TWI571719B - High-voltage electric obstruction unmanned aerial vehicle automatic cruising path planning and setting method and system - Google Patents

High-voltage electric obstruction unmanned aerial vehicle automatic cruising path planning and setting method and system Download PDF

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TWI571719B
TWI571719B TW104129688A TW104129688A TWI571719B TW I571719 B TWI571719 B TW I571719B TW 104129688 A TW104129688 A TW 104129688A TW 104129688 A TW104129688 A TW 104129688A TW I571719 B TWI571719 B TW I571719B
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Taiwan
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flight
module
aerial vehicle
unmanned aerial
obstacle
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TW104129688A
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TW201710814A (en
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Wen-Yuan Chen
shi-yan Huang
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Nat Chin-Yi Univ Of Tech
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High-voltage electric obstruction unmanned aerial vehicle automatic cruising path planning and setting method and system

The invention relates to an automatic cruise path planning and setting method and system for an unmanned aerial vehicle of a high-voltage electric obstacle, in particular to an automatic navigation path planning for an unmanned aerial vehicle to perform image diagnosis or cleaning of an obstacle image. Unmanned aerial vehicle control technology.

According to the conventional knowledge, it is mainly used as an electrical insulation between the high-voltage electric tower and the high-voltage line. Since the structure of the electric tower is composed of conductive steel or other metals, if the electric power is not used in the transportation process. Insulation insulation, high-voltage electricity will be transmitted to the ground through the high-voltage electric tower, in addition to the loss of unnecessary electrical energy consumption and damage, it will also cause accidental danger of high-voltage electric shock, in order to avoid the above situation, In general, high-voltage electric towers will be equipped with multiple intrusions. Secondly, the connection form of the insufficiency may vary depending on the power transmission requirements of the high voltage electric tower or the environmental factors, for example, it may be in the form of a vertical and vertical string arrangement; or may be in the same horizontal extension as the high voltage line. Structural form. The conventional high-voltage electric tower is provided with one or more sets of cross-frames arranged one above the other in the longitudinal electric tower, and the two side ends of each cross-frame are respectively provided with a longitudinal string of obstacle groups, and each of the obstructed sub-groups The bottom end is connected with a high-voltage electric wire, and then a plurality of groups are arranged such as a high-voltage electric tower, thereby forming a high-voltage power transmission system. Because the hurricane group is often exposed to the open environment of the outside world, the dust will deposit directly on it, and Taiwan is an island surrounded by the sea, so it will often be affected by the entrainment of a large amount of sea salt and salt monsoon, making the hurricane group continue to Accumulating salt and dust (also known as salt spray hazard), where salt and salt are inflicted when it is raining or when humidity is high Dissolved in water or moisture, the ions are released, so that a good conductive medium is formed, which causes the insulator to suffer from salt spray and cannot maintain electrical insulation.

Secondly, most of the insulation mechanisms on general power transmission and distribution lines still use the above-mentioned insulators. The only difference is the use of two or three strings of insults. Generally speaking, after a period of time, the power company will regularly sample and test the insults' fouling state to obtain the insult-related fouling data, so as to simulate and judge the insulation capacity and the degree of fouling of the insulation in the actual power supply. In order to judge whether it is necessary to clean or replace the insults, the personnel must perform regular measurement to each power transmission and distribution tower. In addition to the labor cost, the judgment of the degree of fouling of the high-voltage cable terminal is also the same. Relying on manpower to achieve completion, thus causing inconvenience and troubles in the monitoring of obstructions.

In order to improve the above-mentioned deficiencies, the related art has developed a patent such as the new type M283295 "High-voltage cable terminal head and insulation damage diagnosis system", which is a high-voltage cable terminal near the transmission and distribution tower and The insulation block is equipped with a detecting device to obtain a stain value and a background value, and the transmission unit transmits information such as the degree of staining, the background value, the transmission line, the electric tower to the central processing center, and the fouling value and background. The value is compared to a set value to determine if the insulation barrier is to be cleaned. Although the patent can avoid the labor cost of sending personnel to sample and test; however, the patent must manually set up the line and install the detection device, and the line and the detection device are more likely to be damaged due to long-term exposure and moisture. In particular, the installation of the patented line and detection device in a high-voltage tower in a remote area of the mountain will result in high construction difficulty, resulting in too high a cost of erection, and thus cannot be widely applied to high-voltage towers in remote areas of the mountains. The situation is not only the case, but the line and the detection device are also very difficult to maintain. As a result of the impact diagnosis of the insulation barrier, the patent is indeed in need of improvement.

In addition, in order to improve the degree of salt and dust damage caused by high-voltage electric towers in remote areas of the mountains, Taipower will prepare a flush of high-pressure towers to insult each year to entrust civil aviation operators to dispatch helicopters to clean the high-voltage towers. Subgroup, in the process of cleaning, the helicopter must approach the setting area of the intrusion group, and then manually control the water gun of the high-pressure spraying device, so that the water gun is directed at the setting area of the insulting group and then sprays a strong water column. In general, the process of maneuvering the helicopter is very thrilling. In addition to testing the driving experience and technology, another operator is required to take charge of the lance of the high-pressure spray device. It is also necessary to keep the water gun nozzle and the high-voltage electric tower at a safe distance of about 2 to 3 meters. In addition, the helicopter must be hovered at each spraying point for at least 30 seconds, in order to clean a string of about 4 A metric block with a long length; it is more dangerous to assume that an obstacle is exploding, so it is a very dangerous job to clean the hamper on the high-voltage tower with a helicopter. The manpower and material cost required to clean the hamper on the high-voltage electric tower by helicopter is quite considerable. In view of this, how to develop an automatic rinsing with an unmanned automatic cruise flushing high-voltage electric tower Technology has become a technical issue that the relevant industry and academia is eager to challenge and overcome.

According to the current knowledge, there is no patent or paper with the technology of unmanned automatic cruise monitoring high voltage electric tower, and the creators of the present invention have been continuously researching and developing based on the urgent needs of related industries. Finally, a set of inventions different from the above-mentioned conventional technical concepts has been developed.

The main object of the present invention is to provide a high-voltage electric obstacle unmanned aerial vehicle The automatic cruising path planning and setting method and system are mainly provided by the planning of the automatic cruising path, so that the unmanned flying vehicle can realize image recognition diagnosis or high-pressure water column flushing on the high-voltage electric tower, in addition to saving In addition to labor costs, the degree of salting and fouling can be judged through image identification diagnosis, so it can be washed and cleaned before the insulation of the insulation is deteriorated, so as to reduce the damage of the insults to the salt spray, so as to avoid The danger of leakage of high-voltage electric tower caused by short circuit of the obstacle occurs. The technical means for achieving the object of the present invention is to provide an unmanned aerial vehicle having a first wireless communication module, a flight control module, an image capturing device and a navigation information sensing module, and a second wireless communication module. The voyage setting module of the manual voyage setting module, the automatic voyage setting module, and the second signal processing module. The navigation path of the unmanned aerial vehicle from the origin to the target point of the high-voltage tower and the return to the origin, and the cruising path from the target point of the high-voltage tower to the target point of the obstacle and returning to the target point of the high-voltage tower are planned. The navigation parameters, the cruise parameters, and the return parameters are obtained by the manual voyage setting module. The automatic voyage setting module control enables the unmanned aerial vehicle to perform the flight path and the navigation path flight at least once according to the navigation parameters, the cruise parameters and the return flight parameters, and after the completion, records the navigation parameters, the cruise parameters and the return flight parameters as the next The basis for performing automatic navigation.

1‧‧‧High Voltage Tower

1a‧‧‧Insert Subgroup

1b‧‧‧cross frame

10‧‧‧Unmanned aerial vehicle

11‧‧‧Navigation Information Sensing Module

110‧‧‧ obstacle sensor

111‧‧‧ Height sensor

112‧‧‧ Directional Sensor

113‧‧‧ position sensor

114‧‧‧Speed sensor

115‧‧‧ Distance sensing module

20‧‧‧First wireless communication module

21‧‧‧First Signal Processing Module

30‧‧‧voyage setting module

31‧‧‧Second wireless communication module

33‧‧‧Manual voyage setting module

330‧‧‧Air Flight Control Module

331‧‧‧Display setting module

331a‧‧‧Electrical tower target point setting module

331b‧‧‧Block target setting module

34‧‧‧Automatic Voyage Setting Module

340‧‧‧Automatic flight control module

341‧‧‧ Shortest Path Correction Module

35‧‧‧second signal processing module

40‧‧‧ Flight Control Module

50‧‧‧Image capture device

60‧‧‧High pressure spraying device

Dn‧‧‧ flight path

O‧‧‧ origin

N‧‧‧ target point

N‧‧‧ total number of target points

1 is a schematic diagram of the implementation of the cruise path planning of the unmanned aerial vehicle of the present invention.

2 is a schematic view showing the implementation of the Epipolar planar triangulation method of the present invention.

3 is a functional block diagram of the basic architecture of the present invention.

4 is a functional block diagram of a specific architecture of the present invention.

FIG. 5 is a schematic diagram of remote control operation of a specific architecture of the present invention.

Figure 6 is a schematic view showing the implementation of the navigation path of the present invention.

FIG. 7 is a schematic diagram of the implementation of the image diagnosis performed by the unmanned aerial vehicle of the present invention.

FIG. 8 is a schematic diagram of the flow control of the manual remote control teaching flight of the present invention.

FIG. 9 is a schematic diagram of flow control of performing automatic image recognition diagnostic flight according to the present invention.

Referring to Figures 1 to 9, a specific embodiment of the present invention includes:

In the step (a), an unmanned aerial vehicle 10 and a voyage setting module 30 are provided. The unmanned aerial vehicle 10 has a first wireless communication module 20, a flight control module 40, at least one image capturing device 50, and a The navigation information sensing module 11 for generating a plurality of navigation sensing signals (direction, speed, height, coordinates) and a first signal processing module 21 for processing the signals of the foregoing modules, the voyage setting module 30 The second wireless communication module 31, a manual flight setting module 33, an automatic flight setting module 34, and a second signal processing module 35 for processing the signals of the modules are included. The manual flight setting module 33 includes a manual flight control module 330 and a display setting module 331 including a tower target point setting module 331a and an obstacle target point setting module 331b. The automatic flight setting module 34 includes an automatic flight control module 340.

Step (b), carry out flight path planning.

In step (c), the flight path planning teaching and setting are performed.

In step (d), the automatic flight setting module 34 is activated to complete the overall planning and setting. The flight path planning teaching and setting is to set an origin of the unmanned aerial vehicle 10 to take off and off, and generate at least one manual control signal, and the at least one manual control signal passes through the first wireless The communication module 20 and the second wireless communication module 31 are transmitted to the flight control module 40 located on the unmanned aerial vehicle 10 to control the unmanned aerial vehicle 10 to perform a manual remote guidance flight.

The step (b) of the present invention is to plan the unmanned aerial vehicle 10 from an origin O to at least one high-voltage tower target point P 1 /P 2 and return to the origin O as a navigation path N, and plan The unmanned aerial vehicle 10 is from the at least one high voltage tower target point P 1 /P 2 to at least one obstacle target point n 1 /n 2 /n 3 /n 4 /n 5 /n 6 /n 7 /n 8 and returning the at least one high voltage tower target point P 1 /P 2 to a cruise path D 1 /D 2 .

In the step (c) of the present invention, the flight path planning teaching and setting step is to set the origin point O of the unmanned aerial vehicle 10 to take off and take off, and the manual flight control mode of the manual voyage setting module 33. The group 330 generates at least one manual control signal, and the at least one manual control signal is transmitted to the flight control module 40 located on the unmanned aerial vehicle 10 via the second wireless communication module 31 and the first wireless communication module 20 To control the unmanned aerial vehicle 10 to perform a manual remote control flight; that is, at least one control signal is generated by the voyage setting module 30, and the control signal can be transmitted to the unmanned flight via the wireless communication module 20 The flight control module 40 on the vehicle 10 controls the unmanned aerial vehicle 10 to perform a manual remote control flight. The step of performing the manual remote control flight includes the step (c1) of controlling, by the flight control module 40, the unmanned aerial vehicle 10 to sequentially fly from the origin O to each high voltage according to the at least one manual control signal. The electric tower target point P 1 /P 2 , and sequentially converts each navigation sensing signal sensed by each navigation information sensing module 11 to obtain the direction value, the height value, the speed value, and the coordinate value of the unmanned aerial vehicle. And the serial number corresponding to the target point of the high voltage electric tower is recorded and set as a set of navigation parameters. The first trigger signal is generated by the tower target point setting module 331a of the display setting module 331 when the unmanned aerial vehicle 10 is close to the high-voltage tower target point P 1 /P 2 . The signal is transmitted to the unmanned aerial vehicle 10 via the second wireless communication module 31 and the first wireless communication module 20, and the image capturing device 50 is activated to capture the image of the high voltage electric tower, and the high voltage electric tower is The image is transmitted to the voyage setting module 30 through the wireless communication module 20, and the high-voltage tower image is displayed by the display setting module 331 of the voyage setting module 30. When a user passes the high-voltage electric tower When the image confirms that the unmanned aerial vehicle 10 has flown to the high-voltage tower target point P 1 /P 2 , press a confirmation button of the tower target point setting module 331a of the display setting module 331 to confirm the high voltage. The electric tower target point P 1 /P 2 and set its corresponding serial number and record; step (c2) controls the flight control module 40 to make the unmanned aerial vehicle 10 from the high voltage according to the at least one manual control signal The tower target point P 1 /P 2 is sequentially flown to each obstacle target point n 1 /n 2 /n 3 /n 4 /n 5 /n 6 /n 7 /n 8 and returning to the high-voltage tower target point P 1 /P 2 , sequentially converting each navigation sensing signal sensed by the navigation information sensing module 11 as a direction value , a height value, a speed value, a coordinate value, and a corresponding serial number value are recorded and set as a set of cruise parameters, wherein when the unmanned aerial vehicle 10 approaches the obstacle target point n 1 /n 2 /n 3 /n 4 /n 5 /n 6 /n 7 /n 8 , the second trigger signal is generated by the second target wireless communication module 31 and the target target point setting module 331b of the display setting module 331 The first wireless communication module 20 transmits the image to the unmanned aerial vehicle 10 and activates the image capturing device 50 to capture the image including the image of the obstacle group, and transmits the image of the obstacle group to the first wireless communication module 20 and The wireless communication module 31 is transmitted to the flight setting module 30, and the display setting module 331 displays the image of the obstacle group. When the user confirms the unmanned aerial vehicle 10 via the image of the obstacle group fly to hinder the sub-target point n 1 / n 2 / n 3 / n 4 / n 5 / n 7 n 8 when 6 / n /, press the display setting module 331 of the sub-target point set hinder Module 331b is a confirmation key to confirm that hinder the sub-object point n 1 / n 2 / n 3 / n 4 / n 5 / n 6 / n 7 / n 8 and corresponding number and set to be recorded; step (c3 Obtaining the navigation parameter when the flight control module 40 controls the unmanned aerial vehicle 10 to fly to each high-voltage tower target point P 1 /P 2 according to the at least one manual control signal, and repeats (c2) The step of obtaining the cruise parameter; and the step (c4), after obtaining the last set of the cruise parameters, controlling, by the flight control module 40, the unmanned aerial vehicle 10 to return to the origin according to the at least one manual control signal Or obtaining a set of return parameters; the cruise parameter is used to enable the unmanned aerial vehicle to perform the flight of the cruise path D 1 /D 2 ; the navigation parameter, the cruise parameter and the return flight parameter are used to enable the unmanned vehicle to perform The flight of the sailing route N. The navigation path N is equal to the path of OP 1 + D 1 + P 1 P 2 + D 2 + P 2 O. Wherein, as shown in FIG. 1, if the process of manual remote teaching setting is not perfect, then return to the above flight path planning teaching and setting steps until the user thinks that the requirements are met.

Step (d) of the present invention activates the automatic range setting module 34 to enable the automatic flight The control module 340 generates at least one automatic flight control signal according to the navigation parameter, the cruise parameter and the return flight parameter, so that the unmanned aerial vehicle performs the cruise path and the flight path according to the at least one automatic flight control signal. Once, after completion, the navigation parameters, the cruise parameters and the return parameters are recorded as the basis for the next execution of the automatic navigation.

In a preferred embodiment of the present invention, the automatic range setting module 34 further includes a shortest path correction module 341. After the step (d), the shortest path correction module 341 is activated to calculate the high voltage adjacent to each other. Between the target points of the electric tower, a shortest path between the adjacent target points of the obstruction and adjacent to the target point of the high voltage electric tower and the target point of the obstruction, and obtain a modified navigation corresponding to the shortest path The parameter, the modified cruise parameter and the modified return flight parameter; the automatic flight setting module 34 is further activated, and the automatic flight control module 340 generates at least one modified automatic flight according to the modified navigation parameter, the modified cruise parameter and the modified return flight parameter. Controlling the signal, causing the unmanned aerial vehicle to perform the cruise path and the flight path at least once according to the modified at least one automatic flight control signal, and after the completion, recording the modified navigation parameter, the modified cruise parameter and the modified return flight parameter The basis for the next automatic sailing.

In order to enable the unmanned aerial vehicle 10 to avoid obstacles, an application embodiment as shown in FIGS. 3 and 8 can perform an obstacle avoidance step when the unmanned aerial vehicle 10 performs a manual remote control flight. It is set that when the obstacle sensor 110 of the navigation information sensing module 11 senses an obstacle (a high voltage electric tower, a high voltage line or a hillside, etc.), the flight control module 40 captures the image capturing device 50. The obstacle image is transmitted to the display setting module 331 of the voyage setting module 30 through the wireless communication module 20 for the user to evaluate the obstacle state. When the user decides to avoid the obstacle, the user The voyage setting module 30 performs an operation setting of the avoidance to generate a corresponding control signal, and then controls the unmanned aerial vehicle 10 to avoid the obstacle, and records the direction value, the altitude value, the speed value, the coordinate value generated by the evasive flight, and The safety distance value is the navigation channel data of the target point, and the navigation channel data is included in the navigation parameters of the group, and the The operation of the obstacle avoidance step is as follows; the obstacle sensor 110 may be an ultrasonic sensor, visually recognized by a user, or an image recognition software built in the display setting module 331.

Referring to the specific embodiment shown in FIG. 3, the navigation information sensing module 11 further includes a height sensor 111, a direction sensor 112, a position sensor 113, and a speed sensor. 114. The height sensor 111 (such as a gyroscope) measures the unmanned aerial vehicle 10 to each high-voltage tower target point P 1 /P 2 and each obstacle target point n 1 /n 2 /n 3 /n 4 /n 5 /n 6 /n 7 /n 8 off-ground height, so that the unmanned flight vehicle 10 to each high-voltage tower target point P 1 /P 2 and each obstacle target point n 1 /n 2 / n 3 /n 4 /n 5 /n 6 /n 7 /n 8 corresponds to a height value and is recorded. The direction sensor 112 (such as a gyroscope) measures the unmanned aerial vehicle 10 to each of the high voltage tower target points P 1 /P 2 and each obstacle target point n 1 /n 2 /n 3 /n 4 /n 5 /n 6 /n 7 /n 8 direction, so that the unmanned aerial vehicle 10 to each high-voltage tower target point P 1 /P 2 and each obstacle target point n 1 /n 2 /n 3 /n 4 /n 5 /n 6 /n 7 /n 8 corresponds to a direction value and is recorded. The position sensor 113 (such as GPS) measures the unmanned aerial vehicle 10 to each high voltage tower target point P 1 /P 2 and each obstacle target point n 1 /n 2 /n 3 /n 4 / The coordinates of n 5 /n 6 /n 7 /n 8 make the unmanned aerial vehicle 10 to each high-voltage tower target point P 1 /P 2 and each obstacle target point n 1 /n 2 /n 3 / n 4 / n 5 / n 6 / n 7 / n 8 corresponds to a value and record it. The speed sensor 114 measures the unmanned aerial vehicle 10 to each of the high voltage tower target points P 1 /P 2 and each obstacle target point n 1 /n 2 /n 3 /n 4 /n 5 /n 6 / n 7 / n 8 speed, so that unmanned flight vehicle 10 to each high voltage tower target point P 1 / P 2 and each obstacle target point n 1 / n 2 / n 3 / n 4 / n 5 / n 6 / n 7 / n 8 corresponds to a speed value.

Referring again to the embodiment shown in FIG. 8, in order to maintain the unmanned aerial vehicle 10 at a safe distance from the high voltage electric tower 1 to prevent the unmanned aerial vehicle 10 from striking the high voltage electric tower 1, the present invention is unmanned. The operation setting of the safety distance estimation step can be performed when the manual remote control teaching flight is performed. When the unmanned aerial vehicle 10 approaches one of the position points, the distance sensing module of the navigation information sensing module 11 is activated. 115. The sensing control module 40 uses the image capturing device 50 to capture the image of the subgroup and transmits the image of the obscuring group to the voyage setting through the wireless communication module 20. The display setting module 331 of the module 30 is provided for The user evaluates the distance state between the unmanned aerial vehicle 10 and the hurricane group 1a. If the distance between the adjustment and the obstacle group 1a is determined, the voyage setting module 30 performs the operation setting of the distance adjustment to generate a corresponding state. Controlling the signal to control the distance between the unmanned aerial vehicle 10 and the obstruction. If the safety distance between the unobstructed sub-group 1a is determined, the distance of the recording position point is the safe distance value of the target point. And the distance sensing module 115 can be an ultrasonic sensor, an image recognition method, a user visual identification, an image recognition software built in the display setting module 331, and a triangular ranging of the Epipolar plane. law. In the embodiment of the Epipolar planar triangulation method shown in FIG. 2, a set of image capturing devices 50 are respectively disposed on two sides of the unmanned aerial vehicle 10, and when the unmanned aerial vehicle 10 performs the spray stroke planning and setting flight, Upon reaching one of the positions, the second image capturing device 50 can capture the image of the left side of the position and the image of the right side of the group, and the image recognition module will image the left side of the image and the right side of the image. The group image is subjected to an Epipolar plane triangulation method to find the safety distance of the obstruction group 1a and the corresponding target point n, that is, d4 in FIG. 2, since the Epipolar plane triangulation method is a conventional technique, I will repeat them.

Please refer to FIG. 9 , which is an embodiment of the automatic flight of the present invention. After the flight setting module 30 completes the flight path planning teaching and setting, the flight control module 40 reads the navigation parameters of the group. The unmanned aerial vehicle 10 performs an automatic image recognition diagnostic flight, and when performing the automatic image recognition diagnostic flight, controls the unmanned aerial vehicle 10 to take off from the origin o and according to a predetermined serial number, direction value, altitude value, coordinate value, and safety. The distance control value flies along the navigation path N to each target point n. When the unmanned aerial vehicle 10 reaches the first target point n (ie, n=1), the flight control module 40 activates the image capturing device 50. The image of the obstruction group is captured, and the image of the obstructed subgroup is transmitted to the voyage setting module 30 through the wireless communication module 20, and then the display setting module 331 of the voyage setting module 30 displays the image of the obstruction group, and then Visually identifying by the user of the operation or by means of the image recognition software built into the display setting module 331 for the salt of the image of the intruder group The fogging degree is subjected to image recognition diagnosis as a basis for cleaning the obstacle group 1a; then, when all target points (i.e., the total number of N=n) complete image capturing, the flight control module 40 controls the unmanned The flying vehicle returns to the origin o, and the task of automatic image recognition diagnostic flight can be completed.

As described above, as shown in FIG. 9, when the unmanned aerial vehicle 10 performs an automatic image recognition diagnostic flight, an operational setting of a modified navigation step can be performed, and when the flight control module 40 reads one of the target points n When the navigation channel data is obtained, the unmanned aerial vehicle 10 is caused to fly according to the navigation data of the target point n, and it is judged whether the coordinates of the position of the unmanned aerial vehicle 10 are correct. If the judgment result is yes, the navigation path N is corrected and judged. If the result is no, it will fly to the target point n.

Referring to FIG. 5, in another embodiment of the automatic flight of the present invention, the unmanned aerial vehicle 10 is loaded with a high-pressure spraying device 60 for performing high-pressure spraying on the sub-group 1a, when the voyage setting module 30 is completed. When the flight path planning teaching and setting steps are performed, the flight control module 40 reads the set of navigation parameters, and then causes the unmanned aerial vehicle 10 to perform an automatic spray mode flight, and when performing the automatic spray mode flight, controls the unmanned flight. Taking off from the origin and flying along the preset flight path to each target point n according to the predetermined serial number, direction value, altitude value, coordinate value and safety distance value, when the unmanned aerial vehicle 10 arrives at the first one When the target point n (i.e., n = 1), the flight control module 40 causes the unmanned aerial vehicle 10 to hover for a preset time (30 to 60 seconds) and activates the high pressure spraying device 60 to perform high voltage on the intrusion group 1a. Flushing, when the preset time is over, the high pressure spraying device 60 is turned off, and the unmanned aerial vehicle 10 is controlled to fly to the next target point n (ie, n=n+1=2), and each of the obstacle groups 1a is flushed. Upon completion, the flight control module 40 controls to disable Aerial vehicle 10 returns to the origin O, thereto, to complete the task of automatic sprinkler flight mode.

Therefore, according to the above specific embodiments, the present invention can indeed enable the unmanned aerial vehicle to perform image recognition diagnosis or high-pressure water column flushing on the high-voltage electric tower by means of the planning of the automatic cruising path. Can effectively save labor costs, and can be seen through The degree of salting and fouling is judged by the identification diagnosis, so it can be washed and cleaned before the insulation of the insulation is deteriorated, so as to reduce the damage degree of the insult due to the salt mist pollution, so as to avoid the high voltage caused by the short circuit of the obstacle. The danger of electric tower leakage is unexpected.

The above is only a possible embodiment of the present invention, and is not intended to limit the scope of the patents of the present invention, and the equivalent implementations of other changes according to the contents, features and spirits of the following claims should be It is included in the patent of the present invention. The invention is specifically defined in the structural features of the request item, is not found in the same kind of articles, and has practicality and progress, has met the requirements of the invention patent, and has filed an application according to law, and invites the bureau to approve the patent according to law to maintain the present invention. The legal rights of the applicant.

11‧‧‧Navigation Information Sensing Module

110‧‧‧ obstacle sensor

111‧‧‧ Height sensor

112‧‧‧ Directional Sensor

113‧‧‧ position sensor

114‧‧‧Speed sensor

115‧‧‧ Distance sensing module

20‧‧‧First wireless communication module

30‧‧‧voyage setting module

30‧‧‧Second wireless communication module

40‧‧‧ Flight Control Module

50‧‧‧Image capture device

Claims (9)

  1. An automatic cruise path planning and setting method for a high-voltage electric obstacle unmanned aerial vehicle includes the following steps: (a) providing a first wireless communication module, at least one image capturing device, and a flight control module At least one navigation information sensing module for generating a plurality of navigation sensing signals and an unmanned aerial vehicle of a first signal processing module, and a second wireless communication module, a manual flight setting module, An automatic voyage setting module and a voyage setting module of a second signal processing module; the manual voyage setting module includes a manual flight control module, and includes a tower target point setting module and an obstacle target point One of the setting modules displays a setting module; the automatic voyage setting module includes an automatic flight control module; (b) performs flight path planning: planning the unmanned aerial vehicle from an origin to at least one high voltage tower target Pointing and returning the origin as a navigation path, and planning the unmanned aerial vehicle from the at least one high voltage tower target point to the at least one obstacle target point and returning to the at least one high voltage tower target point a cruising path; and (c) performing flight path planning teaching and setting: setting an origin of the unmanned aerial vehicle's take-off and landing by the voyage setting module, and generating the manual flight control module by the manual voyage setting module At least one manual control signal transmitted by the second wireless communication module and the first wireless communication module to the flight control module located on the unmanned aerial vehicle to control the unmanned flight The vehicle performs a manual remote control flight, wherein the manual remote control flight is performed, including: (c1) controlling, by the flight control module, the unmanned aerial vehicle from the origin according to the at least one manual control signal Flying to each high-voltage tower target point, and sequentially converting each of the navigation sensing signals to obtain a direction value, a height value, a speed value, a coordinate value, and a corresponding serial number value, and recording and setting as a set of navigation parameters; Wherein, when the unmanned aerial vehicle is adjacent to the high voltage electric tower When the punctuation is performed, the first trigger signal is generated by the tower target point setting module of the display setting module, and the first trigger signal is transmitted to the unmanned flight via the second wireless communication module and the first wireless communication module. The image capturing device is activated to capture the image of the high voltage electric tower, and the high voltage electric tower image is transmitted to the voyage setting through the first wireless communication module and the second wireless communication module And displaying, by the display setting module, the image of the high voltage electric tower, and when a user confirms that the unmanned aerial vehicle has flown to the target point of the high voltage electric tower via the high voltage electric tower image, press Pressing a confirmation button of the tower target point setting module of the display setting module to confirm the high-voltage tower target point and setting its corresponding serial number and recording; (c2) according to the flight control module a manual control signal is used to control the unmanned aerial vehicle to sequentially fly from the target point of the high voltage tower to each obstacle target point and return to the target point of the high voltage tower, and sequentially convert and process each navigation sensing signal For direction value, height value, speed value And the coordinate value and the corresponding serial number value are recorded and set as a set of cruise parameters, wherein when the unmanned aerial vehicle approaches the target point of the obstacle, the obstacle target target setting module of the display setting module is generated. a second trigger signal, the second trigger signal is transmitted to the unmanned aerial vehicle via the second wireless communication module and the first wireless communication module, and the image capturing device is activated to capture the image including the obstacle group And transmitting the image of the obstruction group to the voyage setting module through the first wireless communication module and the second wireless communication module, and then displaying the image of the operative group by the display setting module, when the When the user confirms that the unmanned aerial vehicle has flown to the obstacle target point via the image of the obstacle group, press a confirmation button of the obstacle target point setting module of the display setting module to confirm the obstacle target Pointing and setting its corresponding serial number and recording; (c3) obtaining the navigation by the flight control module according to the at least one manual control signal to control the unmanned aerial vehicle to fly to each high-voltage tower target point Parameters and repeat (c2) step of obtaining the cruise parameter; and (c4) after obtaining the last set of the cruise parameters, the flight control module is based on the at least a manual control signal to control the return of the unmanned aerial vehicle to the origin to obtain a set of return parameters; and (d) activating the automatic flight setting module to cause the automatic flight control module to cruise according to the navigation parameter The parameter and the return flight parameter generate at least one automatic flight control signal, so that the unmanned aerial vehicle performs the cruise path and the flight path at least once according to the at least one automatic flight control signal, and records the navigation parameter and the cruise parameter after completion And the returning parameter is used as a basis for the next execution of the automatic navigation; wherein the unmanned aerial vehicle further includes an obstacle avoiding step when performing the manual remote control teaching flight, when the navigation information sensing module is an obstacle When the sensor senses the obstacle, the flight control module activates the image capturing device to capture the obstacle image, and transmits the obstacle image to the display of the voyage setting module through the wireless communication module. Setting the module for the user to evaluate the obstacle state, and if it is determined to avoid the obstacle, then avoiding the obstacle setting module Operating the setting to generate the corresponding control signal to control the unmanned aerial vehicle to avoid the obstacle, and record the direction value, the height value, the speed value, the coordinate value, and the safety distance value generated by the avoidance flight For the channel data of the target point, the channel data is included in the group navigation parameters.
  2. The method of claim 1, wherein the automatic voyage setting module further comprises a shortest path correction module; after the step (d), the shortest path correction module is activated to calculate the two adjacent high voltages. Between the target points of the electric tower, a shortest path between the adjacent target points of the obstruction and adjacent to the target point of the high voltage electric tower and the target point of the obstruction, and obtain a modified navigation corresponding to the shortest path The parameter, the modified cruise parameter and the modified return flight parameter; the automatic flight setting module is further activated, so that the automatic flight control module generates at least one modified automatic flight control signal according to the modified navigation parameter, the modified cruise parameter and the modified return flight parameter. And causing the unmanned aerial vehicle to perform the cruise path and the flight path at least once according to the modified at least one automatic flight control signal, and after the completion, recording the modified navigation parameter, the modified cruise parameter and the modified return flight parameter to be performed The basis for the next automatic sailing.
  3. The method of claim 1, wherein the unmanned aerial vehicle further includes a safety distance estimation step when the manual remote control teaching flight is performed, and when the unmanned aerial vehicle approaches one of the position points, the One of the navigation information sensing modules is located at a distance sensing module to sense a distance from the obstacle, and the flight control module restarts the image capturing device to capture the image of the obstacle group, and the obstacle is The sub-group image is transmitted to the display setting module of the voyage setting module through the wireless communication module, so that the user evaluates the distance state between the unmanned aerial vehicle and the occlusion subgroup, wherein, when determining Adjusting the distance between the obstructed subgroup and the operation setting of the distance setting module to generate a corresponding control signal to control the distance between the unmanned aerial vehicle and the obstruction Wherein, when determining a safe distance from the obstruction, the distance value of the position point is recorded as a safe distance value of the target point and included in the channel data.
  4. The method of claim 3, wherein the distance sensing module is selected from the group consisting of an ultrasonic sensor, an image recognition method, and a triangular ranging method of Epipolar plane.
  5. The method of claim 1, wherein when the flight setting module completes the flight path planning teaching and setting step, the flight control module reads the set of navigation parameters, and then executes the unmanned aerial vehicle. Automatic image recognition diagnostic flight, when performing the automatic image recognition diagnostic flight, controlling the unmanned aerial vehicle to take off from the origin and according to the predetermined serial number, the direction value, the height value, the coordinate value, and the safety distance value And flying along the flight path to each of the target points, when the unmanned aerial vehicle reaches the first target point, the flight control module starts the image capturing device to capture the image of the obstacle group. And transmitting the image of the obstructed sub-group to the voyage setting module through the wireless communication module, and then displaying the image of the obstructed sub-group by the display setting module of the voyage setting module, and then visually viewing by a user Method identification or image recognition by the image recognition software built into the display setting module for the degree of salt fog staining of the image of the obstruction group The diagnosis is used as a basis for cleaning the obstruction group. When all the target points complete the image capture, the flight control module controls to return the unmanned aerial vehicle to the origin.
  6. The method of claim 5, wherein the unmanned aerial vehicle further comprises a modified navigation step when performing the automatic image recognition diagnostic flight, and when the flight control module reads the navigation information of one of the target points And causing the unmanned aerial vehicle to fly according to the navigation channel data of the target point, and determining whether the coordinate value of the position of the unmanned aerial vehicle is correct, and if the determination result is yes, correcting the flight path, and if the determination result is no, Fly to the target point.
  7. The method of claim 1, wherein the unmanned aerial vehicle is loaded with a high-pressure spraying device for high-pressure spraying of the obstruction, and when the voyage setting module completes the flight path planning teaching and setting steps, the flight When the control module reads the set of navigation parameters, the unmanned aerial vehicle performs an automatic spray mode flight, and when the automatic spray mode flight is executed, the unmanned aerial vehicle is controlled to take off from the origin and is scheduled. The serial number, the direction value, the height value, the coordinate value, and the safety distance value fly along the flight path to each of the target points, and when the unmanned aerial vehicle reaches the first target point, the The flight control module rotates the unmanned aerial vehicle for a predetermined time and activates the high pressure spraying device to perform high pressure flushing on the obstacle group. When the preset time is over, the high pressure spraying device is turned off, and Controlling the unmanned aerial vehicle to fly to the next target point, and when each of the obstacle groups is flushed, the flight control module controls to return the unmanned aerial vehicle to the origin.
  8. The method of claim 1, wherein the navigation information sensing module further comprises a height sensor, a direction sensor, a position sensor and a speed sensor, and the height sensor Measuring the height of each target point from the ground and including it in the group of navigation data, so that each of the target points corresponds to a height value; measuring the direction to the next target point by the direction sensor and including the group In the channel data, each target point corresponds to a direction value; the coordinate position of each of the target points is measured by the position sensor and included in the group of channel data, so that each of the target points corresponds to one a coordinate value; the speed sensor is used to measure the speed of the unmanned aerial vehicle and is included in the set of navigation channel data, so that the set of navigation channel data of each of the target points corresponds to a velocity value.
  9. An unmanned aerial vehicle automatic cruising path planning system for a high-voltage electric obstruction, comprising: an unmanned aerial vehicle; at least one image capturing device disposed on the unmanned aerial vehicle; at least one navigation information sensing module a group for generating a plurality of navigation sensing signals; a wireless communication module; a flight control module; and a voyage setting module for using an origin of the unmanned aerial vehicle to take off and landing to at least one The target point is planned as a flight path, and at least one position point in the vicinity of the high voltage electric tower is arranged as the target point, and the at least one control signal is generated by the voyage setting module, and the at least one control signal is Transmitting the wireless communication module to the flight control module to control the unmanned aerial vehicle to perform a manual remote control teaching flight, and when performing the manual remote control teaching flight, the unmanned aerial vehicle is adapted from the origin The flight control module flies to each of the position points, and the flight control module sequentially processes and processes each of the navigation sensing signals as a direction value, a height value, a speed value, a coordinate value, and a safety distance value, when the unmanned flight When the carrier is close to the first location, the image capture device is activated to capture the image containing the image, and the image of the obstacle is transmitted to the flight setting module through the wireless communication module. Then, the display module is displayed by one of the voyage setting modules, and when the user confirms that the unmanned aerial vehicle has flown to the predetermined position, the display setting module is pressed. One of the confirmation keys to confirm that the position point is one of the target points or the origin point, the target point or the origin is set to a sequence number, and the direction value or the height value of the target point or the origin point, The speed value, the coordinate value and the safety distance value are set as the target point or the channel data of the origin, and the channel data is included in a set of navigation parameters, and the above steps are repeated, when all the points are completed. The voyage setting mode when setting the above navigation channel data The group then controls to return the unmanned aerial vehicle to the origin; wherein the unmanned aerial vehicle further includes an obstacle avoiding step when performing the manual remote control teaching flight, when the navigation information sensing module is an obstacle When the sensor senses the obstacle, the flight control module activates the image capturing device to capture the obstacle image, and transmits the obstacle image to the display of the voyage setting module through the wireless communication module. The setting module is configured for the user to evaluate the obstacle state. If it is determined to avoid the obstacle, the voyage setting module performs an operation setting of the avoidance to generate a corresponding control signal to control the unmanned flight. The vehicle avoids the obstacle, and records the direction value generated by the avoidance flight, the height value, the speed value, the coordinate value, and the safety distance value as the channel data of the target point, and then the channel information is included In the group of navigation parameters.
TW104129688A 2015-09-08 2015-09-08 High-voltage electric obstruction unmanned aerial vehicle automatic cruising path planning and setting method and system TWI571719B (en)

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CN102570345B (en) * 2011-09-19 2014-05-28 天津全华时代航天科技发展有限公司 UAV (unmanned aerial vehicle) transmission-line patrolling system
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