CN208013784U - A kind of Intelligent flight control system of unmanned plane fining inspection - Google Patents
A kind of Intelligent flight control system of unmanned plane fining inspection Download PDFInfo
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- CN208013784U CN208013784U CN201721200526.XU CN201721200526U CN208013784U CN 208013784 U CN208013784 U CN 208013784U CN 201721200526 U CN201721200526 U CN 201721200526U CN 208013784 U CN208013784 U CN 208013784U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
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Abstract
The utility model is related to the technical fields of power circuit polling, and the Intelligent flight control system of inspection is refined more particularly, to a kind of unmanned plane.The utility model is first by manually refining tour, and record makes an inspection tour path node in detail, and path is maked an inspection tour in playback optimization；Flight, Continuous optimization are carried out again；It ultimately forms every base steel tower fining and makes an inspection tour routing database；Fly to make an inspection tour, it can be achieved that automatically refining steel tower boat based on routing database is maked an inspection tour after these optimizations.Work pattern is maked an inspection tour in the steel tower fining of the utility model so that is maked an inspection tour winged path of navigating and is optimized, positioning accuracy is far above manual control, navigates to fly to shoot and standardize, quality is guaranteed；And the unmanned plane per sortie can make an inspection tour more base steel towers, realize and shot outside sighting distance, Precise control battery power consumption in flight course improves and makes an inspection tour efficiency；And the utility model reduces the technical difficulty for making an inspection tour operator, the scope of application is expanded.
Description
Technical field
The utility model is related to the technical field of power circuit polling, more particularly, to a kind of machine learning it is efficient,
In high precision, in the Intelligent air of quality assurance steel tower fining inspection Intelligent flight control system.
Background technology
Power circuit patrolling includes mainly circuit external environment is maked an inspection tour, line channel is maked an inspection tour, line facility is maked an inspection tour etc..Wherein
Line facility is maked an inspection tour comprising pole and tower foundation, earthing or grounding means, shaft tower ontology, grounded-line, insulator, gold utensil and attachment, sign board etc.
Very more part of appliance needs circuit maintenance work personnel to set these to ensure the kilter operation of these components
It is standby regularly make an inspection tour, find defect, overhaul, remove a hidden danger in time.Since line facility is mainly distributed on steel tower and leads ground
On line, needs O&M patrol officer to cross over mountain after mountain to reach under tower position, grounded-line, climb up steel tower and check one by one, workload is very big.
In recent years, manual operation multi-rotor unmanned aerial vehicle makes an inspection tour circuit and is widely used in the tour of line steel tower equipment refinement
In.However, the positioning accuracy of unmanned plane is low, unmanned plane camera site, height all judge by artificial vision, it is difficult to be accurate to
Up to designated position and height, shooting quality varies with each individual, normative poor, and being manipulated technology by personnel is limited, the portion of shooting
Position, sequence etc. have larger difference, and subsequent defective analysis difficulty is caused to increase.Meanwhile the phenomenon that artificial maloperation also when have
Occur, it is impossible to fundamentally prevent, increase the security risk of tour.The tour of manual operation unmanned plane can not be scientific and reasonable
Visit program is arranged according to battery capacity, also leverages working efficiency.
Utility model content
The purpose of the utility model is to overcome the deficiencies in the prior art, provide a kind of intelligence of unmanned plane fining inspection
Flight control system can realize that sortie makes an inspection tour more base steel towers, and can guarantee each unmanned plane in the air position, posture,
It is reliable that camera angle controls specification.
In order to solve the above technical problems, the technical solution adopted in the utility model is：
A kind of Intelligent flight control system of unmanned plane fining inspection is provided, the study control of two-way communication link is included
Terminal and flying platform：
The study control terminal includes task data logging modle, flight path optimization module and flying quality storage
Module；The task data logging modle is used to receive the real-time route parameter and acquisition parameters of unmanned plane during flying platform transmission；
The flight path optimization module makes an inspection tour path for playing back and optimizing unmanned plane during flying platform, and sends and adjust to flying platform
The signal of path parameter and acquisition parameters；The flying quality memory module is for storing every by flight path optimization module
Circuit forms steel tower and makes an inspection tour automated flight path database per path parameter and acquisition parameters after base steel tower optimization；
The flying platform includes multi-rotor unmanned aerial vehicle, camera and locating module；The multi-rotor unmanned aerial vehicle is for adding
It is downloaded from the path parameter of dynamic flight path data base, and full automatic autonomous tour flight is carried out according to parameter；The camera is used
In the signal for receiving the acquisition parameters for carrying out self study control terminal, photo is shot by received signal, and in real time by acquisition parameters
It is transmitted to study control terminal；Path parameter of the locating module for monitoring unmanned plane in real time, and real-time Transmission extremely learns
Control terminal.
The Intelligent flight control system of the unmanned plane fining inspection of the utility model, phase is carried using multi-rotor unmanned aerial vehicle
Machine carries out operation flight, and ground control personnel can carry out unmanned plane during flying manipulation by the picture that camera is passed back；Pass through number of tasks
The shaft tower information of different circuits is stored according to logging modle memory module, operator may be selected different more rotor types and fly
Row, the flying quality of module meeting book of final entry different type of machines difference circuit carry out manual control otherwise for each tower and fly
Row records different airflights and makes an inspection tour path parameter.Optimization is played back by flight path optimization module and makes an inspection tour path, and adjustment is empty
Middle hovering position, flight sequence, deletes extra flight path, forms most safe, reliable, efficient flight path；By flying
Walking along the street diameter optimization module playback optimization image pickup method, adjusts each position camera direction, angle, shooting sequence, deletes extra bat
It takes the photograph, forms the optimal acquisition scheme of each point；When taking a flight test, further path parameter and acquisition parameters are optimized；Pass through
Flying quality memory module stores the flight path per base shaft after optimization by every circuit, and acquisition parameters form steel tower and make an inspection tour certainly
Dynamic flight path data base；Unmanned plane is attached by type intelligent Matching and the control system, corresponding in reading database
Path parameter, carry out full automatic unmanned plane according to parameter and subsidize to make an inspection tour flight.
Preferably, the flying platform further includes power module and navigation module, and the power module is chargeable lithium electricity
Pond, the navigation module are used for the signal according to the path parameter for receiving study control terminal and are Navigation of Pilotless Aircraft.Battery drives
Dynamic unmanned plane mostly uses greatly battery power, and each airborne hours are limited, after controlling automatic flight acquisition using program, behaviour
Making personnel can not have to reach steel tower position, and more easily landing place is maked an inspection tour for selection, can also realize that over the horizon is flown, each
Sortie can acquire more base steel towers, will greatly improve operating efficiency.
Preferably, the study control terminal further includes intelligent Matching module and human-computer interaction module, the intelligent Matching
Module is used to the unmanned plane for learning control terminal and different type of machines being attached, and the human-computer interaction module is set for parameter
Set the display with system mode.
Preferably, the path parameter include unmanned plane make an inspection tour steel tower take off with landing place, unmanned plane on steel tower
The hovering position and flight sequence at each position.After the monitoring and optimization of path parameter, it is stored as automated flight path database,
Takeoff setting of the unmanned plane by program automatic learning per base steel tower manual patrol, the hovering position of each part, shape on steel tower
It is fixed at steel tower and makes an inspection tour program.Follow-up then can be controlled by program, unmanned plane flies tour automatically, can be maked an inspection tour with a sortie more
Base steel tower realizes over the horizon flight, avoids relying on artificial vision's positioning.
Preferably, the acquisition parameters include camera shooting angle, photograph taking quantity, camera shooting angle, camera bat
Take the photograph sequence and displacement zoom magnification.After the monitoring and optimization of acquisition parameters, it is stored as automated flight path database, unmanned plane
Camera shooting angle, photograph taking quantity when by program automatic learning per base steel tower manual patrol, camera shooting angle, phase
Machine shooting sequence and displacement zoom magnification.Follow-up then can be controlled by program, unmanned plane automatically shoots line steel tower equipment,
More base steel towers can be maked an inspection tour with a sortie, realize over the horizon flight, avoid relying on artificial vision's positioning.
Preferably, the steel tower includes tangent tower, angle tower, anchor support, disagreement tower, transposition tower and terminal tower.For
Each tower carries out manual control flight, and recording different airflights by machine learning flight control program makes an inspection tour path
Parameter, i.e. unmanned plane landing position, column foot, tower top hovering position, camera shooting angle, photograph taking quantity, per phase sequence conducting wire,
Ground wire hovering position, camera shooting angle, photograph taking quantity.
Preferably, the locating module is dynamic high precision RTK locating modules.By configuring dynamic high precision for unmanned plane
RTK locating modules improve the skyborne positioning accuracy of flying platform, reach centimeter-level positioning precision.
Compared with prior art, the utility model has the beneficial effects that：
(1) by learning the tour work pattern of steel tower fining, optimization makes an inspection tour boat and flies path：It is patrolled by manually refining
Depending on record makes an inspection tour path node in detail, and path is maked an inspection tour in playback optimization；Flight, Continuous optimization are carried out again；Ultimately form every base
Routing database is maked an inspection tour in steel tower fining.Based on routing database is maked an inspection tour after these optimizations, then full-automatic fining iron can be achieved
Tower boat flies to make an inspection tour.
(2) program-controlled control registration：The dynamic RTK equipment moulds of high-precision centimeter-level positioning are configured by flying platform
Block realizes high accuracy positioning by the equipment；And routing database is maked an inspection tour in the fining after being optimized by Programming, is avoided
Manual control, by visually judging that position, hovering positional precision greatly improve.
(3) boat flies shooting standardization, and quality is guaranteed：Path is maked an inspection tour per base steel tower fining by curing, i.e., each
Hovering position, camera angle, focal length zoom multiplying power, shooting number of pictures etc. greatly improve every base steel tower and make an inspection tour acquisition photo
Standardization, ensure that the quality for making an inspection tour acquisition, while also reducing the replacement of unmanned plane operator or journey is familiar with to circuit
The underproof problem of acquisition quality caused by degree is different.
(4) more base steel towers can be maked an inspection tour per sortie unmanned plane, and can be shot outside sighting distance：It is patrolled by unmanned plane load fining
Apparent path database can make an inspection tour more base steel towers according to thread path, the unmanned plane of each sortie, and solving operating personnel must not
The problem that artificial visual manipulation in sighting distance is carried out below every base steel tower is not reached.
(5) program controlled automatic controls, and when a large amount of operations, Precise control battery power consumption is maked an inspection tour efficiency and greatly improved：According to line
Road path planning makes an inspection tour more base steel towers per sortie, on the one hand, does not need operating personnel and makes a difficult journey and reach tower position, it is big to make an inspection tour efficiency
It is big to improve；On the other hand, it is no longer necessary to which per base steel tower, necessary unmanned plane landing is primary, and battery power consumption is greatly saved, increases
Battery utilization rate reduces the number of batteries of field operation carrying.
(6) program controlled automatic controls, and reduces the technical difficulty for making an inspection tour operator, and the scope of application greatly increases：By straight
It connects and path steel tower is called to make an inspection tour parameter database, control boat flies acquisition, and the manipulation technology for greatly reducing flight operation personnel is difficult
Degree, can greatly popularize the operating personnel troop of electric inspection process.
Description of the drawings
Fig. 1 is the structure chart that the unmanned plane of the utility model refines the Intelligent flight control system of inspection.
Specific implementation mode
The utility model is further described With reference to embodiment.Wherein, being given for example only property of attached drawing
Illustrate, expression is only schematic diagram rather than pictorial diagram, should not be understood as the limitation to this patent；In order to which this reality is better described
With novel embodiment, the certain components of attached drawing have omission, zoom in or out, and do not represent the size of actual product；To ability
For field technique personnel, the omitting of some known structures and their instructions in the attached drawings are understandable.
The same or similar label correspond to the same or similar components in the attached drawing of the utility model embodiment；In this practicality
In novel description, it is to be understood that if there is the orientation or positional relationship of the instructions such as term "upper", "lower", "left", "right" to be
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of describing the present invention and simplifying the description, rather than indicate
Or imply that signified device or element must have a particular orientation, with specific azimuth configuration and operation, therefore retouched in attached drawing
The term for stating position relationship only for illustration, should not be understood as the limitation to this patent, for the common skill of this field
For art personnel, the concrete meaning of above-mentioned term can be understood as the case may be.
Embodiment one
Refine the Intelligent flight control system of inspection for the unmanned plane of the utility model as shown in Figure 1 first is implemented
Example, includes the study control terminal and flying platform of two-way communication link：
Study control terminal includes task data logging modle, flight path optimization module and flying quality storage mould
Block；Task data logging modle is used to receive the real-time route parameter and acquisition parameters of unmanned plane during flying platform transmission；Flight road
Diameter optimization module for play back and optimize unmanned plane during flying platform make an inspection tour path, and to flying platform send adjusts path parameter and
The signal of acquisition parameters；Flying quality memory module is excellent per base steel tower by every circuit by flight path optimization module for storing
Path parameter after change and acquisition parameters form steel tower and make an inspection tour automated flight path database；
Flying platform includes multi-rotor unmanned aerial vehicle, camera and locating module；Multi-rotor unmanned aerial vehicle is for loading automatic fly
The path parameter of row routing database, and carry out full automatic autonomous tour flight according to parameter；Camera is for receiving to learn by oneself
The signal for practising the acquisition parameters of control terminal shoots photo by received signal, and acquisition parameters is transmitted to study control in real time
Terminal processed；Path parameter of the locating module for monitoring unmanned plane in real time, and real-time Transmission is to learning control terminal.
Study control terminal further includes intelligent Matching module and human-computer interaction module, and intelligent Matching module will be for that will learn control
The unmanned plane of terminal and different type of machines processed is attached, display of the human-computer interaction module for the setting and system mode of parameter.
Flying platform further includes power module and navigation module, and power module is rechargeable lithium battery, and navigation module is used for according to reception
Learn the signal of the path parameter of control terminal and is Navigation of Pilotless Aircraft.
In addition, path parameter, which includes unmanned plane, makes an inspection tour taking off and landing place, unmanned plane each portion on steel tower for steel tower
The hovering position of position and flight sequence.Acquisition parameters include camera shooting angle, photograph taking quantity, camera shooting angle, phase
Machine shooting sequence and displacement zoom magnification.Steel tower includes tangent tower, angle tower, anchor support, disagreement tower, transposition tower and terminal
Tower.Unmanned plane is the multi-rotor unmanned aerial vehicle equipped with several cameras.
Locating module in the present embodiment is dynamic high precision RTK locating modules.It is high-precision by configuring dynamic for unmanned plane
RTK locating modules are spent, the skyborne positioning accuracy of flying platform is improved, reaches centimeter-level positioning precision.
Obviously, above-described embodiment of the utility model is only intended to clearly illustrate the utility model example, and
It is not the restriction to the embodiment of the utility model.For those of ordinary skill in the art, in above description
On the basis of can also make other variations or changes in different ways.There is no need and unable to give all embodiments
It is exhaustive.All any modification, equivalent and improvement made within the spirit and principle of the present invention etc., should be included in
Within the protection domain of the utility model claims.
Claims (8)
1. a kind of Intelligent flight control system of unmanned plane fining inspection, which is characterized in that including two-way communication link
Practise control terminal and flying platform：
The study control terminal includes for receiving the task data logging modle of real-time route parameter and acquisition parameters, being used for
The flight path optimization module of adjusts path parameter and acquisition parameters and the flight for store path parameter and acquisition parameters
Data memory module；The task data logging modle, flight path optimization module, flying quality memory module are flat with flight
Platform connects, and the flying quality memory module is connected to flight path optimization module, and the flying quality memory module is equipped with iron
Tower makes an inspection tour automated flight path database；
The flying platform includes for loading the multi-rotor unmanned aerial vehicle of automated flight path database, for receiving acquisition parameters
The camera of signal and locating module for monitoring multi-rotor unmanned aerial vehicle path parameter in real time；The multi-rotor unmanned aerial vehicle with fly
Row data memory module connect, the camera, locating module be set to multi-rotor unmanned aerial vehicle on, the camera, locating module with
Learn control terminal connection.
2. the Intelligent flight control system of unmanned plane fining inspection according to claim 1, which is characterized in that described to fly
Row platform further includes power module and navigation module, and the power module is rechargeable lithium battery, and the navigation module is used for root
Carry out the path parameter signal of self study control terminal according to reception and is Navigation of Pilotless Aircraft.
3. the Intelligent flight control system of unmanned plane fining inspection according to claim 1, which is characterized in that
It further includes intelligent Matching module and human-computer interaction module to practise control terminal, and the intelligent Matching module will be for that will learn control terminal
It is attached with the unmanned plane of different type of machines, display of the human-computer interaction module for the setting and system mode of parameter.
4. the Intelligent flight control system of unmanned plane fining inspection according to claim 1, which is characterized in that the road
Diameter parameter includes the hovering position at each position and winged on steel tower that takes off with landing place, unmanned plane that unmanned plane makes an inspection tour steel tower
Row sequence.
5. the Intelligent flight control system of unmanned plane fining inspection according to claim 1, which is characterized in that the bat
It includes camera shooting angle, photograph taking quantity, camera shooting angle, camera shooting sequence and displacement zoom times to take the photograph parameter
Number.
6. the Intelligent flight control system of unmanned plane fining inspection according to claim 1, which is characterized in that the iron
Tower includes tangent tower, angle tower, anchor support, disagreement tower, transposition tower and terminal tower.
7. the Intelligent flight control system of unmanned plane fining inspection according to claim 1, which is characterized in that the nothing
Man-machine is the multi-rotor unmanned aerial vehicle equipped with several cameras.
8. the Intelligent flight control system of unmanned plane fining inspection according to any one of claims 1 to 7, feature exist
In the locating module is dynamic high precision RTK locating modules.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109839955A (en) * | 2019-02-25 | 2019-06-04 | 南京航空航天大学 | The track optimizing method that a kind of unmanned plane and multiple ground based terminals carry out wireless communication |
| CN111344651A (en) * | 2019-01-30 | 2020-06-26 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle control method and unmanned aerial vehicle |
| CN111537515A (en) * | 2020-03-31 | 2020-08-14 | 国网辽宁省电力有限公司朝阳供电公司 | Iron tower bolt defect display method and system based on three-dimensional live-action model |
| CN111998856A (en) * | 2020-09-02 | 2020-11-27 | 广东电网有限责任公司 | Automatic and rapid selection method, system and equipment for take-off and landing points of multi-rotor unmanned aerial vehicle |
| CN113359815A (en) * | 2021-05-19 | 2021-09-07 | 上海电机学院 | Fan blade unmanned aerial vehicle autonomous obstacle avoidance inspection method and system based on RTK positioning |
| CN114153224A (en) * | 2021-10-15 | 2022-03-08 | 广西电网有限责任公司电力科学研究院 | Micro-meteorology-based unmanned aerial vehicle flight path intelligent planning control system and method |
| CN114756054A (en) * | 2022-04-08 | 2022-07-15 | 国网浙江省电力有限公司湖州供电公司 | Multi-machine cooperative inspection method for extra-high voltage intensive power transmission channel based on 5G |
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- 2017-09-19 CN CN201721200526.XU patent/CN208013784U/en active Active
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111344651A (en) * | 2019-01-30 | 2020-06-26 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle control method and unmanned aerial vehicle |
| WO2020154942A1 (en) * | 2019-01-30 | 2020-08-06 | 深圳市大疆创新科技有限公司 | Control method for unmanned aerial vehicle, and unmanned aerial vehicle |
| CN111344651B (en) * | 2019-01-30 | 2024-02-23 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle control method and unmanned aerial vehicle |
| CN109839955A (en) * | 2019-02-25 | 2019-06-04 | 南京航空航天大学 | The track optimizing method that a kind of unmanned plane and multiple ground based terminals carry out wireless communication |
| CN109839955B (en) * | 2019-02-25 | 2021-02-12 | 南京航空航天大学 | Trajectory optimization method for wireless communication between unmanned aerial vehicle and multiple ground terminals |
| CN111537515A (en) * | 2020-03-31 | 2020-08-14 | 国网辽宁省电力有限公司朝阳供电公司 | Iron tower bolt defect display method and system based on three-dimensional live-action model |
| CN111998856A (en) * | 2020-09-02 | 2020-11-27 | 广东电网有限责任公司 | Automatic and rapid selection method, system and equipment for take-off and landing points of multi-rotor unmanned aerial vehicle |
| CN113359815A (en) * | 2021-05-19 | 2021-09-07 | 上海电机学院 | Fan blade unmanned aerial vehicle autonomous obstacle avoidance inspection method and system based on RTK positioning |
| CN114153224A (en) * | 2021-10-15 | 2022-03-08 | 广西电网有限责任公司电力科学研究院 | Micro-meteorology-based unmanned aerial vehicle flight path intelligent planning control system and method |
| CN114153224B (en) * | 2021-10-15 | 2024-07-23 | 广西电网有限责任公司电力科学研究院 | Unmanned aerial vehicle flight path intelligent planning control system and method based on microclimate |
| CN114756054A (en) * | 2022-04-08 | 2022-07-15 | 国网浙江省电力有限公司湖州供电公司 | Multi-machine cooperative inspection method for extra-high voltage intensive power transmission channel based on 5G |
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