WO2017219780A1 - Tour inspection method and device for unmanned aerial vehicle, unmanned aerial vehicle, and computer storage medium - Google Patents
Tour inspection method and device for unmanned aerial vehicle, unmanned aerial vehicle, and computer storage medium Download PDFInfo
- Publication number
- WO2017219780A1 WO2017219780A1 PCT/CN2017/083939 CN2017083939W WO2017219780A1 WO 2017219780 A1 WO2017219780 A1 WO 2017219780A1 CN 2017083939 W CN2017083939 W CN 2017083939W WO 2017219780 A1 WO2017219780 A1 WO 2017219780A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- inspected
- inspection
- adjacent
- patrol
- route
- Prior art date
Links
Images
Classifications
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
- G07C1/20—Checking timed patrols, e.g. of watchman
Definitions
- the invention relates to the field of UAV applications in a power grid, in particular to a UAV inspection method and device, a UAV, and a computer storage medium.
- UAVs are gradually being applied in the power grid based on new technologies of drones.
- An autopilot, program control device, and the like are installed on the drone.
- Remote control personnel track, locate, remotely control, telemetry and digitally transmit them via the remote control.
- the application of drones in the power grid is mainly divided into the following three types:
- the line inspection when the line is running in a more complex environment (such as mountains, lakes, etc.), through the control of the drone to complete the line inspection.
- a more complex environment such as mountains, lakes, etc.
- the match line in the line construction, through the drone line, you can easily cross the busy traffic lines, mountains, lakes, to ensure smooth line construction.
- the use of the drone in the power grid is not sufficiently intelligent, and manual control is required to collect relevant information. After the information collection is completed, it is necessary to manually control the return to the designated position, and the use of the drone has limitations. If you cannot perform remote meter reading, etc.
- the embodiment of the invention provides a UAV inspection method and device, a UAV, and a computer storage medium, which solves the problem of poor automation and intelligent performance of the UAV applied in the power grid in the prior art, and has limited application limitations. The problem.
- a drone inspection method including:
- the location information of the at least one device to be inspected is the location coordinate.
- the step of determining the inspection route according to the location information of each device to be inspected includes:
- the patrol route of the device to be inspected is determined according to the position coordinates of the device to be inspected after sorting.
- the step of determining the patrol route of the device to be inspected according to the position coordinates of the device to be inspected after the sorting includes:
- the processing module includes:
- the sorting sub-module is configured to sort the inspecting devices according to the position coordinates of the devices to be inspected; wherein, the location information of the at least one device to be inspected is the position coordinates;
- the processing sub-module is configured to determine a patrol route of the device to be inspected according to the position coordinates of the device to be inspected after sorting.
- the processing submodule includes:
- the calculating unit is configured to calculate a flight route between adjacent to-be-patented devices according to the position coordinates of the adjacent to-be-patented devices after sorting;
- the second processing unit is configured to sequentially calculate the patrol route between the adjacent patrol devices to determine the patrol route of all the devices to be patrolled.
- the calculation unit comprises:
- Processing the subunit configured as a latitude and longitude according to the position coordinates of the adjacent device to be inspected after sorting Degree, determining the linear distance of adjacent equipment to be inspected;
- the calculating subunit is configured to calculate a flight distance and a flight angle of the adjacent equipment to be inspected according to the linear distance and the height difference of the adjacent equipment to be inspected, and determine a flight path of the adjacent equipment to be inspected.
- a drone comprising the drone inspection device as described above.
- the beneficial effects of the embodiment of the present invention are: obtaining location information of a plurality of devices to be inspected, and determining a patrol route according to the plurality of location information, so as to control the drone to sequentially perform the patrol device according to the patrol route.
- FIG. 1 is a flow chart showing a method for inspecting a drone according to a first embodiment of the present invention
- FIG. 2 is a flow chart showing a method for inspecting a drone according to a second embodiment of the present invention
- FIG. 3 is a flow chart showing a method for inspecting a drone according to an example 1 in the second embodiment of the present invention
- FIG. 4 is a flowchart showing a method for inspecting a drone according to Example 2 in Embodiment 2 of the present invention
- FIG. 5 is a flowchart of a method for inspecting a drone according to Example 3 of Embodiment 2 of the present invention.
- Fig. 6 is a block diagram showing the structure of a drone inspection device according to a third embodiment of the present invention.
- Step 101 Acquire location information of at least one device to be inspected and end position information after completion of the inspection.
- the equipment in the power grid includes towers, transformers and electric meters for setting up transmission lines.
- the terminal location information is configured in the drone, or the drone is sent by the server, so that the drone can obtain the location information of the device to be inspected and the end location information returned after the inspection is completed.
- the end position information may be set as the starting position of the drone, or may be set to any other specific return position.
- Step 102 Determine a patrol route according to location information of each device to be inspected.
- the inspection items include line inspection, transformer working status inspection or meter reading.
- Step 104 After all the inspections of the equipment to be inspected are completed, return to the end point according to the end position information.
- the drone can return to the destination according to the obtained end position information.
- the end position information can be the starting position of the drone, or can be set to any other specific return position.
- the specific return position is not set, the default of the drone The return position is the starting position, that is, when the end position information is not intentionally set, the default end position information of the drone is the starting position.
- the unmanned aerial vehicle inspection method of this embodiment includes the following steps:
- Step 201 Acquire location information of at least one device to be inspected and end position information after the inspection is completed.
- the location information of the at least one device to be inspected is location coordinates.
- Step 202 Sort the inspection devices according to the position coordinates of each device to be inspected.
- the position coordinates mentioned herein may adopt latitude and longitude information commonly used in geography, and the position coordinates include information of three dimensions: longitude, latitude and altitude.
- the step of sorting the inspection devices according to the position coordinates may sort the specific dimension information in the position coordinates by using an ascending or descending power, for example, sorting the inspection devices according to the longitude to the largest.
- the step 203 includes: calculating a flight route between adjacent to-be-patented devices according to the position coordinates of the adjacent to-be-patented devices after sorting; determining the flight route as being between adjacent to-be-patented devices The patrol route is calculated; the patrol route between the adjacent patrol devices is calculated in turn, and the patrol route of all the devices to be patrol is determined.
- the flight route between the device to be inspected and the second to be inspected device is calculated from the device to be inspected closest to the starting position.
- the patrol route between the first and second to-be-patented devices can be determined, and then the second, third, third, and fourth, ... are sequentially calculated until the N-1th and Nthth are calculated. Wait until the inspection route between the inspection equipments, so that all the inspection routes of the equipment to be inspected can be obtained.
- the position coordinates of the device A to be inspected are (A1, A2, A3), and the position coordinates of the device B to be inspected adjacent to the device A to be inspected are (B1, B2, B3), then the latitude and longitude according to the position coordinates.
- (A1, A2) and (B1, B2) determine the linear distance of the equipment A and B to be inspected, and the calculation method is similar to the distance calculation between the two coordinate points of the plane coordinate system. After calculating the linear distance between the equipments A and B to be inspected, and then calculating the formula of the right triangle according to the sea wave height difference between A and B, the flight distance and flight angle between the equipments A and B to be inspected can be obtained, thereby determining Flight route.
- Step 204 Sort the inspection devices according to the position coordinates of each device to be inspected.
- Step 205 Determine a patrol route of the device to be inspected according to the position coordinates of the device to be inspected after sorting.
- Step 301 Set coordinate information of the tower to be built to be inspected and coordinate information of the end point of the end point after the inspection is completed.
- the patrol line can be obtained through the terminal (mobile phone or other device). After the drone acquires each coordinate information, perform the following steps.
- Step 302 Arrive the inspection point according to the coordinate order of the coordinate information of the tower pole, and complete the inspection of the line between the two tower inspection points according to the coordinates of the next inspection point.
- Step 303 Feed the inspection result to the server or the console.
- the inspection result is transmitted back to the server or console in real time.
- Step 304 Determine whether the inspection work is completed. If the inspection is not completed, proceed to step 302.
- Step 305 If the inspection is completed, the end point is automatically returned according to the end point coordinate information.
- Step 401 Set coordinate information of the transformer to be inspected and coordinate information of the end point of the end point after the inspection is completed.
- the position coordinate of the transformer to be inspected can be obtained by the terminal (mobile phone or other device), and after the drone acquires each coordinate information, the following steps are performed.
- Step 402 According to the coordinate information of the transformer to be inspected, the position of the transformer is reached, and the inspection is performed.
- the transformer can be photographed in all directions to perform inspection on the transformer.
- Step 404 Determine whether the inspection work is completed. If the inspection is not completed, proceed to step 402.
- Step 405 If the inspection is completed, the end point is automatically returned according to the end point coordinate information.
- Step 501 Set coordinate information of the electric meter to be metered and coordinate information of the end point of the end point after the patrol is completed.
- the location coordinates of the telegram to be metered can be obtained by the terminal (mobile phone or other device), and after the drone acquires each coordinate information, the following steps are performed.
- Step 502 Arrive the position of the electric meter according to the coordinate information of the electric meter to be metered, and perform a meter reading operation.
- the electric meter can be photographed to obtain the current display data of the electric meter.
- Step 503 Feed the meter reading result to the server or the console.
- the meter reading result is transmitted back to the server or console in real time.
- Step 504 After the meter reading is completed, the end point is automatically returned according to the coordinate information of the end point.
- the obtaining module 61 is configured to acquire location information of at least one device to be inspected and end position information after the inspection is completed;
- the processing module 62 is configured to determine a patrol route according to location information of each device to be patrolled;
- the patrol module 63 is configured to perform patrol inspection on the patrol device in sequence according to the patrol route;
- the processing module 62 includes:
- the processing submodule includes:
- the calculation unit comprises:
- the calculating subunit is configured to calculate a flight distance and a flight angle of the adjacent equipment to be inspected according to the linear distance and the height difference of the adjacent equipment to be inspected, and determine a flight path of the adjacent equipment to be inspected.
- the above-mentioned UAV inspection device may be stored in a computer readable storage medium if it is implemented in the form of a software function module and sold or used as an independent product.
- the technical solution of the embodiments of the present invention may be embodied in the form of a software product in essence or in the form of a software product stored in a storage medium, including a plurality of instructions.
- a computer device (which may be a personal computer, server, or network device, etc.) is caused to perform all or part of the methods described in various embodiments of the present invention.
- the foregoing storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read only memory (ROM), a magnetic disk, or an optical disk.
- program codes such as a USB flash drive, a mobile hard disk, a read only memory (ROM), a magnetic disk, or an optical disk.
- an embodiment of the present invention further provides a computer storage medium, wherein a computer program is configured, and the computer program is configured to perform the drone inspection method of the embodiment of the present invention.
- the technical solution of the embodiment of the present invention obtains a plurality of location information of the device to be inspected, and determines a patrol route according to the plurality of location information, so as to control the drone to patrol the patrol device according to the patrol route. Inspection, and automatically return to the designated position after the completion of the inspection, improve the inspection efficiency of the power grid inspection, and the automation and intelligence of the power grid.
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
- Navigation (AREA)
- Selective Calling Equipment (AREA)
Abstract
A tour inspection method and device for an unmanned aerial vehicle, the unmanned aerial vehicle, and a computer storage medium. The method comprises: obtaining position information of at least one device to be subjected to tour inspection and destination position information after the tour inspection is completed (101); determining a tour inspection path according to the position information of the devices to be subjected to tour inspection (102); sequentially carrying out tour inspection on the devices to be subjected to tour inspection according to the tour inspection path (103); and after tour inspection is carried out on all the devices to be subjected to tour inspection, returning to a destination according to the destination position information (104). By obtaining position information of multiple devices to be subjected to tour inspection and determining a tour inspection path according to multiple pieces of position information, an unmanned aerial vehicle is controlled to sequentially carry out tour inspection on the devices to be subjected to tour inspection according to the tour inspection path and automatically return to a specified position after the tour inspection is completed.
Description
相关申请的交叉引用Cross-reference to related applications
本申请基于申请号为201610454755.8、申请日为2016年06月21日的中国专利申请提出,并要求该中国专利申请的优先权,该中国专利申请的全部内容在此引入本申请作为参考。The present application is based on a Chinese patent application filed on Jan. 21, 2016, the entire disclosure of which is hereby incorporated by reference.
本发明涉及电网中无人机应用领域,尤其涉及一种无人机巡检方法、装置及无人机、计算机存储介质。The invention relates to the field of UAV applications in a power grid, in particular to a UAV inspection method and device, a UAV, and a computer storage medium.
随着电子信息产业的发展而蓬勃发展,基于无人机的新技术,无人机逐渐在电网中获得应用。在无人机上安装有自动驾驶仪、程序控制装置等设备。遥控人员通过遥控器,对其进行跟踪、定位、遥控、遥测和数字传输。其中,无人机在电网中的应用,主要分为以下三种:With the development of the electronic information industry, UAVs are gradually being applied in the power grid based on new technologies of drones. An autopilot, program control device, and the like are installed on the drone. Remote control personnel track, locate, remotely control, telemetry and digitally transmit them via the remote control. Among them, the application of drones in the power grid is mainly divided into the following three types:
一、线路巡检,在线路运行在比较复杂的环境(如高山、湖泊等)下时,通过控制无人机完成线路巡检。First, the line inspection, when the line is running in a more complex environment (such as mountains, lakes, etc.), through the control of the drone to complete the line inspection.
二、清除线路异物,利用无人机喷火装置成功清除了线路上的风筝、塑料袋等异物。Second, the removal of foreign objects in the line, the use of drone fire-breathing devices successfully removed the kite, plastic bags and other foreign objects on the line.
三、牵线,在线路施工中,通过无人机牵线,可以轻易跨过繁忙的交通线路、高山、湖泊,保证线路施工顺利。Third, the match line, in the line construction, through the drone line, you can easily cross the busy traffic lines, mountains, lakes, to ensure smooth line construction.
但是,现有技术中无人机在电网中的使用还不够智能化,需要手动控制以采集相关信息,在信息采集完成后,需手动控制其返回到指定位置,而且无人机使用存在局限性,如无法进行远程抄表等操作。
However, in the prior art, the use of the drone in the power grid is not sufficiently intelligent, and manual control is required to collect relevant information. After the information collection is completed, it is necessary to manually control the return to the designated position, and the use of the drone has limitations. If you cannot perform remote meter reading, etc.
发明内容Summary of the invention
本发明实施例提供了一种无人机巡检方法、装置及无人机、计算机存储介质,解决了现有技术中电网中应用的无人机自动化和智能化性能差,以及应用局限性大的问题。The embodiment of the invention provides a UAV inspection method and device, a UAV, and a computer storage medium, which solves the problem of poor automation and intelligent performance of the UAV applied in the power grid in the prior art, and has limited application limitations. The problem.
依据本发明实施例的一个方面,提供了一种无人机巡检方法,包括:According to an aspect of an embodiment of the present invention, a drone inspection method is provided, including:
获取至少一个待巡检设备的位置信息以及巡检完成后的终点位置信息;Obtaining at least one location information of the equipment to be inspected and end position information after the inspection is completed;
根据各个待巡检设备的位置信息,确定巡检路线;Determining the inspection route according to the location information of each device to be inspected;
按照巡检路线依次对待巡检设备进行巡检;Inspect the inspection equipment in turn according to the inspection route;
在待巡检设备全部巡检完成后,按照终点位置信息返回终点。After all the inspections of the equipment to be inspected are completed, the end point is returned according to the end position information.
其中,至少一个待巡检设备的位置信息为位置坐标;其中,根据各个待巡检设备的位置信息,确定巡检路线的步骤包括:The location information of the at least one device to be inspected is the location coordinate. The step of determining the inspection route according to the location information of each device to be inspected includes:
按照各个待巡检设备的位置坐标,对待巡检设备进行排序;Sorting the inspection equipment according to the position coordinates of each equipment to be inspected;
根据排序后待巡检设备的位置坐标,确定待巡检设备的巡检路线。The patrol route of the device to be inspected is determined according to the position coordinates of the device to be inspected after sorting.
其中,根据排序后的待巡检设备的位置坐标,确定待巡检设备的巡检路线的步骤包括:The step of determining the patrol route of the device to be inspected according to the position coordinates of the device to be inspected after the sorting includes:
根据排序后相邻的待巡检设备的位置坐标,计算相邻的待巡检设备之间的飞行路线;Calculating flight routes between adjacent to-be-patented devices according to position coordinates of adjacent to-be-patented devices after sorting;
将飞行路线确定为相邻的待巡检设备之间的巡检路线;Determining the flight route as a patrol route between adjacent equipment to be inspected;
依次计算相邻的待巡检设备之间的巡检路线,确定全部待巡检设备的巡检路线。The patrol routes between the adjacent devices to be inspected are calculated in turn, and the patrol routes of all the devices to be inspected are determined.
其中,根据排序后相邻的待巡检设备的位置坐标,计算相邻的待巡检设备的飞行路线包括:The flight route of the adjacent equipment to be inspected is calculated according to the position coordinates of the adjacent equipment to be inspected after the sorting:
根据排序后相邻的待巡检设备的位置坐标的经纬度,确定相邻的待巡检设备的直线距离;
Determining a straight line distance of an adjacent device to be inspected according to the latitude and longitude of the position coordinates of the device to be inspected adjacent to the device after sorting;
根据相邻的待巡检设备的直线距离以及高度差,计算相邻的待巡检设备的飞行距离以及飞行角度,确定相邻的待巡检设备的飞行路线。Calculate the flight distance and flight angle of the adjacent equipment to be inspected according to the linear distance and height difference of the adjacent equipment to be inspected, and determine the flight path of the adjacent equipment to be inspected.
其中,待巡检设备包括:搭建传输线路的杆塔、变压器和/或电表。The equipment to be inspected includes: a tower, a transformer, and/or an electric meter for constructing a transmission line.
依据本发明实施例的另一个方面,还提供了一种无人机巡检装置,包括:According to another aspect of the embodiments of the present invention, a drone inspection device is further provided, including:
获取模块,配置为获取至少一个待巡检设备的位置信息以及巡检完成后的终点位置信息;Obtaining a module, configured to acquire location information of at least one device to be inspected and end position information after the inspection is completed;
处理模块,配置为根据各个待巡检设备的位置信息,确定巡检路线;The processing module is configured to determine a patrol route according to location information of each device to be patrolled;
巡检模块,配置为按照巡检路线依次对待巡检设备进行巡检;The inspection module is configured to perform inspections on the inspection equipment in accordance with the inspection route.
返回模块,配置为在待巡检设备全部巡检完成后,按照终点位置信息返回终点。Return to the module, configured to return to the end point according to the end position information after all the inspections of the equipment to be inspected are completed.
其中,处理模块包括:The processing module includes:
排序子模块,配置为按照各个待巡检设备的位置坐标,对待巡检设备进行排序;其中,至少一个待巡检设备的位置信息为位置坐标;The sorting sub-module is configured to sort the inspecting devices according to the position coordinates of the devices to be inspected; wherein, the location information of the at least one device to be inspected is the position coordinates;
处理子模块,配置为根据排序后待巡检设备的位置坐标,确定待巡检设备的巡检路线。The processing sub-module is configured to determine a patrol route of the device to be inspected according to the position coordinates of the device to be inspected after sorting.
其中,处理子模块包括:The processing submodule includes:
计算单元,配置为根据排序后相邻的待巡检设备的位置坐标,计算相邻的待巡检设备之间的飞行路线;The calculating unit is configured to calculate a flight route between adjacent to-be-patented devices according to the position coordinates of the adjacent to-be-patented devices after sorting;
第一处理单元,配置为将飞行路线确定为相邻的待巡检设备之间的巡检路线;a first processing unit configured to determine a flight route as a patrol route between adjacent devices to be inspected;
第二处理单元,配置为依次计算相邻的待巡检设备之间的巡检路线,确定全部待巡检设备的巡检路线。The second processing unit is configured to sequentially calculate the patrol route between the adjacent patrol devices to determine the patrol route of all the devices to be patrolled.
其中,计算单元包括:Wherein, the calculation unit comprises:
处理子单元,配置为根据排序后相邻的待巡检设备的位置坐标的经纬
度,确定相邻的待巡检设备的直线距离;Processing the subunit, configured as a latitude and longitude according to the position coordinates of the adjacent device to be inspected after sorting
Degree, determining the linear distance of adjacent equipment to be inspected;
计算子单元,配置为根据相邻的待巡检设备的直线距离以及高度差,计算相邻的待巡检设备的飞行距离以及飞行角度,确定相邻的待巡检设备的飞行路线。The calculating subunit is configured to calculate a flight distance and a flight angle of the adjacent equipment to be inspected according to the linear distance and the height difference of the adjacent equipment to be inspected, and determine a flight path of the adjacent equipment to be inspected.
其中,待巡检设备包括:搭建传输线路的杆塔、变压器和/或电表。The equipment to be inspected includes: a tower, a transformer, and/or an electric meter for constructing a transmission line.
依据本发明实施例的再一个方面,还提供了一种无人机,包括如上所述的无人机巡检装置。According to still another aspect of an embodiment of the present invention, there is also provided a drone, comprising the drone inspection device as described above.
依据本发明实施例的又一个方面,还提供了一种计算机存储介质,该计算机存储介质存储有计算机程序,该计算机程序配置为执行上述无人机巡检方法。According to still another aspect of an embodiment of the present invention, there is also provided a computer storage medium storing a computer program configured to perform the above-described drone inspection method.
本发明的实施例的有益效果是:通过获取多个待巡检设备的位置信息,并根据多个位置信息确定一巡检路线,以控制无人机按照该巡检路线依次对待巡检设备进行巡检,并在巡检完成后自动返回到指定位置,提高了电网巡检的巡检效率、以及电网的自动化和智能化。The beneficial effects of the embodiment of the present invention are: obtaining location information of a plurality of devices to be inspected, and determining a patrol route according to the plurality of location information, so as to control the drone to sequentially perform the patrol device according to the patrol route. The inspection and automatic return to the designated position after the inspection is completed, improve the inspection efficiency of the power grid inspection, and the automation and intelligence of the power grid.
图1表示本发明实施例一的无人机巡检方法的流程图;1 is a flow chart showing a method for inspecting a drone according to a first embodiment of the present invention;
图2表示本发明实施例二的无人机巡检方法的流程图;2 is a flow chart showing a method for inspecting a drone according to a second embodiment of the present invention;
图3表示本发明实施例二中示例一的无人机巡检方法的流程图;3 is a flow chart showing a method for inspecting a drone according to an example 1 in the second embodiment of the present invention;
图4表示本发明实施例二中示例二的无人机巡检方法的流程图;4 is a flowchart showing a method for inspecting a drone according to Example 2 in Embodiment 2 of the present invention;
图5表示本发明实施例二中示例三的无人机巡检方法的流程图;FIG. 5 is a flowchart of a method for inspecting a drone according to Example 3 of Embodiment 2 of the present invention; FIG.
图6表示本发明实施例三的无人机巡检装置的结构示意图。Fig. 6 is a block diagram showing the structure of a drone inspection device according to a third embodiment of the present invention.
下面将参照附图更详细地描述本发明的示例性实施例。虽然附图中显示了本发明的示例性实施例,然而应当理解,可以以各种形式实现本发明
而不应被这里阐述的实施例所限制。相反,提供这些实施例是为了能够更透彻地理解本发明,并且能够将本发明的范围完整的传达给本领域的技术人员。Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms.
It should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that this invention may be more fully understood and the scope of the invention can be fully conveyed by those skilled in the art.
实施例一Embodiment 1
如图1所示,本发明的实施例提供了一种无人机巡检方法,具体包括以下步骤:As shown in FIG. 1 , an embodiment of the present invention provides a method for inspecting a drone, which specifically includes the following steps:
步骤101:获取至少一个待巡检设备的位置信息以及巡检完成后的终点位置信息。Step 101: Acquire location information of at least one device to be inspected and end position information after completion of the inspection.
其中,电网中的设备包括搭建传输线路的杆塔、变压器和电表等,在需要对电网中的某些设备进行巡检时,可将这些设备的位置信息和巡检完成后需要无人机返回的终点位置信息配置到无人机中,或者通过服务器下发的方式告知无人机,以使无人机能够获取到待巡检设备的位置信息以及巡检完成后返回的终点位置信息。其中,该终点位置信息可以设定为无人机的起始位置,亦可以设定为其他任意的特定返回位置。Among them, the equipment in the power grid includes towers, transformers and electric meters for setting up transmission lines. When some equipment in the power grid needs to be inspected, the position information of these equipments and the return of the drones after the inspection is completed may be required. The terminal location information is configured in the drone, or the drone is sent by the server, so that the drone can obtain the location information of the device to be inspected and the end location information returned after the inspection is completed. The end position information may be set as the starting position of the drone, or may be set to any other specific return position.
步骤102:根据各个待巡检设备的位置信息,确定巡检路线。Step 102: Determine a patrol route according to location information of each device to be inspected.
这里是说,无人机可根据获取到的各个待巡检设备的位置信息,确定待巡检设备的巡检路线,其中,该巡检路线涵盖所有待巡检设备,且该巡检路线为一有序路线,全部的待巡检设备有序地排布在该巡检路线上。Here, it is said that the drone can determine the inspection route of the device to be inspected according to the obtained location information of each device to be inspected, wherein the inspection route covers all the devices to be inspected, and the inspection route is In an orderly route, all the equipment to be inspected is arranged in an orderly manner on the inspection route.
步骤103:按照巡检路线依次对待巡检设备进行巡检。Step 103: patrol the inspection equipment in turn according to the inspection route.
按照该巡检路线可对全部待巡检设备进行巡检,其中,巡检项目包括线路巡检、变压器工作状态巡检或电表抄表等。According to the inspection route, all the equipment to be inspected can be inspected. Among them, the inspection items include line inspection, transformer working status inspection or meter reading.
步骤104:在待巡检设备全部巡检完成后,按照终点位置信息返回终点。Step 104: After all the inspections of the equipment to be inspected are completed, return to the end point according to the end position information.
无人机可在巡检工作全部完成后,按照获取到的终点位置信息返回至终点。值得指出的是,终点位置信息可以是无人机的起始位置,亦可以设定为其他任意的特定返回位置,当未设定特定返回位置时,无人机的默认
返回位置为起始位置,也就是说当没有特意设定终点位置信息时,无人机默认终点位置信息为起始位置。After the patrol work is completed, the drone can return to the destination according to the obtained end position information. It is worth pointing out that the end position information can be the starting position of the drone, or can be set to any other specific return position. When the specific return position is not set, the default of the drone
The return position is the starting position, that is, when the end position information is not intentionally set, the default end position information of the drone is the starting position.
综上,本实施例的无人机巡检方法通过获取多个待巡检设备的位置信息以及无人机返回的终点位置信息,并根据多个位置信息确定一巡检路线,以控制无人机按照该巡检路线依次对待巡检设备进行巡检,并在巡检完成后自动返回到指定的终点位置,提高了电网巡检的巡检效率、以及电网的自动化和智能化。此外,该方法适用于各种类型的待巡检设备,在一定程度上提高了无人机在电网中的通用性。In summary, the unmanned aerial vehicle inspection method of the present embodiment acquires a plurality of location information of the equipment to be inspected and an end position information returned by the drone, and determines a inspection route according to the plurality of location information to control the unmanned The machine inspects the inspection equipment in turn according to the inspection route, and automatically returns to the designated end position after the inspection is completed, thereby improving the inspection efficiency of the power grid inspection and the automation and intelligence of the power grid. In addition, the method is applicable to various types of equipment to be inspected, which improves the versatility of the drone in the power grid to some extent.
实施例二Embodiment 2
以上实施例一简单介绍了本发明的无人机巡检方法,下面本实施例将结合具体应用场景和附图对其做进一步介绍说明。The above embodiment 1 briefly introduces the unmanned aerial vehicle inspection method of the present invention. The following embodiments will be further described in conjunction with specific application scenarios and drawings.
具体地,如图2所示,本实施例的无人机巡检方法包括以下步骤:Specifically, as shown in FIG. 2, the unmanned aerial vehicle inspection method of this embodiment includes the following steps:
步骤201:获取至少一个待巡检设备的位置信息以及巡检完成后的终点位置信息。其中,至少一个待巡检设备的位置信息为位置坐标。Step 201: Acquire location information of at least one device to be inspected and end position information after the inspection is completed. The location information of the at least one device to be inspected is location coordinates.
步骤202:按照各个待巡检设备的位置坐标,对待巡检设备进行排序。Step 202: Sort the inspection devices according to the position coordinates of each device to be inspected.
其中,这里所说的位置坐标可采用地理中常用的经纬度信息,该位置坐标包括三个维度的信息:经度、纬度和海拔高度。其中,按照位置坐标对待巡检设备进行排序的步骤,可将位置坐标中特定维度信息进行升幂或降幂进行排序,例如按照经度从小到大的顺序对待巡检设备进行排序。Wherein, the position coordinates mentioned herein may adopt latitude and longitude information commonly used in geography, and the position coordinates include information of three dimensions: longitude, latitude and altitude. The step of sorting the inspection devices according to the position coordinates may sort the specific dimension information in the position coordinates by using an ascending or descending power, for example, sorting the inspection devices according to the longitude to the largest.
步骤203:根据排序后待巡检设备的位置坐标,确定待巡检设备的巡检路线。Step 203: Determine a patrol route of the device to be inspected according to the position coordinates of the device to be inspected after sorting.
具体地,步骤203包括:根据排序后相邻的待巡检设备的位置坐标,计算相邻的待巡检设备之间的飞行路线;将飞行路线确定为相邻的待巡检设备之间的巡检路线;依次计算相邻的待巡检设备之间的巡检路线,确定全部待巡检设备的巡检路线。
Specifically, the step 203 includes: calculating a flight route between adjacent to-be-patented devices according to the position coordinates of the adjacent to-be-patented devices after sorting; determining the flight route as being between adjacent to-be-patented devices The patrol route is calculated; the patrol route between the adjacent patrol devices is calculated in turn, and the patrol route of all the devices to be patrol is determined.
这里是说,假设有N个待巡检设备需要进行巡检,那么从距离起始位置最近的待巡检设备开始,计算其与排序为第二的相邻待巡检设备之间的飞行路线,这样即可确定第一和第二个待巡检设备之间的巡检路线,然后再依次计算第二与第三、第三与第四、…直至计算到第N-1与第N个待巡检设备之间的巡检路线为止,这样即可得到全部待巡检设备的巡检路线。Here, it is said that if there are N to be inspected devices that need to be inspected, the flight route between the device to be inspected and the second to be inspected device is calculated from the device to be inspected closest to the starting position. In this way, the patrol route between the first and second to-be-patented devices can be determined, and then the second, third, third, and fourth, ... are sequentially calculated until the N-1th and Nthth are calculated. Wait until the inspection route between the inspection equipments, so that all the inspection routes of the equipment to be inspected can be obtained.
进一步地,根据排序后相邻的待巡检设备的位置坐标,计算相邻的待巡检设备之间的飞行路线的步骤包括:根据排序后相邻的待巡检设备的位置坐标的经纬度,确定相邻的待巡检设备的直线距离;根据相邻的待巡检设备的直线距离以及高度差,计算相邻的待巡检设备的飞行距离以及飞行角度,确定相邻的待巡检设备的飞行路线。Further, the step of calculating a flight route between adjacent to-be-patented devices according to the position coordinates of the adjacent to-be-patented devices after sorting includes: according to the latitude and longitude of the position coordinates of the adjacent to-be-patented devices after sorting, Determining the linear distance of the adjacent equipment to be inspected; calculating the flight distance and flight angle of the adjacent equipment to be inspected according to the linear distance and height difference of the adjacent equipment to be inspected, and determining the adjacent equipment to be inspected Flight route.
例如待巡检设备A的位置坐标为(A1,A2,A3),与待巡检设备A相邻的待巡检设备B的位置坐标为(B1,B2,B3),那么根据位置坐标的经纬度(A1,A2)和(B1,B2)确定待巡检设备A和B的直线距离,其计算方式类似平面坐标系两坐标点之间的距离计算。计算待巡检设备A和B的直线距离后,再根据A和B的海波高度差代入直角三角形计算公式,可得到待巡检设备A和B之间的飞行距离和飞行角度,从而确定其飞行路线。For example, the position coordinates of the device A to be inspected are (A1, A2, A3), and the position coordinates of the device B to be inspected adjacent to the device A to be inspected are (B1, B2, B3), then the latitude and longitude according to the position coordinates. (A1, A2) and (B1, B2) determine the linear distance of the equipment A and B to be inspected, and the calculation method is similar to the distance calculation between the two coordinate points of the plane coordinate system. After calculating the linear distance between the equipments A and B to be inspected, and then calculating the formula of the right triangle according to the sea wave height difference between A and B, the flight distance and flight angle between the equipments A and B to be inspected can be obtained, thereby determining Flight route.
步骤204:按照各个待巡检设备的位置坐标,对待巡检设备进行排序。Step 204: Sort the inspection devices according to the position coordinates of each device to be inspected.
步骤205:根据排序后待巡检设备的位置坐标,确定待巡检设备的巡检路线。Step 205: Determine a patrol route of the device to be inspected according to the position coordinates of the device to be inspected after sorting.
按照该巡检路线可对全部待巡检设备进行巡检,其中,巡检项目包括线路巡检、变压器工作状态巡检或电表抄表等。无人机可在巡检工作全部完成后,按照获取到的终点位置信息返回至终点。提高了电网巡检的巡检效率、以及电网的自动化和智能化。此外,该方法适用于各种类型的待巡检设备,在一定程度上提高了无人机在电网中的通用性。According to the inspection route, all the equipment to be inspected can be inspected. Among them, the inspection items include line inspection, transformer working status inspection or meter reading. After the patrol work is completed, the drone can return to the destination according to the obtained end position information. The inspection efficiency of the power grid inspection and the automation and intelligence of the power grid have been improved. In addition, the method is applicable to various types of equipment to be inspected, which improves the versatility of the drone in the power grid to some extent.
下面分别以线路巡检、变压器巡检和电表抄表为例,对本发明的无人
机巡检方法做进一步解释说明。The following is an example of line inspection, transformer inspection and meter reading, respectively.
The machine inspection method is further explained.
示例一:如图3所示,以线路巡检进行说明,本发明的无人机巡检方法包括以下流程。Example 1: As shown in FIG. 3, the line inspection method is used to describe the unmanned aerial vehicle inspection method of the present invention.
步骤301:设置搭建待巡检线路的塔杆的坐标信息以及巡检完成后返回终点的终点坐标信息。Step 301: Set coordinate information of the tower to be built to be inspected and coordinate information of the end point of the end point after the inspection is completed.
其中,待巡检线路可通过终端(手机或其他设备)获取,无人机获取到各个坐标信息后,执行以下步骤。The patrol line can be obtained through the terminal (mobile phone or other device). After the drone acquires each coordinate information, perform the following steps.
步骤302:按照塔杆的坐标信息的坐标顺序到达巡检点,同时根据下一个巡检点的坐标,完成这两个塔杆巡检点之间线路的巡检。Step 302: Arrive the inspection point according to the coordinate order of the coordinate information of the tower pole, and complete the inspection of the line between the two tower inspection points according to the coordinates of the next inspection point.
步骤303:将巡检结果反馈至服务器或控制台。这里是是无人机可与服务器或控制台进行实时交互通信,无人机巡检完毕后将巡检结果实时传送回服务器或控制台。Step 303: Feed the inspection result to the server or the console. Here is the real-time interactive communication between the drone and the server or console. After the drone is patrolled, the inspection result is transmitted back to the server or console in real time.
步骤304:判断巡检工作是否完成。若巡检未完成,则继续执行步骤302。Step 304: Determine whether the inspection work is completed. If the inspection is not completed, proceed to step 302.
步骤305:若巡检完成,则根据终点坐标信息,自动返回终点。Step 305: If the inspection is completed, the end point is automatically returned according to the end point coordinate information.
示例二:如图4所示,以变压器巡检进行说明,本发明的无人机巡检方法包括以下流程。Example 2: As shown in FIG. 4, the description of the transformer inspection includes the following procedure of the drone inspection method of the present invention.
步骤401:设置待巡检变压器的坐标信息以及巡检完成后返回终点的终点坐标信息。Step 401: Set coordinate information of the transformer to be inspected and coordinate information of the end point of the end point after the inspection is completed.
其中,待巡检变压器的位置坐标可通过终端(手机或其他设备)获取,无人机获取到各个坐标信息后,执行以下步骤。The position coordinate of the transformer to be inspected can be obtained by the terminal (mobile phone or other device), and after the drone acquires each coordinate information, the following steps are performed.
步骤402:按照待巡检变压器的坐标信息到达变压器所在位置,进行巡检。Step 402: According to the coordinate information of the transformer to be inspected, the position of the transformer is reached, and the inspection is performed.
具体可对变压器全方位拍照以进行对变压器的巡检。Specifically, the transformer can be photographed in all directions to perform inspection on the transformer.
步骤403:将巡检结果反馈至服务器或控制台。这里是是无人机可与服
务器或控制台进行实时交互通信,无人机巡检完毕后将巡检结果实时传送回服务器或控制台。Step 403: Feed the inspection result to the server or the console. Here is the drone can be served
Real-time interactive communication is performed by the server or the console. After the drone is patrolled, the inspection result is transmitted back to the server or console in real time.
步骤404:判断巡检工作是否完成。若巡检未完成,则继续执行步骤402。Step 404: Determine whether the inspection work is completed. If the inspection is not completed, proceed to step 402.
步骤405:若巡检完成,则根据终点坐标信息,自动返回终点。Step 405: If the inspection is completed, the end point is automatically returned according to the end point coordinate information.
示例三:如图5所示,以电表抄表进行说明,本发明的无人机巡检方法包括以下流程。Example 3: As shown in FIG. 5, the meter reading method is described. The drone inspection method of the present invention includes the following process.
步骤501:设置待抄表的电表的坐标信息以及巡检完成后返回终点的终点坐标信息。Step 501: Set coordinate information of the electric meter to be metered and coordinate information of the end point of the end point after the patrol is completed.
其中,待抄表的电报的位置坐标可通过终端(手机或其他设备)获取,无人机获取到各个坐标信息后,执行以下步骤。The location coordinates of the telegram to be metered can be obtained by the terminal (mobile phone or other device), and after the drone acquires each coordinate information, the following steps are performed.
步骤502:按照待抄表的电表的坐标信息到达该电表所在位置,进行抄表操作。Step 502: Arrive the position of the electric meter according to the coordinate information of the electric meter to be metered, and perform a meter reading operation.
具体可对电表进行拍照以得到电表当前显示数据。Specifically, the electric meter can be photographed to obtain the current display data of the electric meter.
步骤503:将抄表结果反馈至服务器或控制台。这里是是无人机可与服务器或控制台进行实时交互通信,无人机抄表完毕后将抄表结果实时传送回服务器或控制台。Step 503: Feed the meter reading result to the server or the console. Here is the real-time interactive communication between the drone and the server or console. After the UAV reads the meter, the meter reading result is transmitted back to the server or console in real time.
步骤504:抄表完成后,根据终点坐标信息,自动返回终点。Step 504: After the meter reading is completed, the end point is automatically returned according to the coordinate information of the end point.
综上,该无人机巡检方法按照坐标信息确定的巡检路线对全部待巡检设备进行巡检,并可在巡检工作全部完成后,按照获取到的终点位置信息返回至终点,提高了电网巡检的巡检效率、以及电网的自动化和智能化。此外,该方法适用于各种类型的待巡检设备,如上述的巡检项目包括线路巡检、变压器工作状态巡检或电表抄表等,在一定程度上提高了无人机在电网中的通用性。In summary, the UAV inspection method performs inspections on all the equipment to be inspected according to the inspection route determined by the coordinate information, and can return to the end point according to the obtained end position information after the inspection work is completed. The inspection efficiency of the power grid inspection, as well as the automation and intelligence of the power grid. In addition, the method is applicable to various types of equipment to be inspected, such as the above-mentioned inspection items including line inspection, transformer working status inspection or meter reading, etc., to some extent, the drone is improved in the power grid. Versatility.
实施例三
Embodiment 3
以上实施例一和实施例二分别从不同的应用场景对本发明的无人机巡检方法做出了详细介绍,下面本实施例将结合附图对其对应的装置做进一步说明。The above embodiment 1 and the second embodiment respectively describe the unmanned aerial vehicle inspection method of the present invention from different application scenarios. The following embodiments will further explain the corresponding devices in conjunction with the drawings.
如图6所示,本发明的实施例中提供了一种无人机巡检装置,包括:As shown in FIG. 6, an embodiment of the present invention provides a drone inspection device, including:
获取模块61,配置为获取至少一个待巡检设备的位置信息以及巡检完成后的终点位置信息;The obtaining module 61 is configured to acquire location information of at least one device to be inspected and end position information after the inspection is completed;
处理模块62,配置为根据各个待巡检设备的位置信息,确定巡检路线;The processing module 62 is configured to determine a patrol route according to location information of each device to be patrolled;
巡检模块63,配置为按照巡检路线依次对待巡检设备进行巡检;The patrol module 63 is configured to perform patrol inspection on the patrol device in sequence according to the patrol route;
返回模块64,配置为在待巡检设备全部巡检完成后,按照终点位置信息返回终点。The module 64 is configured to return to the end point according to the end position information after all the inspections of the equipment to be inspected are completed.
其中,处理模块62包括:The processing module 62 includes:
排序子模块,配置为按照各个待巡检设备的位置坐标,对待巡检设备进行排序;其中,至少一个待巡检设备的位置信息为位置坐标;The sorting sub-module is configured to sort the inspecting devices according to the position coordinates of the devices to be inspected; wherein, the location information of the at least one device to be inspected is the position coordinates;
处理子模块,配置为根据排序后待巡检设备的位置坐标,确定待巡检设备的巡检路线。The processing sub-module is configured to determine a patrol route of the device to be inspected according to the position coordinates of the device to be inspected after sorting.
其中,处理子模块包括:The processing submodule includes:
计算单元,配置为根据排序后相邻的待巡检设备的位置坐标,计算相邻的待巡检设备之间的飞行路线;The calculating unit is configured to calculate a flight route between adjacent to-be-patented devices according to the position coordinates of the adjacent to-be-patented devices after sorting;
第一处理单元,配置为将飞行路线确定为相邻的待巡检设备之间的巡检路线;a first processing unit configured to determine a flight route as a patrol route between adjacent devices to be inspected;
第二处理单元,配置为依次计算相邻的待巡检设备之间的巡检路线,确定全部待巡检设备的巡检路线。The second processing unit is configured to sequentially calculate the patrol route between the adjacent patrol devices to determine the patrol route of all the devices to be patrolled.
其中,计算单元包括:Wherein, the calculation unit comprises:
处理子单元,配置为根据排序后相邻的待巡检设备的位置坐标的经纬度,确定相邻的待巡检设备的直线距离;
The processing subunit is configured to determine a linear distance of the adjacent equipment to be inspected according to the latitude and longitude of the position coordinates of the equipment to be inspected adjacent to the sorted device;
计算子单元,配置为根据相邻的待巡检设备的直线距离以及高度差,计算相邻的待巡检设备的飞行距离以及飞行角度,确定相邻的待巡检设备的飞行路线。The calculating subunit is configured to calculate a flight distance and a flight angle of the adjacent equipment to be inspected according to the linear distance and the height difference of the adjacent equipment to be inspected, and determine a flight path of the adjacent equipment to be inspected.
其中,待巡检设备包括:搭建传输线路的杆塔、变压器和/或电表。The equipment to be inspected includes: a tower, a transformer, and/or an electric meter for constructing a transmission line.
需要说明的是,该装置是与上述无人机巡检方法对应的装置,上述方法实施例中所有实现方式均适用于该装置的实施例中,也能达到相同的技术效果。It should be noted that the device is a device corresponding to the above-mentioned UAV inspection method. All the implementations in the foregoing method embodiments are applicable to the device embodiment, and the same technical effects can be achieved.
在实际应用中,所述无人机巡检装置中的各个单元所实现的功能,均可由位于无人机巡检装置中的中央处理器(CPU,Central Processing Unit)、或微处理器(MPU,Micro Processor Unit)、或数字信号处理器(DSP,Digital Signal Processor)、或现场可编程门阵列(FPGA,Field Programmable Gate Array)等实现。In practical applications, the functions implemented by each unit in the UAV inspection device may be implemented by a central processing unit (CPU) or a microprocessor (MPU) located in the UAV inspection device. , Micro Processor Unit), or digital signal processor (DSP, Digital Signal Processor), or Field Programmable Gate Array (FPGA).
依据本发明实施例的再一个方面,还提供了一种无人机,包括如上所述的无人机巡检装置。According to still another aspect of an embodiment of the present invention, there is also provided a drone, comprising the drone inspection device as described above.
本发明实施例上述无人机巡检装置如果以软件功能模块的形式实现并作为独立的产品销售或使用时,也可以存储在一个计算机可读取存储介质中。基于这样的理解,本发明实施例的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来,该计算机软件产品存储在一个存储介质中,包括若干指令用以使得一台计算机设备(可以是个人计算机、服务器、或者网络设备等)执行本发明各个实施例所述方法的全部或部分。而前述的存储介质包括:U盘、移动硬盘、只读存储器(ROM,Read Only Memory)、磁碟或者光盘等各种可以存储程序代码的介质。这样,本发明实施例不限制于任何特定的硬件和软件结合。In the embodiment of the present invention, the above-mentioned UAV inspection device may be stored in a computer readable storage medium if it is implemented in the form of a software function module and sold or used as an independent product. Based on such understanding, the technical solution of the embodiments of the present invention may be embodied in the form of a software product in essence or in the form of a software product stored in a storage medium, including a plurality of instructions. A computer device (which may be a personal computer, server, or network device, etc.) is caused to perform all or part of the methods described in various embodiments of the present invention. The foregoing storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read only memory (ROM), a magnetic disk, or an optical disk. Thus, embodiments of the invention are not limited to any specific combination of hardware and software.
相应地,本发明实施例还提供一种计算机存储介质,其中存储有计算机程序,该计算机程序配置为执行本发明实施例的无人机巡检方法。
Correspondingly, an embodiment of the present invention further provides a computer storage medium, wherein a computer program is configured, and the computer program is configured to perform the drone inspection method of the embodiment of the present invention.
以上所述的是本发明的优选实施方式,应当指出对于本技术领域的普通人员来说,在不脱离本发明所述的原理前提下还可以作出若干改进和润饰,这些改进和润饰也在本发明的保护范围内。The above is a preferred embodiment of the present invention, and it should be noted that those skilled in the art can also make several improvements and retouchings without departing from the principles of the present invention. Within the scope of protection of the invention.
本发明的实施例的技术方案,通过获取多个待巡检设备的位置信息,并根据多个位置信息确定一巡检路线,以控制无人机按照该巡检路线依次对待巡检设备进行巡检,并在巡检完成后自动返回到指定位置,提高了电网巡检的巡检效率、以及电网的自动化和智能化。
The technical solution of the embodiment of the present invention obtains a plurality of location information of the device to be inspected, and determines a patrol route according to the plurality of location information, so as to control the drone to patrol the patrol device according to the patrol route. Inspection, and automatically return to the designated position after the completion of the inspection, improve the inspection efficiency of the power grid inspection, and the automation and intelligence of the power grid.
Claims (12)
- 一种无人机巡检方法,包括:A drone inspection method includes:获取至少一个待巡检设备的位置信息以及巡检完成后的终点位置信息;Obtaining at least one location information of the equipment to be inspected and end position information after the inspection is completed;根据各个待巡检设备的位置信息,确定巡检路线;Determining the inspection route according to the location information of each device to be inspected;按照所述巡检路线依次对所述待巡检设备进行巡检;Performing inspections on the equipment to be inspected in sequence according to the inspection route;在所述待巡检设备全部巡检完成后,按照所述终点位置信息返回终点。After all the inspections of the equipment to be inspected are completed, the end point is returned according to the end position information.
- 根据权利要求1所述的无人机巡检方法,其中,所述至少一个待巡检设备的位置信息为位置坐标;其中,根据各个待巡检设备的位置信息,确定巡检路线的步骤包括:The method of patrol inspection of the unmanned aerial vehicle according to claim 1, wherein the location information of the at least one device to be inspected is location coordinates; wherein the step of determining the inspection route according to the location information of each device to be inspected includes :按照各个待巡检设备的位置坐标,对所述待巡检设备进行排序;Sorting the devices to be inspected according to the position coordinates of each device to be inspected;根据排序后所述待巡检设备的位置坐标,确定所述待巡检设备的巡检路线。Determining the patrol route of the device to be inspected according to the position coordinates of the device to be inspected after the sorting.
- 根据权利要求2所述的无人机巡检方法,其中,根据排序后的所述待巡检设备的位置坐标,确定所述待巡检设备的巡检路线的步骤包括:The patrol inspection method of the patrol device to be patrolled according to the position coordinates of the device to be patrol after the sorting includes:根据排序后相邻的待巡检设备的位置坐标,计算相邻的待巡检设备之间的飞行路线;Calculating flight routes between adjacent to-be-patented devices according to position coordinates of adjacent to-be-patented devices after sorting;将所述飞行路线确定为相邻的待巡检设备之间的巡检路线;Determining the flight route as a patrol route between adjacent devices to be inspected;依次计算相邻的待巡检设备之间的巡检路线,确定全部所述待巡检设备的巡检路线。The patrol route between the adjacent devices to be inspected is calculated in turn, and the patrol routes of all the devices to be patrol are determined.
- 根据权利要求3所述的无人机巡检方法,其中,根据排序后相邻的待巡检设备的位置坐标,计算相邻的待巡检设备的飞行路线包括:The unmanned aerial vehicle inspection method according to claim 3, wherein calculating the flight route of the adjacent to-be-patented device according to the position coordinates of the adjacent to-be-patented devices after the sorting comprises:根据排序后相邻的待巡检设备的位置坐标的经纬度,确定相邻的待巡检设备的直线距离; Determining a straight line distance of an adjacent device to be inspected according to the latitude and longitude of the position coordinates of the device to be inspected adjacent to the device after sorting;根据相邻的待巡检设备的直线距离以及高度差,计算相邻的待巡检设备的飞行距离以及飞行角度,确定相邻的待巡检设备的飞行路线。Calculate the flight distance and flight angle of the adjacent equipment to be inspected according to the linear distance and height difference of the adjacent equipment to be inspected, and determine the flight path of the adjacent equipment to be inspected.
- 根据权利要求1所述的无人机巡检方法,其中,所述待巡检设备包括:搭建传输线路的杆塔、变压器和/或电表。The unmanned aerial vehicle inspection method according to claim 1, wherein the equipment to be inspected comprises: a tower, a transformer and/or an electric meter for constructing a transmission line.
- 一种无人机巡检装置,包括:A drone inspection device comprising:获取模块,配置为获取至少一个待巡检设备的位置信息以及巡检完成后的终点位置信息;Obtaining a module, configured to acquire location information of at least one device to be inspected and end position information after the inspection is completed;处理模块,配置为根据各个待巡检设备的位置信息,确定巡检路线;The processing module is configured to determine a patrol route according to location information of each device to be patrolled;巡检模块,配置为按照所述巡检路线依次对所述待巡检设备进行巡检;The patrol module is configured to perform patrol inspection on the device to be inspected in sequence according to the patrol route;返回模块,配置为在所述待巡检设备全部巡检完成后,按照所述终点位置信息返回终点。Returning to the module, configured to return to the end point according to the end position information after all the inspections of the to-be-patented device are completed.
- 根据权利要求6所述的无人机巡检装置,其中,所述处理模块包括:The UAV inspection apparatus according to claim 6, wherein the processing module comprises:排序子模块,配置为按照各个待巡检设备的位置坐标,对所述待巡检设备进行排序;其中,所述至少一个待巡检设备的位置信息为位置坐标;The sorting sub-module is configured to sort the to-be-patented devices according to the position coordinates of the devices to be inspected; wherein the location information of the at least one device to be inspected is position coordinates;处理子模块,配置为根据排序后所述待巡检设备的位置坐标,确定所述待巡检设备的巡检路线。The processing sub-module is configured to determine a patrol route of the device to be inspected according to the position coordinates of the device to be inspected after the sorting.
- 根据权利要求7所述的无人机巡检装置,其中,所述处理子模块包括:The UAV inspection apparatus according to claim 7, wherein the processing submodule comprises:计算单元,配置为根据排序后相邻的待巡检设备的位置坐标,计算相邻的待巡检设备之间的飞行路线;The calculating unit is configured to calculate a flight route between adjacent to-be-patented devices according to the position coordinates of the adjacent to-be-patented devices after sorting;第一处理单元,配置为将所述飞行路线确定为相邻的待巡检设备之间的巡检路线; a first processing unit configured to determine the flight route as a patrol route between adjacent devices to be inspected;第二处理单元,配置为依次计算相邻的待巡检设备之间的巡检路线,确定全部所述待巡检设备的巡检路线。The second processing unit is configured to sequentially calculate the patrol route between the adjacent devices to be patrolled, and determine the patrol route of all the devices to be patrolled.
- 根据权利要求8所述的无人机巡检装置,其中,所述计算单元包括:The drone inspection device according to claim 8, wherein the calculation unit comprises:处理子单元,配置为根据排序后相邻的待巡检设备的位置坐标的经纬度,确定相邻的待巡检设备的直线距离;The processing subunit is configured to determine a linear distance of the adjacent equipment to be inspected according to the latitude and longitude of the position coordinates of the equipment to be inspected adjacent to the sorted device;计算子单元,配置为根据相邻的待巡检设备的直线距离以及高度差,计算相邻的待巡检设备的飞行距离以及飞行角度,确定相邻的待巡检设备的飞行路线。The calculating subunit is configured to calculate a flight distance and a flight angle of the adjacent equipment to be inspected according to the linear distance and the height difference of the adjacent equipment to be inspected, and determine a flight path of the adjacent equipment to be inspected.
- 根据权利要求6所述的无人机巡检装置,其中,所述待巡检设备包括:搭建传输线路的杆塔、变压器和/或电表。The drone inspection device according to claim 6, wherein the equipment to be inspected comprises: a tower, a transformer and/or an electric meter for constructing a transmission line.
- 一种无人机,包括如权利要求6至10任一项所述的无人机巡检装置。A drone comprising the unmanned aerial vehicle inspection apparatus according to any one of claims 6 to 10.
- 一种计算机存储介质,所述计算机存储介质中存储有计算机可执行指令,该计算机可执行指令配置为执行权利要求1-5任一项所述的无人机巡检方法。 A computer storage medium having stored therein computer executable instructions configured to perform the drone inspection method of any of claims 1-5.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610454755.8A CN107527395A (en) | 2016-06-21 | 2016-06-21 | A kind of unmanned plane method for inspecting, device and unmanned plane |
CN201610454755.8 | 2016-06-21 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2017219780A1 true WO2017219780A1 (en) | 2017-12-28 |
Family
ID=60735353
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/CN2017/083939 WO2017219780A1 (en) | 2016-06-21 | 2017-05-11 | Tour inspection method and device for unmanned aerial vehicle, unmanned aerial vehicle, and computer storage medium |
Country Status (2)
Country | Link |
---|---|
CN (1) | CN107527395A (en) |
WO (1) | WO2017219780A1 (en) |
Cited By (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110443908A (en) * | 2019-07-04 | 2019-11-12 | 广州科易光电技术有限公司 | A kind of electric inspection process method and system based on unmanned plane |
CN110597937A (en) * | 2019-08-23 | 2019-12-20 | 广州杰赛科技股份有限公司 | Unmanned intelligent inspection method, device, equipment and storage medium |
CN111028377A (en) * | 2019-11-22 | 2020-04-17 | 深圳供电局有限公司 | Inspection system of power transmission line and transmission method of inspection data |
WO2020082364A1 (en) * | 2018-10-26 | 2020-04-30 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle control method and device, unmanned aerial vehicle, and computer readable storage medium |
CN111552311A (en) * | 2020-04-10 | 2020-08-18 | 安徽继远软件有限公司 | Multi-tower inspection optimization method and terminal for unmanned aerial vehicle under inspection time limitation |
CN111726576A (en) * | 2020-05-27 | 2020-09-29 | 深圳中琛源科技股份有限公司 | Unmanned aerial vehicle inspection method, device, system and storage medium |
CN112163054A (en) * | 2020-09-09 | 2021-01-01 | 四川长园工程勘察设计有限公司 | Transformer insertion method based on path diagram |
CN112306093A (en) * | 2020-10-30 | 2021-02-02 | 卓旺(安徽)航空科技产业股份有限公司 | Extra-high voltage power grid unmanned aerial vehicle autonomous automatic channel inspection system |
CN113155133A (en) * | 2021-04-25 | 2021-07-23 | 国网山东省电力公司鄄城县供电公司 | Method and device for determining inspection line of power equipment and electronic terminal |
CN113538830A (en) * | 2021-05-31 | 2021-10-22 | 浙江大华技术股份有限公司 | Fire inspection method, device, equipment and computer storage medium |
CN113867392A (en) * | 2021-10-13 | 2021-12-31 | 上海翼枭航空科技有限公司 | Intelligent inspection method, system, equipment and storage medium for unmanned aerial vehicle |
CN115249134A (en) * | 2022-09-23 | 2022-10-28 | 江西锦路科技开发有限公司 | Resource allocation method, device and equipment for unmanned aerial vehicle and storage medium |
CN115273266A (en) * | 2022-06-20 | 2022-11-01 | 驭势(上海)汽车科技有限公司 | Patrol system |
CN115273268A (en) * | 2022-07-27 | 2022-11-01 | 中建三局集团有限公司 | Large-scene construction site inspection method based on tower crane carrying zoom camera |
CN115275870A (en) * | 2022-09-28 | 2022-11-01 | 合肥优晟电力科技有限公司 | Inspection system based on high-altitude line maintenance |
CN115297303A (en) * | 2022-09-29 | 2022-11-04 | 国网浙江省电力有限公司 | Image data acquisition and processing method and device suitable for power grid power transmission and transformation equipment |
CN115407215A (en) * | 2022-11-02 | 2022-11-29 | 众芯汉创(北京)科技有限公司 | Unmanned aerial vehicle's battery duration management evaluation system |
CN115629616A (en) * | 2022-10-08 | 2023-01-20 | 三峡大学 | BIM-based energy facility unmanned aerial vehicle routing inspection route generation method and system |
CN116841321A (en) * | 2023-08-24 | 2023-10-03 | 天津市普迅电力信息技术有限公司 | Unmanned aerial vehicle distribution network routing inspection route planning and breakpoint safe continuous flight control method |
Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108320347A (en) * | 2018-01-08 | 2018-07-24 | 浙江立石机器人技术有限公司 | A kind of robot method for inspecting |
CN108983809A (en) * | 2018-07-16 | 2018-12-11 | 福州日兆信息科技有限公司 | The method and unmanned plane of accurate identification positioning surrounding based on unmanned plane |
CN109358644A (en) * | 2018-11-13 | 2019-02-19 | 广州优飞信息科技有限公司 | Unmanned plane makes an inspection tour the generation method and device in course line automatically |
CN109764874A (en) * | 2018-12-20 | 2019-05-17 | 中国航空工业集团公司洛阳电光设备研究所 | A kind of substation inspection vehicle autonomous navigation method |
CN110276851A (en) * | 2019-04-28 | 2019-09-24 | 国家电投集团黄河上游水电开发有限责任公司 | Method for carrying out intelligent inspection in photovoltaic power station by using unmanned aerial vehicle and inspection device thereof |
CN111640218B (en) * | 2020-05-28 | 2022-06-21 | 广东电网有限责任公司 | Unmanned aerial vehicle routing inspection route planning method and device, terminal and storage medium |
CN111984022A (en) * | 2020-07-28 | 2020-11-24 | 昆山三一环保科技有限公司 | Automatic inspection system of unmanned aerial vehicle |
CN113485417B (en) * | 2021-06-30 | 2022-08-02 | 杭州天巡者科技有限公司 | Autonomous power inspection system, method and device of VBA unmanned aerial vehicle and electronic equipment |
CN113572524B (en) * | 2021-07-26 | 2024-06-28 | 国网天津市电力公司 | Optical cable online inspection system and method based on double-body airship unmanned aerial vehicle technology |
CN113625766B (en) * | 2021-08-31 | 2024-06-07 | 天津泰讯视动科技有限责任公司 | Method, system, terminal equipment and storage medium for navigation by unmanned aerial vehicle inspection |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101344399A (en) * | 2008-08-15 | 2009-01-14 | 四川长虹电器股份有限公司 | Optimal route selection method in multitask navigation |
CN102183955A (en) * | 2011-03-09 | 2011-09-14 | 南京航空航天大学 | Transmission line inspection system based on multi-rotor unmanned aircraft |
JP4945288B2 (en) * | 2007-03-30 | 2012-06-06 | 四国航空株式会社 | Air patrol support device |
CN202817597U (en) * | 2012-08-15 | 2013-03-20 | 山西省电力公司大同供电分公司 | Power transmission line touring system based on unmanned plane |
CN103593968A (en) * | 2013-11-14 | 2014-02-19 | 浙江大学 | Line patrol detection system and method for high-voltage transmission lines on basis of laser communication |
CN205176658U (en) * | 2015-11-10 | 2016-04-20 | 华电电力科学研究院 | Infrared unmanned aerial vehicle of photovoltaic power plant intelligence fortune dimension device |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101477169B (en) * | 2009-01-16 | 2011-07-13 | 华北电力大学 | Electric power circuit detection method by polling flying robot |
WO2011001180A1 (en) * | 2009-07-01 | 2011-01-06 | E-Plate Limited | Video acquisition and compilation system and method of assembling and distributing a composite video |
CN102880186B (en) * | 2012-08-03 | 2014-10-15 | 北京理工大学 | flight path planning method based on sparse A* algorithm and genetic algorithm |
CN103400428A (en) * | 2013-07-26 | 2013-11-20 | 维坤智能科技(上海)有限公司 | Multipoint combination polling method of three-dimensional transformer substation polling system |
CN104076816B (en) * | 2014-07-18 | 2015-11-18 | 深圳供电局有限公司 | Unmanned aerial vehicle power transmission line corridor operation flight path planning method |
CN105045274B (en) * | 2015-04-30 | 2019-01-04 | 南方电网科学研究院有限责任公司 | Intelligent tower connected graph construction method for unmanned aerial vehicle inspection track planning |
CN105162042B (en) * | 2015-10-19 | 2017-05-10 | 国网山东省电力公司莱芜供电公司 | Power transmission line unmanned plane single tower patrol path standardizing control method |
-
2016
- 2016-06-21 CN CN201610454755.8A patent/CN107527395A/en not_active Withdrawn
-
2017
- 2017-05-11 WO PCT/CN2017/083939 patent/WO2017219780A1/en active Application Filing
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4945288B2 (en) * | 2007-03-30 | 2012-06-06 | 四国航空株式会社 | Air patrol support device |
CN101344399A (en) * | 2008-08-15 | 2009-01-14 | 四川长虹电器股份有限公司 | Optimal route selection method in multitask navigation |
CN102183955A (en) * | 2011-03-09 | 2011-09-14 | 南京航空航天大学 | Transmission line inspection system based on multi-rotor unmanned aircraft |
CN202817597U (en) * | 2012-08-15 | 2013-03-20 | 山西省电力公司大同供电分公司 | Power transmission line touring system based on unmanned plane |
CN103593968A (en) * | 2013-11-14 | 2014-02-19 | 浙江大学 | Line patrol detection system and method for high-voltage transmission lines on basis of laser communication |
CN205176658U (en) * | 2015-11-10 | 2016-04-20 | 华电电力科学研究院 | Infrared unmanned aerial vehicle of photovoltaic power plant intelligence fortune dimension device |
Cited By (28)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2020082364A1 (en) * | 2018-10-26 | 2020-04-30 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle control method and device, unmanned aerial vehicle, and computer readable storage medium |
CN110443908A (en) * | 2019-07-04 | 2019-11-12 | 广州科易光电技术有限公司 | A kind of electric inspection process method and system based on unmanned plane |
CN110597937B (en) * | 2019-08-23 | 2022-01-11 | 广州杰赛科技股份有限公司 | Unmanned intelligent inspection method, device, equipment and storage medium |
CN110597937A (en) * | 2019-08-23 | 2019-12-20 | 广州杰赛科技股份有限公司 | Unmanned intelligent inspection method, device, equipment and storage medium |
CN111028377A (en) * | 2019-11-22 | 2020-04-17 | 深圳供电局有限公司 | Inspection system of power transmission line and transmission method of inspection data |
CN111028377B (en) * | 2019-11-22 | 2022-07-05 | 深圳供电局有限公司 | Inspection system of power transmission line and transmission method of inspection data |
CN111552311A (en) * | 2020-04-10 | 2020-08-18 | 安徽继远软件有限公司 | Multi-tower inspection optimization method and terminal for unmanned aerial vehicle under inspection time limitation |
CN111726576A (en) * | 2020-05-27 | 2020-09-29 | 深圳中琛源科技股份有限公司 | Unmanned aerial vehicle inspection method, device, system and storage medium |
CN112163054A (en) * | 2020-09-09 | 2021-01-01 | 四川长园工程勘察设计有限公司 | Transformer insertion method based on path diagram |
CN112163054B (en) * | 2020-09-09 | 2024-02-02 | 成都深瑞同华科技有限公司 | Transformer insertion method based on path diagram |
CN112306093A (en) * | 2020-10-30 | 2021-02-02 | 卓旺(安徽)航空科技产业股份有限公司 | Extra-high voltage power grid unmanned aerial vehicle autonomous automatic channel inspection system |
CN113155133A (en) * | 2021-04-25 | 2021-07-23 | 国网山东省电力公司鄄城县供电公司 | Method and device for determining inspection line of power equipment and electronic terminal |
CN113538830A (en) * | 2021-05-31 | 2021-10-22 | 浙江大华技术股份有限公司 | Fire inspection method, device, equipment and computer storage medium |
CN113867392A (en) * | 2021-10-13 | 2021-12-31 | 上海翼枭航空科技有限公司 | Intelligent inspection method, system, equipment and storage medium for unmanned aerial vehicle |
CN115273266A (en) * | 2022-06-20 | 2022-11-01 | 驭势(上海)汽车科技有限公司 | Patrol system |
CN115273268A (en) * | 2022-07-27 | 2022-11-01 | 中建三局集团有限公司 | Large-scene construction site inspection method based on tower crane carrying zoom camera |
CN115273268B (en) * | 2022-07-27 | 2023-05-19 | 中建三局集团有限公司 | Large scene construction site inspection method based on tower crane carrying zoom camera |
CN115249134A (en) * | 2022-09-23 | 2022-10-28 | 江西锦路科技开发有限公司 | Resource allocation method, device and equipment for unmanned aerial vehicle and storage medium |
CN115249134B (en) * | 2022-09-23 | 2022-12-23 | 江西锦路科技开发有限公司 | Resource allocation method, device and equipment for unmanned aerial vehicle and storage medium |
CN115275870A (en) * | 2022-09-28 | 2022-11-01 | 合肥优晟电力科技有限公司 | Inspection system based on high-altitude line maintenance |
CN115275870B (en) * | 2022-09-28 | 2022-12-06 | 合肥优晟电力科技有限公司 | Inspection system based on high-altitude line maintenance |
CN115297303B (en) * | 2022-09-29 | 2022-12-27 | 国网浙江省电力有限公司 | Image data acquisition and processing method and device suitable for power grid power transmission and transformation equipment |
CN115297303A (en) * | 2022-09-29 | 2022-11-04 | 国网浙江省电力有限公司 | Image data acquisition and processing method and device suitable for power grid power transmission and transformation equipment |
CN115629616A (en) * | 2022-10-08 | 2023-01-20 | 三峡大学 | BIM-based energy facility unmanned aerial vehicle routing inspection route generation method and system |
CN115407215B (en) * | 2022-11-02 | 2023-01-17 | 众芯汉创(北京)科技有限公司 | Unmanned aerial vehicle's battery duration management evaluation system |
CN115407215A (en) * | 2022-11-02 | 2022-11-29 | 众芯汉创(北京)科技有限公司 | Unmanned aerial vehicle's battery duration management evaluation system |
CN116841321A (en) * | 2023-08-24 | 2023-10-03 | 天津市普迅电力信息技术有限公司 | Unmanned aerial vehicle distribution network routing inspection route planning and breakpoint safe continuous flight control method |
CN116841321B (en) * | 2023-08-24 | 2023-11-14 | 天津市普迅电力信息技术有限公司 | Unmanned aerial vehicle distribution network routing inspection route planning and breakpoint safe continuous flight control method |
Also Published As
Publication number | Publication date |
---|---|
CN107527395A (en) | 2017-12-29 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2017219780A1 (en) | Tour inspection method and device for unmanned aerial vehicle, unmanned aerial vehicle, and computer storage medium | |
He et al. | Research of multi-rotor UAVs detailed autonomous inspection technology of transmission lines based on route planning | |
Duque et al. | Synthesis of unmanned aerial vehicle applications for infrastructures | |
CN108279023B (en) | Precision checking method and device for field data acquisition equipment, acquisition vehicle and field acquisition system | |
CN111339347B (en) | Management method and device for inspection photos | |
Li | The UAV intelligent inspection of transmission lines | |
CN105045274B (en) | Intelligent tower connected graph construction method for unmanned aerial vehicle inspection track planning | |
JP2019194903A (en) | Information processing device, information processing method and computer program | |
WO2021237545A1 (en) | Inspection method for poles and towers, and unmanned aerial vehicle, control apparatus, system and storage medium | |
CN109358644A (en) | Unmanned plane makes an inspection tour the generation method and device in course line automatically | |
CN207691309U (en) | A kind of device carrying out inspection work for transmission line of electricity large size unmanned plane | |
EP2903323B1 (en) | Planning a wireless network | |
CN107168314A (en) | Buoy data message transferring device based on unmanned boat system | |
Ibrahim et al. | BIM-driven mission planning and navigation for automatic indoor construction progress detection using robotic ground platform | |
CN112947485B (en) | Path planning method and system | |
CN109931950B (en) | Live-action navigation method, system and terminal equipment | |
CN107590757A (en) | A kind of unmanned plane Driving Test method and its intelligent apparatus | |
CN103714719A (en) | Navigation flight navigating system based on BeiDou satellite navigation | |
US11531833B2 (en) | Creating a ground control point file using an existing landmark shown in images | |
CN109163715B (en) | Electric power station selection surveying method based on unmanned aerial vehicle RTK technology | |
US20240028051A1 (en) | Closed surface flight pattern generation for unmanned aerial vehicle (uav) flux plane assessment of large facilities | |
CN114138020B (en) | Method and device for checking route of transformer substation unmanned aerial vehicle | |
CN110969719A (en) | Automatic inspection method, system, terminal equipment and storage medium | |
CN103984355A (en) | Routing inspection flying robot and overhead power line distance prediction and maintaining method | |
CN115275870B (en) | Inspection system based on high-altitude line maintenance |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 17814518 Country of ref document: EP Kind code of ref document: A1 |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 17814518 Country of ref document: EP Kind code of ref document: A1 |