CN117055626A - Unmanned aerial vehicle inspection control method and device, electronic equipment and storage medium - Google Patents
Unmanned aerial vehicle inspection control method and device, electronic equipment and storage medium Download PDFInfo
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Abstract
The application provides an unmanned aerial vehicle inspection control method, an unmanned aerial vehicle inspection control device, electronic equipment and a storage medium, and relates to the technical field of unmanned aerial vehicle control. The unmanned aerial vehicle inspection control method comprises the following steps: acquiring historical fault data of each region of the power line; calculating the fault rate of each region according to the historical fault data; acquiring corresponding flying speed coefficients and detection distance coefficients of each region according to the fault rate; establishing a patrol planning function according to the flying speed coefficient and the detection distance coefficient; according to the routing inspection planning function, routing inspection planning information is obtained, wherein the routing inspection planning information comprises routing inspection paths, flight speeds and detection distances; and controlling the unmanned aerial vehicle to patrol each area according to the patrol planning information. The application aims to improve the efficiency and the refinement degree of the power inspection and ensure that a power line achieves the effects of low failure rate, high safety and high reliability.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicle control, in particular to an unmanned aerial vehicle inspection control method, an unmanned aerial vehicle inspection control device, electronic equipment and a storage medium.
Background
The current social development is not independent of the support of electric power, the safety and reliability of the electric power circuit are important to the stable operation of the society, for the inspection of the electric power circuit, in order to improve the inspection efficiency, an unmanned aerial vehicle is used for inspection at the current stage, however, the electric power faults are various, the fault information can be better acquired only when the detection sensor is required to be at a low speed and a relatively close distance for faults which are difficult to find, such as the temperature rise of the electric power, the cracks of an insulator and the like, and the fault information can be acquired when the detection sensor is at a high speed and a relatively far distance for obvious faults such as cable breakage and insulating layer peeling, if the unmanned aerial vehicle always performs inspection in a fine inspection mode at a low speed and a relatively far distance, the inspection period is greatly increased, the inspection efficiency is reduced, but if the unmanned aerial vehicle always performs inspection in a coarse inspection mode at a high speed and a far distance, certain faults which are difficult to find are missed, and the safety and the reliability of the electric power circuit are reduced.
In view of the above problems, a need exists for an inspection method that can ensure that inspection is sufficiently fine without affecting the power inspection efficiency of an unmanned aerial vehicle.
Disclosure of Invention
The application aims to provide an unmanned aerial vehicle inspection control method, an unmanned aerial vehicle inspection control device, electronic equipment and a storage medium, and aims to improve the efficiency and the refinement degree of power inspection and ensure that a power line achieves the effects of low failure rate, high safety and high reliability.
In a first aspect, the present application provides an unmanned aerial vehicle inspection control method, applied to an unmanned aerial vehicle control system, comprising the following steps:
s1, acquiring historical fault data of each area of a power line;
s2, calculating the fault rate of each area according to the historical fault data;
s3, acquiring corresponding flying speed coefficients and detection distance coefficients of all areas according to the fault rate;
s4, establishing a patrol planning function according to the flying speed coefficient and the detection distance coefficient;
s5, acquiring inspection planning information according to the inspection planning function, wherein the inspection planning information comprises an inspection path, a flying speed and a detection distance;
s6, controlling the unmanned aerial vehicle to patrol each area according to the patrol planning information.
According to the unmanned aerial vehicle inspection control method provided by the application, the unmanned aerial vehicle is controlled to take different inspection paths, flight speeds and detection distances according to the fault rate difference of each area, so that the inspection efficiency is improved, and the safety and reliability of the power line are effectively ensured.
Further, the historical fault data comprises total inspection times of all areas and total fault times of all areas;
the specific steps in the step S2 include:
s21, calculating the fault rate of each area according to the following formula:
；
wherein,for the failure rate of the i-th zone,for the total number of failures of the i-th zone,the total inspection times of the ith area.
Further, the specific steps in step S3 include:
s31, acquiring the flying speed coefficient and the detection distance coefficient according to a preset comparison table based on the fault rate.
Further, the specific expression of the patrol planning function is:
；
wherein,for the said patrol planning function,in order to avoid the obstacle coefficient, the device is provided with a plurality of sensors,in order to avoid the obstacle function, the device has the advantages of,for the inspection path fitness coefficient,for the inspection path fitness function,as the precision coefficient of the flying speed,as a function of the speed of flight constraint,in order to detect the distance accuracy coefficient,for detecting a distance constraint function.
Through the optimization of the inspection planning function, a better inspection path is obtained, and the unmanned aerial vehicle flies according to the inspection path at different flight speeds and different detection distances, so that the inspection task can be efficiently and safely completed.
Further, the specific expression of the obstacle avoidance function is:
；
wherein,for the distance between the drone and the nearest obstacle,the safety distance for unmanned aerial vehicle obstacle avoidance.
The unmanned aerial vehicle is prevented from colliding with the obstacle, damage to the unmanned aerial vehicle is avoided, and the unmanned aerial vehicle is ensured to bypass the obstacle to smoothly finish the inspection task.
Further, the specific expression of the flying speed constraint function is as follows:
；
wherein,is the flying speed of the unmanned aerial vehicle,as a function of the coefficient of the speed of flight,is the optimal flying speed.
The unmanned aerial vehicle is prevented from flying too fast or too slow, so that the inspection requirements of all areas are met, efficient inspection is realized, and the safety and reliability of a power line are ensured.
Further, the specific expression of the detection distance constraint function is:
；
wherein,is the detection distance of the unmanned aerial vehicle,for the detection distance coefficient in question,is the optimal detection distance.
In a second aspect, the present application provides an unmanned aerial vehicle inspection control device, applied to an unmanned aerial vehicle control system, comprising:
the first acquisition module is used for acquiring historical fault data of each area of the power line;
the calculation module is used for calculating the fault rate of each area according to the historical fault data;
the second acquisition module is used for acquiring the corresponding flying speed coefficient and detection distance coefficient of each region according to the fault rate;
the construction module is used for constructing a patrol planning function according to the flying speed coefficient and the detection distance coefficient;
the third acquisition module is used for acquiring the patrol planning information according to the patrol planning function, wherein the patrol planning information comprises a patrol path, a flight speed and a detection distance;
and the control module is used for controlling the unmanned aerial vehicle to patrol each area according to the patrol planning information.
According to the unmanned aerial vehicle inspection control device provided by the application, different areas adopt different inspection paths, flight speeds and detection distances according to the fault rate of each area divided by the power line, namely, each area adopts inspection efficiency and inspection precision of different degrees, so that the safety and reliability of the power line are effectively improved while the inspection efficiency is ensured.
In a third aspect, the present application provides an electronic device comprising a processor and a memory storing computer readable instructions which, when executed by the processor, perform the steps of the unmanned aerial vehicle inspection control method provided in the first aspect above.
In a fourth aspect, the present application provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the drone inspection control method as provided in the first aspect above.
According to the unmanned aerial vehicle inspection control method, the inspection path, the flying speed and the detection distance are calculated and acquired by considering the historical fault condition of the power line, so that the unmanned aerial vehicle is controlled to adopt inspection strategies with different finesses in all areas, the inspection efficiency is ensured, more refined inspection can be performed on the high fault occurrence rate area, and the effect of improving the safety and reliability of the power line is achieved.
Additional features and advantages of the application will be set forth in the description which follows, and in part will be apparent from the description, or may be learned by practice of the embodiments of the application. The objectives and other advantages of the application may be realized and attained by the structure particularly pointed out in the written description and drawings.
Drawings
Fig. 1 is a flowchart of a method for controlling inspection of an unmanned aerial vehicle according to an embodiment of the present application.
Fig. 2 is a schematic structural diagram of an inspection control device for an unmanned aerial vehicle according to an embodiment of the present application.
Fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Fig. 4 is a preset comparison table in an embodiment of the present application.
Description of the reference numerals:
100. a first acquisition module; 200. a computing module; 300. a second acquisition module; 400. constructing a module; 500. a third acquisition module; 600. a control module; 13. an electronic device; 1301. a processor; 1302. a memory; 1303. a communication bus.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present application.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only to distinguish the description, and are not to be construed as indicating or implying relative importance.
Referring to fig. 1, fig. 1 is a flowchart of a method for controlling inspection of an unmanned aerial vehicle. The unmanned aerial vehicle inspection control method is applied to an unmanned aerial vehicle control system and comprises the following steps of:
s1, acquiring historical fault data of each area of a power line;
s2, calculating the fault rate of each area according to the historical fault data;
s3, acquiring corresponding flying speed coefficients and detection distance coefficients of all areas according to the fault rate;
s4, establishing a patrol planning function according to the flying speed coefficient and the detection distance coefficient;
s5, acquiring routing inspection planning information according to a routing inspection planning function, wherein the routing inspection planning information comprises an inspection path, a flying speed and a detection distance;
s6, controlling the unmanned aerial vehicle to patrol each area according to the patrol planning information.
In real life, the fault rate of the power line is related to various factors, including the aspects of line design, construction, maintenance, environmental conditions and the like. The design and construction of the line are important factors influencing the fault rate of the line, for example, the material, structure, joint and other designs of the line are unreasonable, which can cause the problems of aging, corrosion and the like of the line, so that the probability of the line fault is increased.
Based on the above, the embodiment analyzes each region of the power line according to the historical fault data to obtain the fault rate of each region, then obtains the flying speed coefficient and the detection distance coefficient according to the fault rate, inputs the fault rate and the flight speed coefficient into the inspection planning function to optimize the inspection path, calculate the flying speed and calculate the detection distance, and finally controls the unmanned aerial vehicle to carry out inspection according to the inspection path, the flying speed and the detection distance (the inspection path can be directly obtained by solving the inspection planning function, which is the prior art and is not described herein, and because the inspection planning function is established based on the flying speed coefficient and the detection distance coefficient, the inspection planning function can be solved to obtain the flying speed and the detection distance along the inspection path passing through each region, and for the region with higher fault rate, the unmanned aerial vehicle is controlled to carry out inspection in a low-speed and short-distance fine inspection mode, so as to ensure the safety and reliability of the power line; and to the lower region of fault rate, then control unmanned aerial vehicle adopts the coarse inspection mode of high-speed and long distance to patrol and examine to this reduces and patrol and examine time, realizes thereby improving and patrol and examine efficiency, shortens and patrol and examine the cycle and can ensure the effect of power line's security and reliability.
It should be noted that, each time the unmanned aerial vehicle performs a patrol task, the fault information acquired during the patrol task is recorded and used as historical fault data.
In some embodiments, the historical fault data includes a total number of inspection of each area and a total number of faults of each area;
the specific steps in the step S2 include:
s21, calculating the fault rate of each area according to the following formula:
；
wherein,for the failure rate of the i-th zone,for the total number of failures of the i-th zone,the total inspection times of the ith area.
In this embodiment, the demarcation range of each area may be large or small, for example, a large area may be divided according to a geographic location, such as a forest area, a urban area, a suburban area, or the like, or a small area may be divided according to a line structure, such as a connection location, an insulator, a power tower, or the like.
In certain embodiments, the specific steps in step S3 include:
s31, based on the fault rate, acquiring a flying speed coefficient and a detection distance coefficient according to a preset comparison table.
In this embodiment, specifically, for example, the flight speed coefficient and the detection distance coefficient may be obtained according to a comparison table as shown in fig. 4, but not limited thereto, and the user may adjust the relevant values according to the actual conditions.
In some embodiments, the specific expression of the patrol planning function is:
；
wherein,for the purpose of the inspection planning function,in order to avoid the obstacle coefficient, the device is provided with a plurality of sensors,in order to avoid the obstacle function, the device has the advantages of,for the inspection path fitness coefficient,for the inspection path fitness function,as the precision coefficient of the flying speed,as a function of the speed of flight constraint,in order to detect the distance accuracy coefficient,for detecting a distance constraint function.
In this embodiment, in practical application, the inspection planning function is solved to obtain an optimized inspection path, which optimizes a reference obstacle and a power line (the existing inspection mode generally uses the power line as an inspection path to inspect along the power line, based on the method, the power line is used as one of reference items, and in combination with other reference items, a better inspection path), a flight speed and a detection distance are obtained, so that the inspection path is updated to obtain an optimized inspection path, and the unmanned aerial vehicle flies according to the inspection path according to different flight speeds and different detection distances, so that the inspection task can be efficiently and safely completed.
It should be noted that, the inspection path fitness function can ensure that the unmanned aerial vehicle performs inspection along the power line without deviation, which belongs to the prior art and is not described herein.
It should be noted that, the obstacle avoidance coefficient, the inspection path fitness coefficient, the flying speed precision coefficient and the detection distance precision coefficient can be obtained through actual tests, and the values of the obstacle avoidance coefficient, the inspection path fitness coefficient, the flying speed precision coefficient and the detection distance precision coefficient are determined by the actual tests.
In some embodiments, the specific expression of the obstacle avoidance function is:
；
wherein,for unmanned aerial vehicle and nearest obstacleThe distance between the two plates is set to be equal,the safety distance for unmanned aerial vehicle obstacle avoidance.
In this embodiment, keep away the barrier function can be accurate to the distance between accuse unmanned aerial vehicle and the barrier, ensure that unmanned aerial vehicle can not bump with the barrier, avoid unmanned aerial vehicle impaired, and ensure that unmanned aerial vehicle bypasses the barrier and accomplish smoothly and patrol and examine the task.
In some embodiments, the specific expression for the flight speed constraint function is:
；
wherein,is the flying speed of the unmanned aerial vehicle,as a coefficient of the speed of flight,is the optimal flying speed.
In this embodiment, the flight speed constraint function can accurately control the flight speed of the unmanned aerial vehicle, avoids the unmanned aerial vehicle to fly too fast or too slow to satisfy the requirement of patrolling and examining in each region, realizes high-efficient patrolling and examining and ensures safe and reliable of power line.
In some embodiments, the specific expression of the probe distance constraint function is:
；
wherein,is the detection distance of the unmanned aerial vehicle,in order to detect the distance coefficient,is the optimal detection distance.
In the embodiment, the detection distance constraint function can accurately control the detection distance of the unmanned aerial vehicle, and the detection distance is prevented from being too far or too close, so that the inspection requirements of all areas are met, efficient inspection is realized, and the safety and reliability of a power line are ensured.
Referring to fig. 2, fig. 2 is a schematic diagram of an unmanned aerial vehicle inspection control device according to some embodiments of the present application, which is applied to an unmanned aerial vehicle control system, and the unmanned aerial vehicle inspection control device is integrated in a back-end control device in the form of a computer program, and includes:
a first acquisition module 100 for acquiring historical fault data of each region of the power line;
a calculation module 200, configured to calculate a failure rate of each region according to the historical failure data;
the second obtaining module 300 is configured to obtain a corresponding flying speed coefficient and a corresponding detection distance coefficient of each area according to the failure rate;
a construction module 400, configured to establish a patrol planning function according to the flying speed coefficient and the detection distance coefficient;
the third obtaining module 500 is configured to obtain inspection planning information according to an inspection planning function, where the inspection planning information includes an inspection path, a flight speed, and a detection distance;
and the control module 600 is used for controlling the unmanned aerial vehicle to patrol each area according to the patrol planning information.
In some embodiments, the historical fault data includes a total number of inspection of each area and a total number of faults of each area;
the calculation module 200 performs when calculating the failure rate of each region from the historical failure data:
s21, calculating the fault rate of each area according to the following formula:
；
wherein,for the failure rate of the i-th zone,for the total number of failures of the i-th zone,the total inspection times of the ith area.
In some embodiments, the second acquisition module 300 performs when acquiring the corresponding flight speed coefficient and the detection distance coefficient of each region according to the failure rate:
s31, based on the fault rate, acquiring a flying speed coefficient and a detection distance coefficient according to a preset comparison table.
In some embodiments, the specific expression of the patrol planning function is:
；
wherein,for the purpose of the inspection planning function,in order to avoid the obstacle coefficient, the device is provided with a plurality of sensors,in order to avoid the obstacle function, the device has the advantages of,for the inspection path fitness coefficient,for the inspection path fitness function,as the precision coefficient of the flying speed,as a function of the speed of flight constraint,in order to detect the distance accuracy coefficient,for detecting a distance constraint function.
In some embodiments, the specific expression of the obstacle avoidance function is:
；
wherein,for the distance between the drone and the nearest obstacle,the safety distance for unmanned aerial vehicle obstacle avoidance.
In some embodiments, the specific expression for the flight speed constraint function is:
；
wherein,is the flying speed of the unmanned aerial vehicle,as a coefficient of the speed of flight,is the optimal flying speed.
In some embodiments, the specific expression of the probe distance constraint function is:
；
wherein,is the detection distance of the unmanned aerial vehicle,in order to detect the distance coefficient,is the optimal detection distance.
Referring to fig. 3, fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application, and the present application provides an electronic device 13, including: processor 1301 and memory 1302, processor 1301 and memory 1302 being interconnected and in communication with each other by a communication bus 1303 and/or other form of connection mechanism (not shown), memory 1302 storing computer readable instructions executable by processor 1301, which when the electronic device is running, processor 1301 executes the computer readable instructions to perform the drone patrol control method in any of the alternative implementations of the above embodiments when executed to implement the following functions: acquiring historical fault data of each region of the power line; calculating the fault rate of each region according to the historical fault data; acquiring corresponding flying speed coefficients and detection distance coefficients of each region according to the fault rate; establishing a patrol planning function according to the flying speed coefficient and the detection distance coefficient; according to the routing inspection planning function, routing inspection planning information is obtained, wherein the routing inspection planning information comprises routing inspection paths, flight speeds and detection distances; and controlling the unmanned aerial vehicle to patrol each area according to the patrol planning information.
The embodiment of the application provides a computer readable storage medium, which executes a unmanned aerial vehicle inspection control method in any optional implementation mode of the above embodiment when a computer program is executed by a processor, so as to realize the following functions: acquiring historical fault data of each region of the power line; calculating the fault rate of each region according to the historical fault data; acquiring corresponding flying speed coefficients and detection distance coefficients of each region according to the fault rate; establishing a patrol planning function according to the flying speed coefficient and the detection distance coefficient; according to the routing inspection planning function, routing inspection planning information is obtained, wherein the routing inspection planning information comprises routing inspection paths, flight speeds and detection distances; and controlling the unmanned aerial vehicle to patrol each area according to the patrol planning information.
The computer readable storage medium may be implemented by any type or combination of volatile or non-volatile Memory devices, such as static random access Memory (Static Random Access Memory, SRAM), electrically erasable Programmable Read-Only Memory (EEPROM), erasable Programmable Read-Only Memory (Erasable Programmable Read Only Memory, EPROM), programmable Read-Only Memory (PROM), read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic disk, or optical disk.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The above-described apparatus embodiments are merely illustrative, for example, the division of the units is merely a logical function division, and there may be other manners of division in actual implementation, and for example, 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 through some communication interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.
Further, the units described as separate units may or may not be physically separate, and units displayed as units may or may not be physical units, may be located in one place, or may be distributed over 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.
Furthermore, functional modules in various embodiments of the present application may be integrated together to form a single portion, or each module may exist alone, or two or more modules may be integrated to form a single portion.
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and variations will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (10)
1. The unmanned aerial vehicle inspection control method is applied to an unmanned aerial vehicle control system and is characterized by comprising the following steps of:
s1, acquiring historical fault data of each area of a power line;
s2, calculating the fault rate of each area according to the historical fault data;
s3, acquiring corresponding flying speed coefficients and detection distance coefficients of all areas according to the fault rate;
s4, establishing a patrol planning function according to the flying speed coefficient and the detection distance coefficient;
s5, acquiring inspection planning information according to the inspection planning function, wherein the inspection planning information comprises an inspection path, a flying speed and a detection distance;
s6, controlling the unmanned aerial vehicle to patrol each area according to the patrol planning information.
2. The unmanned aerial vehicle inspection control method of claim 1, wherein the historical fault data comprises a total number of inspection of each zone and a total number of faults of each zone;
the specific steps in the step S2 include:
s21, calculating the fault rate of each area according to the following formula:
；
wherein,for the failure rate of the i-th zone, +.>For the total number of malfunctions of the ith zone, +.>The total inspection times of the ith area.
3. The unmanned aerial vehicle inspection control method according to claim 1, wherein the specific steps in step S3 include:
s31, acquiring the flying speed coefficient and the detection distance coefficient according to a preset comparison table based on the fault rate.
4. The unmanned aerial vehicle inspection control method of claim 1, wherein the specific expression of the inspection planning function is:
；
wherein,for the patrol planning function, +.>For avoiding obstacle coefficient, ++>For obstacle avoidance function, ++>For the inspection path fitness coefficient, +.>For the inspection path fitness function, +.>Is the flight speed precision coefficient +.>For the flight speed constraint function +.>For detecting the distance precision coefficient +.>For detecting a distance constraint function.
5. The unmanned aerial vehicle inspection control method of claim 4, wherein the specific expression of the obstacle avoidance function is:
；
wherein,for the distance between the unmanned aerial vehicle and the nearest obstacle, < >>The safety distance for unmanned aerial vehicle obstacle avoidance.
6. The unmanned aerial vehicle inspection control method of claim 4, wherein the specific expression of the flight speed constraint function is:
；
wherein,is unmanned planeIs>For the flight speed coefficient, < >>Is the optimal flying speed.
7. The unmanned aerial vehicle inspection control method of claim 4, wherein the specific expression of the detection distance constraint function is:
；
wherein,is the detection distance of unmanned plane, +.>For the detection distance coefficient, < >>Is the optimal detection distance.
8. Unmanned aerial vehicle inspection controlling means is applied to unmanned aerial vehicle control system, a serial communication port, include:
the first acquisition module is used for acquiring historical fault data of each area of the power line;
the calculation module is used for calculating the fault rate of each area according to the historical fault data;
the second acquisition module is used for acquiring the corresponding flying speed coefficient and detection distance coefficient of each region according to the fault rate;
the construction module is used for constructing a patrol planning function according to the flying speed coefficient and the detection distance coefficient;
the third acquisition module is used for acquiring the patrol planning information according to the patrol planning function, wherein the patrol planning information comprises a patrol path, a flight speed and a detection distance;
and the control module is used for controlling the unmanned aerial vehicle to patrol each area according to the patrol planning information.
9. An electronic device comprising a processor and a memory, the memory storing computer readable instructions that, when executed by the processor, perform the steps in the drone inspection control method of any one of claims 1-7.
10. A computer readable storage medium having stored thereon a computer program, which when executed by a processor performs the steps of the drone inspection control method according to any one of claims 1 to 7.
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| CN118071123A (en) * | 2024-04-19 | 2024-05-24 | 季华实验室 | Power line inspection unmanned aerial vehicle regulation and control method and related equipment |
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| CN118071123A (en) * | 2024-04-19 | 2024-05-24 | 季华实验室 | Power line inspection unmanned aerial vehicle regulation and control method and related equipment |
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