CN117316041A - Pole tower signboard special for intelligent machine inspection and control method thereof - Google Patents
Pole tower signboard special for intelligent machine inspection and control method thereof Download PDFInfo
- Publication number
- CN117316041A CN117316041A CN202311207816.7A CN202311207816A CN117316041A CN 117316041 A CN117316041 A CN 117316041A CN 202311207816 A CN202311207816 A CN 202311207816A CN 117316041 A CN117316041 A CN 117316041A
- Authority
- CN
- China
- Prior art keywords
- fixed plate
- aerial vehicle
- unmanned aerial
- information
- tower
- 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.)
- Granted
Links
- 238000007689 inspection Methods 0.000 title claims abstract description 34
- 238000000034 method Methods 0.000 title claims abstract description 32
- 238000004891 communication Methods 0.000 claims abstract description 52
- 238000012544 monitoring process Methods 0.000 claims description 13
- 230000005855 radiation Effects 0.000 claims description 11
- 230000007306 turnover Effects 0.000 claims description 7
- 230000009471 action Effects 0.000 claims description 2
- 230000006870 function Effects 0.000 description 19
- 230000007547 defect Effects 0.000 description 10
- 238000012423 maintenance Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 238000004590 computer program Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 238000004458 analytical method Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 239000000523 sample Substances 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 2
- 238000013459 approach Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 208000028659 discharge Diseases 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000005286 illumination Methods 0.000 description 2
- 238000011835 investigation Methods 0.000 description 2
- 229910052744 lithium Inorganic materials 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 244000080575 Oxalis tetraphylla Species 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 229910021389 graphene Inorganic materials 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000002372 labelling Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09F—DISPLAYING; ADVERTISING; SIGNS; LABELS OR NAME-PLATES; SEALS
- G09F7/00—Signs, name or number plates, letters, numerals, or symbols; Panels or boards
- G09F7/18—Means for attaching signs, plates, panels, or boards to a supporting structure
- G09F7/20—Means for attaching signs, plates, panels, or boards to a supporting structure for adjustably mounting
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09F—DISPLAYING; ADVERTISING; SIGNS; LABELS OR NAME-PLATES; SEALS
- G09F7/00—Signs, name or number plates, letters, numerals, or symbols; Panels or boards
- G09F7/18—Means for attaching signs, plates, panels, or boards to a supporting structure
- G09F7/22—Means for attaching signs, plates, panels, or boards to a supporting structure for rotatably or swingably mounting, e.g. for boards adapted to be rotated by the wind
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/42—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for mass transport vehicles, e.g. buses, trains or aircraft
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Road Signs Or Road Markings (AREA)
Abstract
The application relates to a pole tower signboard special for intelligent machine inspection and a control method thereof. The sign board comprises a fixed plate and is used for displaying tower information; the driving assembly is connected with the fixed plate and used for driving the fixed plate to move; the positioning module is used for acquiring pose information of the fixed plate; the communication module is used for wirelessly communicating with the unmanned aerial vehicle and acquiring the position information of the unmanned aerial vehicle; and the microprocessor is connected with the driving assembly, the positioning module and the communication module and is used for controlling the driving assembly to act according to the pose information of the fixed plate and the position information of the unmanned aerial vehicle so as to enable the fixed plate to move to the tower information to be exposed in the range of the sight of the cradle head of the unmanned aerial vehicle. By adopting the pole tower signboard special for intelligent machine inspection and the control method thereof, the use efficiency of the unmanned aerial vehicle inspection photo can be improved.
Description
Technical Field
The application relates to the technical field of power grid inspection, in particular to a pole tower signboard special for intelligent machine inspection and a control method thereof.
Background
With the development of unmanned aerial vehicle technology, join in marriage net twine line inspection operation and also exert a force to automatic, intelligent direction, unmanned aerial vehicle inspection has on a large scale entered the application field at present. At present, unmanned aerial vehicle can safely and efficiently execute inspection tasks under dangerous and complex terrains, and check defects of distribution line bodies and hidden channel hazards through photographing and returning.
The unique aerial view angle of the unmanned aerial vehicle is favorable for finding equipment defects which are difficult to find by conventional means, but the conventional overhead line sign board is mainly used for manual inspection, and cannot enter the lens of the unmanned aerial vehicle. Therefore, the defect or hidden danger position is confirmed by mainly relying on operation and maintenance personnel to identify the reference objects around the power equipment in the inspection photo acquired by the unmanned aerial vehicle, the efficiency and the precision are low, and the requirement on field experience is high. In addition, with the rapid development of cities, overhead line equipment is frequently changed, the geographical environment is often changed, and the mode of manually confirming the positions of defects or hidden dangers through surrounding references is deficient in adapting to the environment change.
Disclosure of Invention
Accordingly, it is necessary to provide a pole tower sign board for intelligent patrol capable of improving the use efficiency of the unmanned aerial vehicle patrol photo and a control method thereof.
In a first aspect, the application provides a special shaft tower sign is patrolled to intelligent machine, include:
the fixed plate is used for displaying tower information;
the driving assembly is connected with the fixed plate and used for driving the fixed plate to move;
the positioning module is used for acquiring pose information of the fixed plate;
the communication module is used for wirelessly communicating with the unmanned aerial vehicle and acquiring the position information of the unmanned aerial vehicle;
and the microprocessor is connected with the driving assembly, the positioning module and the communication module and is used for controlling the driving assembly to act according to the pose information of the fixed plate and the position information of the unmanned aerial vehicle so as to enable the fixed plate to move to the tower information to be exposed in the range of the sight of the cradle head of the unmanned aerial vehicle.
In one embodiment, the driving device includes:
the first motor is used for driving the fixed plate to move up and down along the vertical direction;
the second motor is used for driving the fixed plate to rotate 360 degrees around the vertical axis;
and the third motor is used for driving the fixing plate to turn over 180 degrees in the vertical direction.
In one embodiment, the positioning module comprises: at least three positioning chips on the fixing plate.
In one embodiment, the tower sign further comprises a weather acquisition module connected with the microprocessor;
the weather acquisition module is used for acquiring weather information;
the microprocessor is used for controlling the driving assembly to adjust the pose of the fixing plate according to the meteorological information.
In one embodiment, the pole and tower sign further comprises a power module connected to the microprocessor; the power module comprises a photovoltaic solar panel, a photovoltaic controller and a storage battery.
In one embodiment, the pole and tower sign further includes a battery monitoring module for monitoring the battery power and fault conditions.
In a second aspect, the application provides a method for using a pole tower sign board special for intelligent machine inspection, which is applied to the pole tower sign board special for intelligent machine inspection, and the method for using the pole tower sign board special for intelligent machine inspection comprises the following steps:
acquiring the relative position of the fixed plate and the unmanned aerial vehicle based on the pose information of the fixed plate and the position information of the unmanned aerial vehicle through the microprocessor;
the microprocessor controls the driving assembly to act according to the relative position, so that the fixed plate moves to the position where the tower information is exposed in the range covered by the cradle head sight of the unmanned aerial vehicle, and the unmanned aerial vehicle lens tracking function is realized.
In one embodiment, the intelligent patrol special pole tower sign board stores energy and supplies power through a photovoltaic solar panel arranged on the fixed plate, and the using method further comprises:
acquiring a solar radiation angle;
the microprocessor controls the driving assembly to adjust the pose of the fixing plate according to the solar radiation angle, so that the sun tracking function is realized.
In one embodiment, the communication module includes a standby state and an operating state; when the unmanned aerial vehicle moves to a signal receiving range, the communication module is converted from a standby state to a working state, and the position information of the unmanned aerial vehicle is acquired in the working state;
when the communication module is in a working state, the solar tracking function of the microprocessor is closed;
when the communication module is in a standby state, the solar tracking function of the microprocessor is started.
In one embodiment, the method of use further comprises:
obtaining a wind power grade;
the position and the posture of the fixing plate are adjusted by the microprocessor according to the wind power level control driving assembly; and when the fan grade is greater than the threshold value, the fixed plate is adjusted to be in a windproof state.
Above-mentioned intelligent machine patrol special shaft tower sign and application method thereof, this shaft tower sign includes: the fixed plate is used for displaying tower information; the driving assembly is connected with the fixed plate and used for driving the fixed plate to move; the positioning module is used for acquiring pose information of the fixed plate; the communication module is used for wirelessly communicating with the unmanned aerial vehicle and acquiring the position information of the unmanned aerial vehicle; and the microprocessor is connected with the driving assembly, the positioning module and the communication module and is used for controlling the driving assembly to act according to the pose information of the fixed plate and the position information of the unmanned aerial vehicle so as to enable the fixed plate to move to the tower information to be exposed in the range of the sight of the cradle head of the unmanned aerial vehicle. Through changing the structure that can adjust the position appearance with the shaft tower sign tablet, combine communication module location unmanned aerial vehicle position to make the shaft tower sign tablet can make the fixed plate towards unmanned aerial vehicle according to unmanned aerial vehicle's position adjustment position appearance, make unmanned aerial vehicle patrol and examine the photo and all have shaft tower information when patrolling and examining, so that just fix a position that patrol and examine the photo corresponds fast and accurately, and then be convenient for locate defect or hidden danger position fast and accurately.
Drawings
FIG. 1 is a block diagram of a pole and tower sign for intelligent patrol in one embodiment;
FIG. 2 is a schematic diagram of a tower sign board for intelligent patrol in one embodiment;
FIG. 3 is a schematic diagram of a tower sign board for intelligent patrol in one embodiment;
FIG. 4 is a flow chart of a method for using a pole and tower sign for intelligent patrol in one embodiment;
fig. 5 is an internal structural diagram of a computer device in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
The special shaft tower sign is patrolled to intelligent machine that this application embodiment provided, as shown in fig. 1, include: the fixed plate is used for displaying tower information; the driving assembly is connected with the fixed plate and used for driving the fixed plate to move; the positioning module is used for acquiring pose information of the fixed plate; the communication module is used for wirelessly communicating with the unmanned aerial vehicle and acquiring the position information of the unmanned aerial vehicle; and the microprocessor is connected with the driving assembly, the positioning module and the communication module and is used for controlling the driving assembly to act according to the pose information of the fixed plate and the position information of the unmanned aerial vehicle so as to enable the fixed plate to move to the tower information to be exposed in the range of the sight of the cradle head of the unmanned aerial vehicle.
A tower is a structure for supporting and fixing wires in an electric power transmission line. They are usually constructed of steel or concrete and have a high degree of stability to ensure safe and reliable operation of the transmission line. The pole tower signboard is a signboard arranged on the power grid pole tower and used for providing important information and indication. The number, the line name, the affiliated power company or operator and other information of the towers can be marked on the signboards, so that the identification and the positioning of the towers can be facilitated, and the signboards are very important for maintenance operation and fault elimination.
In this embodiment, the fixing plate is used as a carrier of information of the tower, and is mounted on the tower through the driving assembly, and the driving assembly can drive the fixing plate to rotate, turn over and lift.
The positioning module can position the orientation of the fixed plate besides the position of the fixed plate, and the position and the orientation form pose information of the fixed plate. The positioning module positions the current nameplate through the GPS, so that personnel can manage monitoring facilities conveniently, and when problems occur, the checking efficiency is high.
The communication module is provided with a communication antenna at the top of the fixed plate, so that wireless communication is realized, and wireless communication modes such as Bluetooth and the like are realized. When unmanned aerial vehicle moves near communication module, both establish wireless communication connection, unmanned aerial vehicle utilizes the positioner that self carried, sends the shaft tower sign with self positional information through communication module in real time.
The microprocessor acquires the relative position between the fixed plate and the unmanned aerial vehicle according to the pose information of the fixed plate acquired by the positioning module and the position information of the unmanned aerial vehicle acquired by the communication module, and then sends a control instruction to the driving assembly, so that the driving assembly drives the fixed plate to rotate or overturn to the tower information on the surface of the fixed plate to be captured by the lens of the unmanned aerial vehicle. When the unmanned aerial vehicle collects the field machine inspection image for subsequent analysis of defects or hidden dangers, the machine inspection image is provided with tower information representing the positions of the collecting points, so that the positions of the defects or hidden dangers can be conveniently and rapidly positioned, and the use efficiency of the machine inspection image is greatly improved.
According to the embodiment, the position of the unmanned aerial vehicle is combined with the communication module by changing the tower sign board into a structure capable of adjusting the position, so that the tower sign board can be enabled to face the unmanned aerial vehicle according to the position adjustment position of the unmanned aerial vehicle, inspection photos taken by the unmanned aerial vehicle during inspection are provided with tower information, the position corresponding to the inspection photos can be positioned rapidly and accurately, and defects or hidden danger positions can be positioned rapidly and accurately.
In this embodiment, the tower information may be displayed by carving characters on the fixing plate, or may be displayed by coating materials, labeling characters on the surface of the fixing plate, or the like, which is not limited herein.
In other embodiments, the surface of the fixing plate can be coated with luminous visual materials so as to display tower information at night and carry out water discharge treatment on the luminous visual materials.
In one embodiment, the communication module is started when the unmanned aerial vehicle approaches, and is in a standby state at other moments to save electric quantity. For example, when the unmanned aerial vehicle is close to the tower and marks the board within 10 meters, communication module starts to establish wireless communication connection with unmanned aerial vehicle, acquire unmanned aerial vehicle's positional information in real time.
In one embodiment, as shown in fig. 2 and 3, two structural schematic views of the tower sign are shown. Wherein the driving device comprises: a first motor 204 for driving the fixing plate 202 to move up and down in a vertical direction; a second motor 206 for driving the fixed plate 202 to rotate 360 ° around the vertical axis; and a third motor 208 for driving the fixing plate 202 to turn over 180 ° in the vertical direction.
In fig. 2, the tower sign includes a base 210 for supporting the mounting plate 202 and a fastener 212 at the bottom of the base 210. The base 210 is secured to the grid iron cross arm and is reinforced with fasteners 212. The fastener 212 may be a screw or nut. In one embodiment, the fastener 212 has a sleeve head mounted thereon to facilitate installation and maintenance on the ground using an insulated operating rod. Therefore, the pole tower signboard can be installed in an electrified mode, automatic replacement can be achieved, and maintenance is convenient.
The driving assembly is installed between the base 210 and the fixing plate 202, and includes a lifting rod for assisting in achieving a lifting function, a rotary joint for assisting in achieving a rotating function, and a turnover joint for assisting in achieving a turnover function, in addition to the first motor 204, the second motor 206, and the third motor 208.
The first motor 204 is a lifting motor, and is located at the upper part of the base, and the lower part of the lifting rod can drive the fixing plate 202 to stretch up and down. The second motor 206 is a rotating motor, and is located at the upper part of the telescopic rod, and can drive the fixing plate 202 to perform 360-degree rotation. The third motor 208 is a rotating motor, and is installed between the fixing plate 202 and the second motor 206, and can drive the fixing plate 202 to turn over 180 ° in the vertical direction.
Lifting movement and omnidirectional rotation of the fixed plate are realized through three motors, and the fixed plate can be flexibly controlled to move to the unmanned aerial vehicle so that the information of the pole tower can be acquired, thereby improving the implementation feasibility of the scheme.
In one embodiment, the positioning module comprises: at least three positioning chips on the fixing plate.
In the embodiment, the position of the fixed plate in the space is determined mainly by adopting a three-point positioning method, and the distance, the direction and the relative position relation of the target relative to the reference point can be determined by measuring and calculating based on three known points or reference points.
The microprocessor acquires the position information acquired by the three positioning chips, calculates the relative position relation of the fixed plate taking the unmanned aerial vehicle as a reference point according to the position information of the unmanned aerial vehicle, further controls the rotation of the fixed plate, adjusts the orientation of the fixed plate, and enables the tower information on the fixed plate to be always located in the range covered by the cradle head sight of the unmanned aerial vehicle.
In one embodiment, the tower sign further comprises a weather acquisition module connected to the microprocessor; the weather acquisition module is used for acquiring weather information; the microprocessor is used for controlling the driving assembly to adjust the pose of the fixing plate according to the meteorological information.
The weather acquisition module acquires weather information including illumination, wind power, rain, snow and the like, and controls the driving assembly to adjust the pose of the fixing plate. For example, in windy weather, the height of the fixing plate is controlled to be reduced, and the fixing plate is adjusted to be parallel to the ground, so that the wind force suffered by the fixing plate is reduced, and the damage risk is reduced. For example, in snowy weather, adjust the fixed plate to perpendicular to ground, reduce the pressure that the snow caused to the fixed plate, can also reduce the fixed plate damage risk.
In one embodiment, the pole and tower sign further comprises a power module connected to the microprocessor; the power module comprises a photovoltaic solar panel, a photovoltaic controller and a storage battery.
The photovoltaic controller is connected with the photovoltaic solar panel and the storage battery, generates power by using the photovoltaic solar panel, and stores redundant electric energy into the storage battery through the photovoltaic controller. The storage battery can adopt a lithium battery, and the lithium battery has the advantages of high energy density, long service life, quick charge, low self-discharge rate and the like, and can reduce maintenance cost.
The embodiment adopts a photovoltaic power generation mode to supply power for the microprocessor, and simultaneously can also supply power for power utilization structures such as the driving assembly, the positioning module, the communication module and the like, thereby fully utilizing solar energy resources and reducing energy loss.
In one embodiment, the photovoltaic solar panel is disposed on a surface of the fixing plate, and the tower information is fixed on the photovoltaic solar surface by pasting. The weather acquisition module can acquire weather data such as solar radiation angles and solar radiation amounts, and the pose of the fixing plate is adjusted according to the weather data, so that the photovoltaic solar panel is perpendicular to the solar radiation angles as much as possible, and the photovoltaic solar panel can obtain the maximum solar radiation intensity and absorb and convert solar energy to the maximum extent.
In one embodiment, the pole sign further includes a battery monitoring module for monitoring the battery power and fault conditions.
The battery monitoring module comprises a fault detection probe, when the photovoltaic solar panel stores electric energy through the photovoltaic controller, the fault detection probe can detect the storage battery, when a fault is detected, secondary investigation is performed again, the problem of error reporting is avoided, inconvenience is brought to maintenance people, the working efficiency is influenced, and meanwhile the monitoring efficiency is improved.
In one embodiment, the tower sign includes a control circuit board including a microprocessor module responsible for initialization of the microprocessor module. The control circuit board also comprises a weather acquisition module, a control module and a functional module. The functional module comprises a battery monitoring module, a positioning module, a communication module and a storage module.
The micro-processing module is used for sending out a signboard adjusting instruction after analyzing the meteorological data; the position adjusting device is used for calculating according to the position information transmitted by the unmanned aerial vehicle and the position and posture information of the fixed plate, judging the position of the unmanned aerial vehicle and accordingly sending out a fixed plate adjusting instruction; according to the relative position of the unmanned aerial vehicle and the signboard, the fixed plate is controlled to rotate, and the direction of the fixed plate is adjusted, so that the content information of the signboard is always located in the range covered by the cradle head sight of the unmanned aerial vehicle.
The weather acquisition module acquires weather information and transmits the weather information to the microprocessor.
The control module is a driving assembly and is used for performing pitching control (namely overturning control), rotation control and telescopic control on the fixed plate.
The battery monitoring module is used for checking the electric quantity of the storage battery and fault conditions.
The positioning module is used for positioning the pose of the current fixing plate through a GPS positioning technology.
The communication module can realize the communication of the nameplate and the unmanned aerial vehicle, can transmit the position information of the unmanned aerial vehicle to the nameplate, and can transmit the information of the nameplate to the unmanned aerial vehicle.
The storage module can store weather information and tower information, and can also store monitoring information according to the expansion piece. The expansion piece comprises an information acquisition element and an execution element. The information acquisition element is used for collecting environment information and equipment facility operation information, and the execution element can assist operation and maintenance personnel to carry out functions such as shouting and simple operation.
The utility model discloses a special shaft tower sign is patrolled to intelligent machine can remove along with the unmanned aerial vehicle camera lens, improves the availability factor of unmanned aerial vehicle photo, and climatic adaptation increases simultaneously, increase life.
It should be understood that, although the steps in the flowcharts related to the embodiments described above are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or stages.
Based on the same inventive concept, as shown in fig. 4, an embodiment further provides a method for using the pole tower nameplate special for intelligent machine inspection. The implementation scheme of the device for solving the problems is similar to the implementation scheme recorded in the method, so the specific limitation in the embodiment of the one or more intelligent patrol special pole tower nameplates provided below can be referred to the limitation of the intelligent patrol special pole tower nameplates in the above, and the description is omitted here.
The application method of the pole tower signboard special for intelligent machine inspection is applied to the pole tower signboard special for intelligent machine inspection, and comprises the following steps:
step 402, acquiring, by a microprocessor, a relative position of the fixed plate and the unmanned aerial vehicle based on pose information of the fixed plate and position information of the unmanned aerial vehicle.
Step 404, controlling the action of the driving component according to the relative position by the microprocessor, so that the fixed plate moves to the range of the tower information exposed in the range of the cradle head sight of the unmanned aerial vehicle, and realizing the unmanned aerial vehicle lens tracking function.
Through changing the structure that can adjust the position appearance with the shaft tower sign tablet, combine communication module location unmanned aerial vehicle position to make the shaft tower sign tablet can make the fixed plate towards unmanned aerial vehicle according to unmanned aerial vehicle's position adjustment position appearance, make unmanned aerial vehicle patrol and examine the photo and all have shaft tower information when patrolling and examining, so that just fix a position that patrol and examine the photo corresponds fast and accurately, and then be convenient for locate defect or hidden danger position fast and accurately.
In one embodiment, the intelligent patrol special pole and tower sign board stores energy and supplies power through a photovoltaic solar panel arranged on the fixed plate, and the using method further comprises: acquiring a solar radiation angle; the microprocessor controls the driving assembly to adjust the pose of the fixing plate according to the solar radiation angle, so that the sun tracking function is realized.
The microprocessor collects solar radiation angles according to the weather collection module, controls the operation of the rotating motor to enable the photovoltaic solar panel to move towards the direction of sunlight, and adjusts the height of the lifting motor, for example, when the lifting motor is in the morning, the microprocessor enables the height of the lifting motor to be adjusted to be increased according to collected weather information, and solar energy is utilized to the greatest extent.
In one embodiment, the communication module includes a standby state and an operating state; when the unmanned aerial vehicle moves to a signal receiving range, the communication module is converted from a standby state to a working state, and the position information of the unmanned aerial vehicle is acquired in the working state; when the communication module is in a working state, the solar tracking function of the microprocessor is closed; when the communication module is in a standby state, the solar tracking function of the microprocessor is started.
The unmanned aerial vehicle lens tracking function has a higher priority than the solar tracking function. When the communication module of the sign board is changed from a standby state to a working state, the sun tracking function is automatically closed. When the sign communication module resumes the standby state, the sun tracking function is restarted. Through the method, the energy consumption can be reduced, and the fixed plate can rotate until the unmanned aerial vehicle can acquire the tower information when the unmanned aerial vehicle acquires the inspection photo.
In this embodiment, if the unmanned aerial vehicle completes the inspection photo acquisition, the communication module sends the completion information to the sign board, and the communication module can change from the working state to the standby state. In other embodiments, the communication module may be changed from the operating state to the standby state after the unmanned aerial vehicle leaves the signal receiving range of the communication module.
In one embodiment, the method of use further comprises: obtaining a wind power grade; the position and the posture of the fixing plate are adjusted by the microprocessor according to the wind power level control driving assembly; and when the fan grade is greater than the threshold value, the fixed plate is adjusted to be in a windproof state.
The wind power grade is obtained through a weather acquisition module.
Specifically, the step of adjusting the fixing plate according to the wind power level is as follows: and initializing a microprocessor, collecting weather information and controlling wind prevention. After the weather information collected by the sign board is analyzed by the microprocessor, when the wind power is greater than a preset level (such as level 6), the sign board is controlled to recover to a windproof state, the telescopic rod is compressed to the tightest state, the fixed plate is parallel to the ground plane, the safety performance is high, and meanwhile, the electric energy is saved.
In addition, the use method of the pole tower signboard special for intelligent machine inspection further comprises a storage battery self-checking function, and mainly comprises the following steps: the method comprises the steps of initializing a microprocessor, working a photovoltaic solar panel, transmitting electric quantity, detecting faults, detecting secondary faults and repairing battery faults. When the photovoltaic solar panel stores electric energy through the photovoltaic controller, a battery fault detection probe detects the storage battery, and when a fault is detected, secondary investigation is performed, so that the problem of error reporting is avoided, inconvenience is brought to maintenance people, the working efficiency is influenced, and meanwhile, the monitoring efficiency is improved.
The nameplate realizes the unmanned aerial vehicle lens tracking function and mainly comprises the following steps: the method comprises the steps of initializing a microprocessor, collecting position information, communicating with an unmanned aerial vehicle, sending successful confirmation, locating the position of a current nameplate through a locating module, starting the communication module, acquiring the position information of the unmanned aerial vehicle in real time, judging the relative position angle of the unmanned aerial vehicle and the nameplate through the analysis function of the microprocessor, and controlling the nameplate to face the unmanned aerial vehicle through a driving assembly.
The method comprises the following specific steps:
step one: after the unmanned aerial vehicle approaches the sign board and is within a preset distance range, the communication module of the sign board receives signals and changes the signals from a standby state to a working state.
Step two: the microprocessor acquires pose information of the fixed plate and position information of the unmanned aerial vehicle, and analyzes and calculates the relative positions of the fixed plate and the unmanned aerial vehicle in real time.
Step three: when the unmanned aerial vehicle hovers, the fixed plate is rotated to face the unmanned aerial vehicle according to the calculation result of the microprocessor.
Step four: and rotating the fixing plate according to the calculation result of the microprocessor to enable the center of the fixing plate to be aligned with the unmanned aerial vehicle cradle head.
Step five: after the adjustment is finished, the information of successful adjustment is sent to the unmanned aerial vehicle, and the unmanned aerial vehicle starts shooting work.
Firstly, the method can rotate along with the visual angle of the lens of the unmanned aerial vehicle, so that the unmanned aerial vehicle is ensured to shoot pictures and contain position information, operation and maintenance personnel can conveniently use the inspection pictures acquired by the unmanned aerial vehicle, the use efficiency of the inspection pictures is improved, and the positioning efficiency and the positioning accuracy of defects or hidden dangers are improved. Secondly, the method can identify weather information, and make proper adjustment for illumination, wind power, rainy weather and the like, so that the service life of the sign is prolonged.
All or part of each module in the pole tower signboard special for intelligent machine inspection can be realized by software, hardware and combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 5. The computer device includes a processor, a memory, an Input/Output interface (I/O) and a communication interface. The processor, the memory and the input/output interface are connected through a system bus, and the communication interface is connected to the system bus through the input/output interface. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database of the computer device is for storing data. The input/output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used for communicating with an external terminal through a network connection. The computer program, when executed by the processor, implements a pole tower sign for intelligent machine inspection.
It will be appreciated by those skilled in the art that the structure shown in fig. 5 is merely a block diagram of some of the structures associated with the present application and is not limiting of the computer device to which the present application may be applied, and that a particular computer device may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.
It should be noted that, the user information (including, but not limited to, user equipment information, user personal information, etc.) and the data (including, but not limited to, data for analysis, stored data, presented data, etc.) referred to in the present application are information and data authorized by the user or sufficiently authorized by each party, and the collection, use and processing of the related data are required to comply with the related laws and regulations and standards of the related countries and regions.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, database, or other medium used in the various embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high density embedded nonvolatile Memory, resistive random access Memory (ReRAM), magnetic random access Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (Phase Change Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), and the like. The databases referred to in the various embodiments provided herein may include at least one of relational databases and non-relational databases. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processors referred to in the embodiments provided herein may be general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic units, quantum computing-based data processing logic units, etc., without being limited thereto.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples only represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the present application. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application shall be subject to the appended claims.
Claims (10)
1. Special shaft tower sign is patrolled to intelligence machine, a serial communication port, the shaft tower sign includes:
the fixed plate is used for displaying tower information;
the driving assembly is connected with the fixed plate and used for driving the fixed plate to move;
the positioning module is used for acquiring pose information of the fixed plate;
the communication module is used for wirelessly communicating with the unmanned aerial vehicle and acquiring the position information of the unmanned aerial vehicle;
and the microprocessor is connected with the driving assembly, the positioning module and the communication module and is used for controlling the driving assembly to act according to the pose information of the fixed plate and the position information of the unmanned aerial vehicle so as to enable the fixed plate to move to the position information of the tower to be exposed in the range of the sight coverage of the cradle head of the unmanned aerial vehicle.
2. The pole and tower sign for intelligent patrol according to claim 1, wherein the driving device comprises:
the first motor is used for driving the fixed plate to move up and down along the vertical direction;
the second motor is used for driving the fixed plate to rotate 360 degrees around the vertical axis;
and the third motor is used for driving the fixed plate to turn over 180 degrees in the vertical direction.
3. The intelligent patrol tower sign of claim 1, wherein the positioning module comprises: and at least three positioning chips positioned on the fixed plate.
4. The pole tower sign for intelligent machine inspection according to claim 1, further comprising a weather collection module connected to the microprocessor;
the weather acquisition module is used for acquiring weather information;
the microprocessor is used for controlling the driving assembly to adjust the pose of the fixing plate according to the meteorological information.
5. The pole and tower sign for intelligent patrol according to claim 1, wherein the pole and tower sign further comprises a power module connected to the microprocessor; the power module comprises a photovoltaic solar panel, a photovoltaic controller and a storage battery.
6. The pole and tower sign for intelligent patrol according to claim 5, wherein the pole and tower sign further comprises a battery monitoring module for monitoring the battery power and fault conditions.
7. A method for using the pole and tower sign special for intelligent machine inspection, which is characterized by being applied to the pole and tower sign special for intelligent machine inspection according to any one of claims 1 to 6, and comprising the following steps:
acquiring the relative position of the fixed plate and the unmanned aerial vehicle based on the pose information of the fixed plate and the position information of the unmanned aerial vehicle through the microprocessor;
and controlling the action of the driving assembly by the microprocessor according to the relative position so as to enable the fixed plate to move to the position where the tower information is exposed in the range covered by the tripod head sight of the unmanned aerial vehicle, thereby realizing the unmanned aerial vehicle lens tracking function.
8. The method of claim 7, wherein the intelligent patrol tower sign is powered by a photovoltaic solar panel disposed on the fixed plate, the method further comprising:
acquiring a solar radiation angle;
and the microprocessor controls the driving assembly to adjust the pose of the fixed plate according to the solar radiation angle, so that the sun tracking function is realized.
9. The method of claim 8, wherein the communication module comprises a standby state and a working state; when the unmanned aerial vehicle moves to a signal receiving range, the communication module is converted from a standby state to a working state, and position information of the unmanned aerial vehicle is acquired in the working state;
when the communication module is in a working state, the solar tracking function of the microprocessor is closed;
when the communication module is in a standby state, a solar tracking function of the microprocessor is started.
10. The method of claim 7, further comprising:
obtaining a wind power grade;
the microprocessor controls the driving assembly to adjust the pose of the fixing plate according to the wind power level; and when the fan grade is greater than a threshold value, adjusting the fixed plate to a windproof state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311207816.7A CN117316041B (en) | 2023-09-18 | 2023-09-18 | Pole tower signboard special for intelligent machine inspection and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311207816.7A CN117316041B (en) | 2023-09-18 | 2023-09-18 | Pole tower signboard special for intelligent machine inspection and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117316041A true CN117316041A (en) | 2023-12-29 |
| CN117316041B CN117316041B (en) | 2024-03-26 |
Family
ID=89261363
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311207816.7A Active CN117316041B (en) | 2023-09-18 | 2023-09-18 | Pole tower signboard special for intelligent machine inspection and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117316041B (en) |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206427280U (en) * | 2017-02-10 | 2017-08-22 | 四川中飞赛维航空科技有限公司 | Become more meticulous the unmanned plane of inspection for power network conveying circuit shaft tower |
| CN107809089A (en) * | 2017-10-23 | 2018-03-16 | 李林 | It is exclusively used in the method for the long-range inspection of transmission tower |
| CN109147559A (en) * | 2018-07-24 | 2019-01-04 | 国网江苏省电力有限公司南京市高淳区供电分公司 | Fish pond, which is prohibited, under a kind of high-voltage line of safe antitheft fishes Smart Logo board |
| CN110989426A (en) * | 2019-11-15 | 2020-04-10 | 国网河南省电力公司洛阳供电公司 | Unmanned aerial vehicle testing platform with solar power supply and 5G data transmission |
| EP3671390A1 (en) * | 2018-12-21 | 2020-06-24 | Airbus Defence and Space GmbH | Method for operating an unmanned aerial vehicle as well as an unmanned aerial vehicle |
| KR102293381B1 (en) * | 2021-03-02 | 2021-08-26 | 이은영 | System for watching fault section of power distribution line |
| CN114111728A (en) * | 2021-10-23 | 2022-03-01 | 苏州南师大科技园投资管理有限公司 | Hydrological monitoring system for monitoring river hydrology |
| CN114132493A (en) * | 2021-11-05 | 2022-03-04 | 广西电网有限责任公司桂林供电局 | Bee disturbing device for power transmission line inspection |
| CN216249331U (en) * | 2021-11-30 | 2022-04-08 | 国家电网有限公司 | Power transmission line signboard identification system suitable for unmanned aerial vehicle inspection |
| CN114302030A (en) * | 2021-11-15 | 2022-04-08 | 国网浙江省电力有限公司台州供电公司 | Join in marriage net platform district intelligence inspection device |
| CN114812517A (en) * | 2022-03-31 | 2022-07-29 | 长江水利委员会水文局长江中游水文水资源勘测局(长江水利委员会水文局长江中游水环境监测中心) | Hydrology monitoring system based on unmanned aerial vehicle |
| CN217652859U (en) * | 2022-06-14 | 2022-10-25 | 巴卡拉能源科技有限公司 | Wind generating set defect detecting device based on unmanned aerial vehicle |
| KR102468546B1 (en) * | 2022-08-08 | 2022-11-18 | 정경하 | Electric power supply apparatus management system for telegraph pole using IoT |
| JP2023072593A (en) * | 2021-11-12 | 2023-05-24 | 株式会社東芝 | Windmill inspection method and windmill inspection system |
| CN116316272A (en) * | 2023-03-24 | 2023-06-23 | 国网山东省电力公司聊城供电公司 | Inspection robot for overhead transmission line and working method of inspection robot |
-
2023
- 2023-09-18 CN CN202311207816.7A patent/CN117316041B/en active Active
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206427280U (en) * | 2017-02-10 | 2017-08-22 | 四川中飞赛维航空科技有限公司 | Become more meticulous the unmanned plane of inspection for power network conveying circuit shaft tower |
| CN107809089A (en) * | 2017-10-23 | 2018-03-16 | 李林 | It is exclusively used in the method for the long-range inspection of transmission tower |
| CN109147559A (en) * | 2018-07-24 | 2019-01-04 | 国网江苏省电力有限公司南京市高淳区供电分公司 | Fish pond, which is prohibited, under a kind of high-voltage line of safe antitheft fishes Smart Logo board |
| EP3671390A1 (en) * | 2018-12-21 | 2020-06-24 | Airbus Defence and Space GmbH | Method for operating an unmanned aerial vehicle as well as an unmanned aerial vehicle |
| CN110989426A (en) * | 2019-11-15 | 2020-04-10 | 国网河南省电力公司洛阳供电公司 | Unmanned aerial vehicle testing platform with solar power supply and 5G data transmission |
| KR102293381B1 (en) * | 2021-03-02 | 2021-08-26 | 이은영 | System for watching fault section of power distribution line |
| CN114111728A (en) * | 2021-10-23 | 2022-03-01 | 苏州南师大科技园投资管理有限公司 | Hydrological monitoring system for monitoring river hydrology |
| CN114132493A (en) * | 2021-11-05 | 2022-03-04 | 广西电网有限责任公司桂林供电局 | Bee disturbing device for power transmission line inspection |
| JP2023072593A (en) * | 2021-11-12 | 2023-05-24 | 株式会社東芝 | Windmill inspection method and windmill inspection system |
| CN114302030A (en) * | 2021-11-15 | 2022-04-08 | 国网浙江省电力有限公司台州供电公司 | Join in marriage net platform district intelligence inspection device |
| CN216249331U (en) * | 2021-11-30 | 2022-04-08 | 国家电网有限公司 | Power transmission line signboard identification system suitable for unmanned aerial vehicle inspection |
| CN114812517A (en) * | 2022-03-31 | 2022-07-29 | 长江水利委员会水文局长江中游水文水资源勘测局(长江水利委员会水文局长江中游水环境监测中心) | Hydrology monitoring system based on unmanned aerial vehicle |
| CN217652859U (en) * | 2022-06-14 | 2022-10-25 | 巴卡拉能源科技有限公司 | Wind generating set defect detecting device based on unmanned aerial vehicle |
| KR102468546B1 (en) * | 2022-08-08 | 2022-11-18 | 정경하 | Electric power supply apparatus management system for telegraph pole using IoT |
| CN116316272A (en) * | 2023-03-24 | 2023-06-23 | 国网山东省电力公司聊城供电公司 | Inspection robot for overhead transmission line and working method of inspection robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117316041B (en) | 2024-03-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103235602B (en) | A kind of power-line patrolling unmanned plane automatic camera opertaing device and control method | |
| CN109447157B (en) | Movable power grid operation inspection system | |
| CN101478180B (en) | Digital monitoring apparatus for electricity transmission line | |
| CN112577472A (en) | Unmanned aerial vehicle photovoltaic inspection positioning system and method | |
| CN103944202B (en) | A kind of outdoor moving robot photovoltaic automatic recharging method | |
| CN105353266A (en) | Underground cable fault monitoring system and underground cable fault monitoring method | |
| WO2018032471A1 (en) | Intelligent tracking system and method | |
| CN112506205B (en) | Robot inspection task planning method and device | |
| CN108427061B (en) | Unmanned aerial vehicle-based power transmission line forest fire distribution monitoring device and method | |
| CN109238241B (en) | Vehicle-mounted automatic inspection system and inspection method for distribution line | |
| CN105427601A (en) | Multiple-degree-of-freedom road condition observation apparatus | |
| CN105513247A (en) | Floating-mooring-airship-based fire monitoring and positioning system and method | |
| CN207155816U (en) | A kind of robot inspection system based on intelligent power generation station | |
| CN204168005U (en) | A kind of power grid security risk evaluating system | |
| CN208077010U (en) | A kind of novel hydrometeorological observation system | |
| CN117316041B (en) | Pole tower signboard special for intelligent machine inspection and control method thereof | |
| CN204613748U (en) | A kind of backpack satellite communication portable station control device | |
| CN112730422B (en) | Nuclear power station containment defect detection method and system | |
| CN208459242U (en) | A kind of high voltage distribution network tower bar inspection device | |
| CN205428203U (en) | Multi freedom road conditions observation device | |
| CN103606260A (en) | Unmanned outdoor spectral irradiance meter system based on GPRS (general packet radio service) remote wireless communication technology | |
| CN208110074U (en) | Remote auto weather station | |
| CN214544587U (en) | Road damage monitoring system | |
| CN111721256B (en) | Landscape iron tower information automatic monitoring system and method based on 5G | |
| CN114237309A (en) | Angle adjusting method and device for photovoltaic module |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |