dispenser transmits the task data in the task database to the unmanned aerial vehicle; and the task manager manages the task completion state of the unmanned aerial vehicle according to the data of the routing inspection route.
Optionally, the interaction module includes an interaction unit and a state monitoring unit, and the interaction unit is configured to interact between the acquisition module and the unmanned aerial vehicle; the state monitoring unit is used for monitoring the state of the unmanned aerial vehicle;
the interaction unit acquires the height data of the unmanned aerial vehicle and the position data of the power transmission line, and adjusts the acquisition angle of the acquisition module according to the height data of the unmanned aerial vehicle and the position data of the power transmission line.
Optionally, the acquisition module includes an acquisition unit and a posture adjustment unit, and the acquisition unit is configured to acquire the power transmission line; the posture adjusting unit is used for adjusting the acquisition posture of the acquisition unit; the acquisition unit comprises an acquisition probe and a data memory, wherein the acquisition probe is used for acquiring the image of the power transmission line; the data memory is used for storing the image data acquired by the acquisition probe.
Optionally, the attitude adjusting unit includes an adjusting member and an attitude collector, and the attitude collector is configured to collect a current attitude of the unmanned aerial vehicle; the adjusting component adjusts the acquisition angle of the acquisition probe based on the data of the attitude acquisition device;
the adjusting component comprises an adjusting frame, an angle detecting piece, an adjusting seat and an adjusting driving mechanism, wherein the adjusting frame is used for supporting the acquisition unit, the adjusting seat and the adjusting driving mechanism; the adjusting seat is used for supporting the acquisition probe and is hinged with the adjusting seat; the angle detection piece is used for detecting the rotating angle of the adjusting seat; the adjusting driving mechanism is in driving connection with the adjusting seat.
Optionally, the state of the unmanned aerial vehicle comprises cruising ability, distance to the electric bicycle and inspection height.
The beneficial effects obtained by the invention are as follows:
1. the acquisition module and the interaction module are matched with each other, so that the unmanned aerial vehicle can dynamically adjust the acquisition angle of the acquisition module according to the posture of the unmanned aerial vehicle in the process of polling the power transmission line, and the acquisition precision of the acquisition module on the power transmission line is improved;
2. the unmanned aerial vehicle which finishes the inspection task is recovered through the recovery module, so that the unmanned aerial vehicle can be autonomously landed on the recovery landing plate, and the reliability and the intelligent degree of autonomous landing and recovery of the unmanned aerial vehicle are ensured;
3. the routing inspection route and the routing inspection point location of the unmanned aerial vehicle are planned through the path planning module, the routing inspection precision and the routing inspection efficiency of the unmanned aerial vehicle are improved, and the routing inspection point location of the power transmission line can be guaranteed to be inspected to the greatest extent;
4. the adjusting component is matched with the posture collector, so that the adjusting component can dynamically adjust the acquisition probe according to the posture of the unmanned aerial vehicle, and the acquisition precision of the acquisition probe on the images of the power transmission line is improved;
5. the unmanned aerial vehicle and the acquisition module are matched through the interaction module, so that the accurate acquisition of the images of the power transmission line is improved;
6. through the cooperation of guide member and descending pairing member for unmanned aerial vehicle in the identification range can mate, establishes unmanned aerial vehicle and guide member's guide mapping relation, and with unmanned aerial vehicle safety, accurate guide to retrieve on the board that falls.
7. Through identification element cooperation unmanned aerial vehicle and guide member, pair the identification member for unmanned aerial vehicle can be accurate berth on retrieving the board that takes off and land, promoted unmanned aerial vehicle's recovery efficiency, also further reduction operator's intensity of labour, have higher intelligent management and control ability, make high efficiency and the reliability of patrolling and examining transmission line.
For a better understanding of the features and technical content of the present invention, reference is made to the following detailed description of the invention and accompanying drawings, which are provided for purposes of illustration and description only and are not intended to limit the invention.
Drawings
The invention will be further understood from the following description 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 an overall block diagram of the present invention.
Fig. 2 is a schematic structural view of the electric bicycle and the unmanned aerial vehicle of the present invention.
Fig. 3 is a schematic structural view of the tail box and the unmanned aerial vehicle of the present invention.
Fig. 4 is a schematic structural diagram of the drone of the present invention.
Fig. 5 is a schematic structural diagram of an adjusting member and a collecting probe according to the present invention.
Fig. 6 is a schematic diagram of a polling scene of each polling angle on the power transmission tower according to the invention.
Fig. 7 is a scene schematic diagram of a flight path of the unmanned aerial vehicle at the inspection point location.
Fig. 8 is a schematic view of a control flow of the unmanned aerial vehicle performing recovery landing according to the nest two-dimensional code.
Fig. 9 is a schematic view of a scene in which the unmanned aerial vehicle performs recovery landing on the recovery landing board according to the present invention.
The reference numbers illustrate: 1-a power transmission tower; 2-inspecting the angle; 3, recovering the lifting plate; 4-an electric bicycle; 5, unmanned aerial vehicle; 6-side box; 7-a boot; 8-an adjustment member; 9-collecting probe; 10-an adjusting frame; 11-adjusting the driving mechanism.
Detailed Description
The following is a description of embodiments of the present invention with reference to specific embodiments, and those skilled in the art will understand the advantages and effects of the present invention from the disclosure of the present specification. The invention is capable of other and different embodiments and its several details are capable of modification in various other respects, all without departing from the spirit and scope of the present invention. The drawings of the present invention are for illustrative purposes only and are not intended to be drawn to scale. The following embodiments will further explain the related art of the present invention in detail, but the disclosure is not intended to limit the scope of the present invention.
The first embodiment.
According to the embodiments shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7, fig. 8 and fig. 9, the unmanned aerial vehicle inspection electric power grid management and control platform based on individual soldier movement is provided, the management and control platform comprises a server, a database and an unmanned aerial vehicle, the management and control platform further comprises an electric bicycle, an acquisition module, an interaction module, a recovery module and a route planning module,
the server is respectively connected with the acquisition module, the interaction module, the recovery module and the route planning module; the recovery module is arranged on the electric bicycle to recover the unmanned aerial vehicle after the inspection is finished;
the acquisition module is used for inspecting the power transmission line so as to acquire image data of the power transmission line; the acquisition module is arranged on the unmanned aerial vehicle;
the interaction module is used for interacting the unmanned aerial vehicle and the acquisition module so as to realize the cooperative interaction of the inspection position and the inspection angle;
the recovery module is used for being matched with the unmanned aerial vehicle for recovery so as to stop the unmanned aerial vehicle on a recovery lifting plate of the electric bicycle;
the route planning module is used for planning an inspection line of the unmanned aerial vehicle so as to realize inspection of the power line;
the management and control platform further comprises a processor, the processor is respectively in control connection with the server, the database, the unmanned aerial vehicle, the acquisition module, the interaction module, the recovery module and the route planning module, and the server, the database, the unmanned aerial vehicle, the acquisition module, the interaction module, the recovery module and the route planning module are subjected to centralized control based on the processor, so that the inspection efficiency of the power transmission line inspection is improved;
the acquisition module and the interaction module are matched with each other, so that the acquisition module can dynamically adjust the acquisition angle of the acquisition module according to the posture of the unmanned aerial vehicle in the process of inspecting the power transmission line, and the acquisition precision of the acquisition module on the power transmission line is improved;
in addition, the route planning module plans the routing inspection route and the routing inspection point of the unmanned aerial vehicle, so that the routing inspection precision and the routing inspection efficiency of the unmanned aerial vehicle are improved, and the routing inspection point of the power transmission line can be ensured to be inspected to the maximum extent;
the unmanned aerial vehicle which completes the inspection task is recovered through the recovery module, so that the unmanned aerial vehicle can be autonomously landed on the recovery landing plate, and the reliability and the intelligent degree of autonomous landing recovery of the unmanned aerial vehicle are ensured;
in this embodiment, before the power transmission line is inspected, an inspection line and an inspection point location are set by the route planning module to generate inspection data; after the routing inspection data are determined, the routing inspection data are sent to the unmanned aerial vehicle, so that the unmanned aerial vehicle can conduct autonomous routing inspection; meanwhile, in the inspection process, the interaction module interacts the flight postures of the acquisition module and the unmanned aerial vehicle so as to ensure that the acquisition module can obtain the optimal acquisition posture and improve the inspection precision and the inspection efficiency of the unmanned aerial vehicle;
after an operator drives the electric bicycle to reach an operation site, the unmanned aerial vehicle is taken out and placed on the lifting plate, and the unmanned aerial vehicle is started to conduct inspection according to an inspection line; after the unmanned aerial vehicle finishes the current inspection task, the unmanned aerial vehicle automatically returns to the landing board and continues to inspect the next power transmission line from the next operation site;
the rear seat of the electric bicycle is provided with an unmanned aerial vehicle tail box, and the unmanned aerial vehicle tail box is used for storing or charging the unmanned aerial vehicle; the unmanned aerial vehicle tail box comprises a box body, a box cover, a side box and a connecting piece, wherein the connecting piece is used for hinging the box body with the box cover; the side box is used for storing emergency kits and common tools;
the box cover is provided with a folded unmanned aerial vehicle take-off and landing plate, the unmanned aerial vehicle take-off and landing plate is formed into an unmanned aerial vehicle recovery take-off and landing platform after being opened, and the take-off and landing plate is printed with a nest two-dimensional code for the unmanned aerial vehicle to recognize in the air; the recovery lifting plate is provided with a bubble level meter which can indicate the level state;
the tail box can accommodate an unmanned aerial vehicle, a remote controller, a tablet personal computer, 7 batteries and common spare parts which are provided with propellers, an operation task can be rapidly executed after the tail box is opened, and a GPS anti-theft tracker is arranged in the tail box;
the unmanned aerial vehicle tail box shell is made of a high-strength carbon fiber-Kevlar mixed-woven composite material, and the interior of the unmanned aerial vehicle tail box shell is provided with a buffer lining, so that the unmanned aerial vehicle tail box shell has rainproof, anti-seismic and anti-theft functions;
the bottom of the box body is provided with a quick-release device, so that the tail box can be conveniently taken down after unlocking, and can be charged or stored indoors; the side box can store emergency tool bags, distance measuring instruments, telescopes, first-aid bags, kettles, charge pal, handsaws, record books, helmets and the like;
the side box is made of Kevlar composite materials, wherein the Kevlar is a high-performance material for body armor, has strong toughness and can provide effective protection for a vehicle body and a main box when the electric vehicle turns on side;
the routing inspection route is generated by the route planning module, and meanwhile, in the process of planning through the route planning module, the range of the power transmission line to be inspected, the map distribution diagram data of the power transmission line, the distribution diagram of the operation network, the routing inspection point position and the routing inspection safety distance value are required to be acquired;
optionally, the route planning module includes a route planning unit and a task management unit, and the task management unit is configured to manage an inspection task of the unmanned aerial vehicle; the route planning unit is used for planning an inspection route of the unmanned aerial vehicle so as to cooperate with the unmanned aerial vehicle to inspect the power transmission line;
the task management unit comprises a task database, a task distributor and a task manager, wherein the task database stores basic task data related to the inspection position; the task dispenser transmits the task data in the task database to the unmanned aerial vehicle; the task manager manages the task completion state of the unmanned aerial vehicle according to the data of the routing inspection route;
the basic task data comprises basic task data such as the maximum routing inspection distance of the routing inspection line, a plurality of routing inspection angles in each routing inspection point and the like; after the route planning unit inspects the routing inspection route, the routing inspection route is transmitted to the unmanned aerial vehicle through the task dispenser, and the unmanned aerial vehicle can inspect the power transmission line through the routing inspection route;
meanwhile, the task manager monitors the routing inspection tasks of the unmanned aerial vehicle on the routing inspection line and the routing inspection point positions in real time according to the data of the routing inspection line so as to monitor the routing inspection line;
wherein the route planning unit obtains a sequence of inspection point locations { S } 0 ,S 1 ,…,S n-1 ,S n The number of the polling point locations is set according to an operator; wherein, the distance L between each inspection point location n Comprises the following steps:
in each inspection point location, after the position of the inspection point location is needed, inspection is carried out around the symmetric centers of the power transmission line and the power transmission tower so as to perform multi-angle image acquisition on the power transmission line and the power transmission tower by matching with the acquisition module;
the method comprises the following steps that firstly, a plurality of inspection angles R are inspected on a power transmission tower of a power transmission line at the same inspection point;
wherein, the safe distance of a plurality of angles of patrolling and examining is TR and calculates according to the following formula:
in the formula, r k The safe distance between the unmanned aerial vehicle and the symmetric center of the power transmission tower and the power transmission line is set; apart is the minimum steering radius of the unmanned aerial vehicle;
meanwhile, in the process of planning the path of the unmanned aerial vehicle, the cruising ability of the unmanned aerial vehicle is also considered so as to ensure that the unmanned aerial vehicle can complete the planned inspection line;
the Cost index Cost of each routing inspection line is calculated according to the routing inspection point position, wherein the task scheduling index Cost is calculated according to the following formula:
in the formula, fly is the battery consumption of the unmanned aerial vehicle during inspection, and the value is obtained according to a battery loss parameter per kilometer of the unmanned aerial vehicle; t is the polling duration; battery _ life is unmanned aerial vehicle Battery endurance value, and its value is relevant with unmanned aerial vehicle's Battery capacity and current Battery state, satisfies:
in the formula, lambda is a compensation coefficient of the inspection environment temperature; gamma is a battery aging compensation coefficient of the unmanned aerial vehicle; capacity N Rated capacity for the drone battery; tau is the charge-discharge efficiency of the unmanned aerial vehicle; capacity 0 The current electric quantity of the battery is used when the unmanned aerial vehicle navigates; i (t) is the current output by the battery in the inspection process of the unmanned aerial vehicle; t is the cruising duration;
the endurance value Consume of the unmanned aerial vehicle battery needs to meet the following requirements:
when Consume is more than or equal to 2 and Cost meets the conditions, the unmanned aerial vehicle can return to the starting point with sufficient electric quantity after cruising the power transmission line, and the unmanned aerial vehicle is matched with the recovery module to execute the operation of recovery landing;
optionally, the acquisition module includes an acquisition unit and a posture adjustment unit, and the acquisition unit is configured to acquire the power transmission line; the posture adjusting unit is used for adjusting the acquisition posture of the acquisition unit; the acquisition unit comprises an acquisition probe and a data memory, wherein the acquisition probe is used for acquiring the image data of the power transmission line; the data memory is used for storing the image data acquired by the acquisition probe;
optionally, the attitude adjusting unit includes an adjusting member and an attitude collector, and the attitude collector is configured to collect a current attitude of the unmanned aerial vehicle; the adjusting component adjusts the acquisition angle of the acquisition probe based on the data of the attitude acquisition device;
the adjusting component is matched with the posture collector, so that the adjusting component can dynamically adjust the acquisition probe according to the posture of the unmanned aerial vehicle, and the acquisition precision of the acquisition probe on the power transmission line image is improved;
in the process of adjusting the posture of the acquisition probe, the adjusting component needs to align the field of view of the acquisition probe to the center of the power transmission line, so that the acquisition probe acquires the most accurate image data;
in addition, the adjusting component comprises an adjusting frame, an angle detecting piece, an adjusting seat and an adjusting driving mechanism, wherein the adjusting frame is used for supporting the acquisition unit, the adjusting seat and the adjusting driving mechanism; the adjusting seat is used for supporting the acquisition probe and is hinged with the adjusting seat; the angle detection piece is used for detecting the rotating angle of the adjusting seat; the adjusting driving mechanism is in driving connection with the adjusting seat;
meanwhile, after the posture collector collects the posture of the unmanned aerial vehicle, the unmanned aerial vehicle is matched with the collection module through the interaction module so as to promote accurate collection of the images of the power transmission line;
optionally, the interaction module includes an interaction unit and a state monitoring unit, and the interaction unit is configured to interact between the acquisition module and the unmanned aerial vehicle; the state monitoring unit is used for monitoring the state of the unmanned aerial vehicle; the interaction unit acquires the height data of the unmanned aerial vehicle and the position data of the power transmission line, and adjusts the acquisition angle of the acquisition module according to the height data of the unmanned aerial vehicle and the position data of the power transmission line;
in addition, the state of the unmanned aerial vehicle comprises cruising ability, the distance between the unmanned aerial vehicle and the electric bicycle and the patrol height of the unmanned aerial vehicle;
the state monitoring unit comprises a prompting component and a display component, and the prompting component is used for displaying on the display component according to the state of the unmanned aerial vehicle; the display component displays the unmanned endurance, the electric quantity of the unmanned aerial vehicle, the current posture of the unmanned aerial vehicle, the current real-time inspection position of the unmanned aerial vehicle and the acquisition angle of the acquisition module according to the prompt component;
the prompting component comprises prompting information and a prompting executable program, and the prompting executable program summarizes the real-time state of the unmanned aerial vehicle to form the prompting information; wherein, the prompt message includes but is not limited to the following listed several: the unmanned state, the current posture of the unmanned aerial vehicle, the current real-time inspection position of the unmanned aerial vehicle, the acquisition angle of the acquisition module and the like;
wherein the display member comprises a control screen and a control data memory for operating data on the control screen; the control screen is used for displaying prompt information and warning information and simultaneously also acquiring touch data of an operator; meanwhile, the operator can set the number of the inspection point positions and the inspection angle on the control screen;
after the unmanned aerial vehicle executes the inspection task and the task is finished, the unmanned aerial vehicle makes a return journey so that the unmanned aerial vehicle can land on a recovery lifting plate of the mobile electric vehicle;
the recovery module comprises a recovery unit and a positioning unit, and the recovery unit is used for recovering and guiding the unmanned aerial vehicle; the positioning unit is used for positioning the real-time position of the unmanned aerial vehicle so as to be matched with the recovery unit to recover the unmanned aerial vehicle; the positioning unit comprises a positioning probe and a data storage library, the positioning probe is used for positioning the position of the electric bicycle, and the data storage library is used for storing real-time data of the positioning probe so as to cooperate with the recovery unit to recover the unmanned aerial vehicle;
through the matching of the recovery unit and the positioning unit, the unmanned aerial vehicle can be accurately guided according to the positioning data of the electric bicycle, so that the unmanned aerial vehicle can be suspended on the recovery landing plate;
the recovery unit comprises a guide member and a landing matching member, the landing matching member is used for matching the unmanned aerial vehicle with an electric bicycle, and after the matching is successful, the unmanned aerial vehicle is guided to be recovered through the guide member; the guiding component is used for guiding the unmanned aerial vehicle entering the recovery identification range so as to realize that the unmanned aerial vehicle can land on the recovery lifting plate; the positioning unit acquires current positions of the unmanned aerial vehicle and the electric bicycle and calculates a distance dis between the unmanned aerial vehicle and the electric bicycle, wherein the distance between the unmanned aerial vehicle and the electric bicycle is calculated according to the following formula:
in the formula (x) 1 ，y 1 ，h 1 ) Position coordinates of the unmanned aerial vehicle; (x) 2 ，y 2 ，h 2 ) The position coordinates of the electric bicycle are obtained directly according to a positioner arranged on the electric bicycle;
wherein h is 1 For the altitude value of the drone, the calculation is made according to the following formula:
k 1 +k 2 +k 3 ＝1
in the formula, k 1 、k 2 、k 3 The weight is set according to the operator; h 1 Measuring a height value for a barometric sensor disposed on the drone; h 2 The height value is measured by an ultrasonic sensor arranged on the unmanned aerial vehicle; h 3 The height value is measured by a laser sensor arranged on the unmanned aerial vehicle;
measured height value H for the air pressure sensor 1 Calculated according to the following formula:
in the formula, T i For the unmanned plane is at height H i The temperature of (d); β is the temperature vertical conversion ratio; r is a gas constant; g is gravity acceleration; p 0 For the unmanned plane to be H in height 1 The corresponding atmospheric pressure; p i For the unmanned aerial vehicle is H in height i The corresponding atmospheric pressure;
measured height value H for the ultrasonic sensor 2 According to the formulaAnd (3) calculating:
wherein v is the propagation speed of sound waves in air; t is the time of propagation;
if the distance dis between the unmanned aerial vehicle and the electric bicycle is smaller than a recovery identification range threshold value D, establishing a pairing relationship through the landing pairing member, hovering the unmanned aerial vehicle right above a recovery lifting plate of the electric bicycle, and guiding the unmanned aerial vehicle to land on the electric bicycle through the guide member;
optionally, the descending pairing component includes a pairing dispensing terminal, an induction radar and a pairing code base database, and the pairing dispensing terminal is used for dispensing the pairing codes of the guiding component and the electric bicycle; the induction radar is used for receiving the identity identification code of the unmanned aerial vehicle; the pairing code base database is used for comparing a new pairing code generated by the pairing issuing terminal, and when the generated new pairing code is inconsistent with the last pairing code stored in the pairing code base database, the new pairing code is valid; after the new pairing code is used, storing the new pairing code in the pairing code basic database, and updating the pairing code basic database;
the pairing issuing terminal generates a pairing code according to the following formula:
in the formula, p i Total number of visits for drone i; access i The number of times of day access of the unmanned aerial vehicle i; a is i Is the current time; d is a radical of i Is the cut-off time; b is a mixture of i The waiting time triggered when the unmanned aerial vehicle i accesses is set; g is a radical of formula i For the last pass code of visiting of unmanned aerial vehicle i, satisfy:
wherein, series j The value corresponding to the j bit of the identity identification code ID of the unmanned aerial vehicle; n belongs to 20; when a new pass code is generated, the pass code is updated; the total digits of the unmanned aerial vehicle identification code ID are 20, wherein the unmanned aerial vehicle identification code is acquired through an induction radar so as to identify the unmanned aerial vehicle to comprise information such as the identification code;
the guide member establishes a guide relation with the unmanned aerial vehicle according to the pairing code, so that the guide member can land on the recovery lifting plate;
through the cooperation of guide member with the landing is mated the component for carry out the unmanned aerial vehicle in the identification range can mate, establish unmanned aerial vehicle with the guide member's guide mapping relation, and will unmanned aerial vehicle safety, accurate guide to on retrieving the landing board.
Example two.
The present embodiment should be understood to include at least all the features of any one of the foregoing embodiments, and further modified based on that, as shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7, fig. 8, and fig. 9, the recovery module further includes an identification unit, where the identification unit is configured to identify a two-dimensional nest code on a landing plate, and when the drone is suspended right above the electric bicycle, the two-dimensional nest code is identified by the identification unit, so as to implement position calibration of the drone, and improve accuracy of automatic landing of the drone;
the identification unit comprises an identification probe, a distance sensor and a tracking controller, and the identification probe is arranged right below the unmanned aerial vehicle to identify the two-dimensional code of the aircraft nest; the distance sensor is used for detecting the distance between the unmanned aerial vehicle and the recovery landing plate; the tracking controller is used for performing recovery control between the unmanned aerial vehicle and the recovery lifting plate so as to promote the unmanned aerial vehicle to accurately stop on the recovery lifting plate;
as shown in fig. 9, the identification probe performs image identification on the two-dimensional nest code, and performs positioning of a landing position according to the position of the image, so as to lift the two-dimensional nest code of the unmanned aerial vehicle for accurate docking; as to how to identify the probe by acquiring the image of the two-dimensional code of the nest and calibrating the position, the specific image processing means related to two-dimensional code error measurement, feature point matching, area positioning, and the like are technical means well known to those skilled in the art, and those skilled in the art can query a relevant technical manual to obtain the technology, so that details are not repeated in this embodiment;
as shown in fig. 8, the tracking controller includes a position control loop, a speed control loop and a yaw control loop of the drone, and the landing control portion only includes a height control loop; meanwhile, the control loops control the landing of the unmanned aerial vehicle by adopting a PID controller so as to improve the stop precision of the unmanned aerial vehicle;
for the PID control algorithm, it is a technical means known to those skilled in the art, and those skilled in the art can query a related technical manual to obtain the technique, so that details are not repeated in this embodiment;
meanwhile, the unmanned aerial vehicle only executes tracking control when normally tracking the target platform, and only executes landing control when the unmanned aerial vehicle receives a landing instruction, and the unmanned aerial vehicle lands while tracking the border edge area of the two-dimensional code;
the landing control is responsible for reducing the height of the unmanned aerial vehicle, but the unmanned aerial vehicle meets the requirement in the height reducing process; the unmanned aerial vehicle is characterized in that an X-Y coordinate system is established by using a plane of the nest two-dimensional code, and the height of the unmanned aerial vehicle is reduced only when the directions of an X axis and a Y axis are smaller than a set length and a yaw included angle is smaller than a set allowable yaw angle;
in the state, the unmanned aerial vehicle is aligned with the recovery target platform at the moment, the unmanned aerial vehicle can reduce the height all the time until the height is smaller than the threshold height, the unmanned aerial vehicle can receive an instruction for closing the motor, and the tracking and recovery task is finished at the moment;
in the landing process, the guide member is required to be matched with the unmanned aerial vehicle for landing, so that the landing control of the unmanned aerial vehicle can be guided according to the signal of the guide member, different landing speeds can be implemented at different heights, and the accurate control of the speed of the unmanned aerial vehicle is improved;
through the cooperation of identification element unmanned aerial vehicle and guide member, pair the identification element, make stopping that unmanned aerial vehicle can be accurate retrieve on the board of taking off and landing, promoted unmanned aerial vehicle's recovery efficiency, also further reduction operator's intensity of labour, higher intelligent management and control ability has, make high efficiency and the reliability of patrolling and examining transmission line.
The above disclosure is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, so that all the modifications and equivalents of the technical changes and equivalents made by the disclosure and drawings are included in the scope of the present invention, and the elements thereof may be updated as the technology develops.
Claims (7)
1. An unmanned aerial vehicle inspection electric power gridding control platform based on individual soldier movement comprises a server, a database and an unmanned aerial vehicle, and is characterized in that the control platform further comprises an electric bicycle, an acquisition module, an interaction module, a recovery module and a route planning module,
the server is respectively connected with the acquisition module, the interaction module, the recovery module and the route planning module; the recovery module is arranged on the electric bicycle to recover the unmanned aerial vehicle after the inspection is finished;
the acquisition module is used for inspecting the power transmission line so as to acquire image data of the power transmission line; wherein the acquisition module is arranged on the unmanned aerial vehicle;
the interaction module is used for interacting the unmanned aerial vehicle and the acquisition module so as to realize the cooperative interaction of the inspection position and the inspection angle;
the recovery module is used for being matched with the unmanned aerial vehicle for recovery so as to stop the unmanned aerial vehicle on a recovery lifting plate of the electric bicycle;
the route planning module is used for planning an inspection line of the unmanned aerial vehicle so as to realize inspection of the power line;
the recovery module comprises a recovery unit and a positioning unit, and the recovery unit is used for recovering and guiding the unmanned aerial vehicle; the positioning unit is used for positioning the real-time position of the unmanned aerial vehicle so as to be matched with the recovery unit to recover the unmanned aerial vehicle;
the recovery unit comprises a guide member and a landing matching member, the landing matching member is used for matching the unmanned aerial vehicle with an electric bicycle, and after the matching is successful, the unmanned aerial vehicle is guided to be recovered through the guide member; the guiding component is used for guiding the unmanned aerial vehicle entering the recovery identification range so as to realize that the unmanned aerial vehicle can land on the recovery lifting plate; the positioning unit acquires the current positions of the unmanned aerial vehicle and the electric bicycle and calculates the distance dis between the unmanned aerial vehicle and the electric bicycle, wherein the distance between the unmanned aerial vehicle and the electric bicycle is calculated according to the following formula:
wherein (x) 1 ，y 1 ，h 1 ) Position coordinates of the unmanned aerial vehicle; (x) 2 ，y 2 ，h 2 ) Is the position coordinate of the electric bicycle,
wherein h is 1 For the altitude value of the drone, the calculation is made according to the following formula:
k 1 +k 2 +k 3 ＝1
in the formula, k 1 、k 2 、k 3 The weight is set according to the operator; h 1 Measuring a height value for a barometric sensor disposed on the drone; h 2 Measuring a height value for an ultrasonic sensor arranged on the unmanned aerial vehicle; h 3 The height value is measured by a laser sensor arranged on the unmanned aerial vehicle;
measured height value H for the air pressure sensor 1 Calculated according to the following formula:
in the formula, T i For the unmanned aerial vehicle is at height H i The temperature of (a); β is the temperature vertical conversion ratio; r is a gas constant; g is the acceleration of gravity; p is 0 For the unmanned aerial vehicle is H in height 1 The corresponding atmospheric pressure; p is i For the unmanned aerial vehicle is H in height i The corresponding atmospheric pressure;
measured height value H for the ultrasonic sensor 2 Calculated according to the following formula:
wherein c is the propagation speed of sound waves in air; t is the time of propagation;
if unmanned aerial vehicle with electric bicycle's distance dis is less than retrieving discernment scope threshold value D, then pass through the descending is mated the component and is established the mating relation to hover unmanned aerial vehicle extremely electric bicycle's recovery take off and land board directly over, and pass through the guide member guide unmanned aerial vehicle descends to be in on the electric bicycle.
2. The unmanned aerial vehicle inspection tour power gridding control platform based on individual soldier movement according to claim 1, wherein the landing pairing component comprises a pairing issuing terminal, an induction radar and a pairing code base database,
the pairing issuing terminal is used for issuing pairing codes of the guide component and the electric bicycle; the induction radar is used for receiving the identity identification code of the unmanned aerial vehicle; the pairing code base database is used for comparing a new pairing code generated by the pairing issuing terminal, and when the generated new pairing code is inconsistent with the last pairing code stored in the pairing code base database, the new pairing code is valid;
and after the new pairing code is used, storing the new pairing code in the pairing code basic database, and updating the pairing code basic database.
3. The unmanned aerial vehicle inspection electric power gridding control platform based on individual soldier movement according to claim 2, wherein the route planning module comprises a route planning unit and a task management unit, and the task management unit is used for managing inspection tasks of the unmanned aerial vehicle; the route planning unit is used for planning an inspection route of the unmanned aerial vehicle so as to cooperate with the unmanned aerial vehicle to inspect the power transmission line;
the task management unit comprises a task database, a task distributor and a task manager, wherein the task database stores basic task data related to the inspection position; the task dispenser transmits the task data in the task database to the unmanned aerial vehicle; and the task manager manages the task completion state of the unmanned aerial vehicle according to the data of the routing inspection route.
4. The individual soldier movement-based unmanned aerial vehicle inspection electric power gridding control platform according to claim 3, wherein the interaction module comprises an interaction unit and a state monitoring unit, and the interaction unit is used for interacting the acquisition module and the unmanned aerial vehicle; the state monitoring unit is used for monitoring the state of the unmanned aerial vehicle;
the interaction unit acquires the height data of the unmanned aerial vehicle and the position data of the power transmission line, and adjusts the acquisition angle of the acquisition module according to the height data of the unmanned aerial vehicle and the position data of the power transmission line.
5. The unmanned aerial vehicle inspection power grid management and control platform based on individual soldier movement according to claim 4, wherein the acquisition module comprises an acquisition unit and a posture adjustment unit, and the acquisition unit is used for acquiring the power transmission line; the posture adjusting unit is used for adjusting the acquisition posture of the acquisition unit; the acquisition unit comprises an acquisition probe and a data memory, wherein the acquisition probe is used for acquiring the image of the power transmission line; the data memory is used for storing the image data acquired by the acquisition probe.
6. The individual soldier movement-based unmanned aerial vehicle inspection electric power gridding control platform according to claim 5, wherein the posture adjusting unit comprises an adjusting member and a posture collector, and the posture collector is used for collecting the current posture of the unmanned aerial vehicle; the adjusting component adjusts the acquisition angle of the acquisition probe based on the data of the attitude acquisition device;
the adjusting component comprises an adjusting frame, an angle detecting piece, an adjusting seat and an adjusting driving mechanism, and the adjusting frame is used for supporting the acquisition unit, the adjusting seat and the adjusting driving mechanism; the adjusting seat is used for supporting the acquisition probe and is hinged with the adjusting seat; the angle detection piece is used for detecting the rotating angle of the adjusting seat; the adjusting driving mechanism is in driving connection with the adjusting seat.
7. The unmanned aerial vehicle inspection power grid management and control platform based on individual soldier movement according to claim 6, wherein the state of the unmanned aerial vehicle comprises cruising ability, distance from an electric bicycle and inspection height.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210566612.1A CN115202376A (en) | 2022-05-24 | 2022-05-24 | Unmanned aerial vehicle patrols and examines electric power grid management and control platform based on individual soldier removes |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210566612.1A CN115202376A (en) | 2022-05-24 | 2022-05-24 | Unmanned aerial vehicle patrols and examines electric power grid management and control platform based on individual soldier removes |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115202376A true CN115202376A (en) | 2022-10-18 |
Family
ID=83575535
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210566612.1A Pending CN115202376A (en) | 2022-05-24 | 2022-05-24 | Unmanned aerial vehicle patrols and examines electric power grid management and control platform based on individual soldier removes |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115202376A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115407215A (en) * | 2022-11-02 | 2022-11-29 | 众芯汉创（北京）科技有限公司 | Unmanned aerial vehicle's battery duration management evaluation system |
| CN115783334A (en) * | 2022-12-05 | 2023-03-14 | 众芯汉创（北京）科技有限公司 | Portable unmanned aerial vehicle operation aircraft carrier is equipped |
| CN116400263A (en) * | 2023-06-06 | 2023-07-07 | 众芯汉创（北京）科技有限公司 | Unmanned aerial vehicle-mounted ultraviolet electric leakage detection system and method based on RTK |
-
2022
- 2022-05-24 CN CN202210566612.1A patent/CN115202376A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115407215A (en) * | 2022-11-02 | 2022-11-29 | 众芯汉创（北京）科技有限公司 | Unmanned aerial vehicle's battery duration management evaluation system |
| CN115407215B (en) * | 2022-11-02 | 2023-01-17 | 众芯汉创（北京）科技有限公司 | Unmanned aerial vehicle's battery duration management evaluation system |
| CN115783334A (en) * | 2022-12-05 | 2023-03-14 | 众芯汉创（北京）科技有限公司 | Portable unmanned aerial vehicle operation aircraft carrier is equipped |
| CN116400263A (en) * | 2023-06-06 | 2023-07-07 | 众芯汉创（北京）科技有限公司 | Unmanned aerial vehicle-mounted ultraviolet electric leakage detection system and method based on RTK |
| CN116400263B (en) * | 2023-06-06 | 2023-08-22 | 众芯汉创（北京）科技有限公司 | Unmanned aerial vehicle-mounted ultraviolet electric leakage detection system and method based on RTK |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106124517B (en) | The multi-rotor unmanned aerial vehicle detection platform system of detection structure part surface crack and its method for detection structure part surface crack | |
| CN115202376A (en) | Unmanned aerial vehicle patrols and examines electric power grid management and control platform based on individual soldier removes | |
| CN103455036B (en) | A kind of scene aerial patrol method and aircraft | |
| CN114253300B (en) | Unmanned aerial vehicle inspection system and method for gridding machine nest | |
| CN104881042B (en) | A kind of multiple dimensioned air remote sensing test platform | |
| CN110850890A (en) | Unmanned aerial vehicle inspection system for photovoltaic power station and control method thereof | |
| CN110333735B (en) | System and method for realizing unmanned aerial vehicle water and land secondary positioning | |
| CN112326686A (en) | Unmanned aerial vehicle intelligent cruise pavement disease detection method, unmanned aerial vehicle and detection system | |
| CN108388266A (en) | A kind of UAV system for logistics delivery | |
| CN203038112U (en) | Unmanned aerial vehicle (UAV) automatic control system | |
| CN102854881A (en) | Automatic control system of unmanned aerial vehicle (UAV) | |
| CN110203395B (en) | Method and system for detecting intelligent child equipment carried by mother aircraft of unmanned aerial vehicle | |
| CN205920057U (en) | Detect fissured many rotor unmanned aerial vehicle testing platform system in structure surface | |
| CN104316901B (en) | For the aerial intelligent robot of radio monitoring | |
| CN110316376A (en) | It is a kind of for detecting the unmanned plane of mine fire | |
| CN113077561A (en) | Intelligent inspection system for unmanned aerial vehicle | |
| CN110162098A (en) | A kind of mining unmanned plane | |
| CN108803633A (en) | A kind of unmanned plane low latitude monitoring system based on mobile communications network | |
| CN210554241U (en) | Unmanned aerial vehicle wireless charging device | |
| CN208027170U (en) | A kind of power-line patrolling unmanned plane and system | |
| CN110647170A (en) | Navigation mark inspection device and method based on unmanned aerial vehicle | |
| CN110104167A (en) | A kind of automation search and rescue UAV system and control method using infrared thermal imaging sensor | |
| CN108364159A (en) | A kind of unmanned plane logistics face label device and method | |
| CN114371725A (en) | System suitable for automatic inspection of wind turbine generator | |
| CN112560751A (en) | Balcony high-altitude falling risk detection method and system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |