WO2017219780A1

WO2017219780A1 - Tour inspection method and device for unmanned aerial vehicle, unmanned aerial vehicle, and computer storage medium

Info

Publication number: WO2017219780A1
Application number: PCT/CN2017/083939
Authority: WO
Inventors: 王经龙
Original assignee: 中兴通讯股份有限公司
Priority date: 2016-06-21
Filing date: 2017-05-11
Publication date: 2017-12-28
Also published as: CN107527395A

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

Unmanned aerial vehicle inspection method and device, and unmanned aerial vehicle and computer storage medium

Cross-reference to related applications

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.

Technical field

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.

Background technique

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:

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.

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.

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.

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.

Summary of the invention

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.

According to an aspect of an embodiment of the present invention, a drone inspection method is provided, including:

Obtaining at least one location information of the equipment to be inspected and end position information after the inspection is completed;

Determining the inspection route according to the location information of each device to be inspected;

Inspect the inspection equipment in turn according to the inspection route;

After all the inspections of the equipment to be inspected are completed, the end point is returned according to the end position information.

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:

Sorting the inspection equipment according to the position coordinates of each equipment to be inspected;

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:

Calculating flight routes between adjacent to-be-patented devices according to position coordinates of adjacent to-be-patented devices after sorting;

Determining the flight route as a patrol route between adjacent equipment to be inspected;

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.

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:

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;

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.

The equipment to be inspected includes: a tower, a transformer, and/or an electric meter for constructing a transmission line.

According to another aspect of the embodiments of the present invention, a drone inspection device is further provided, including:

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;

The processing module is configured to determine a patrol route according to location information of each device to be patrolled;

The inspection module is configured to perform inspections on the inspection equipment in accordance with the inspection route.

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.

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;

a first processing unit configured to determine a flight route as a patrol route between adjacent devices to be inspected;

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.

Wherein, 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.

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.

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.

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.

DRAWINGS

1 is a flow chart showing a method for inspecting a drone according to a first embodiment of the present invention;

2 is a flow chart showing a method for inspecting a drone according to a second embodiment of the present invention;

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;

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.

Fig. 6 is a block diagram showing the structure of a drone inspection device according to a third embodiment of the present invention.

detailed description

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.

Embodiment 1

As shown in FIG. 1 , an embodiment of the present invention provides a method for inspecting a drone, which specifically includes the following steps:

Step 101: Acquire location information of at least one device to be inspected and end position information after completion of the inspection.

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.

Step 102: Determine a patrol route according to location information of each device to be inspected.

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.

Step 103: patrol the inspection equipment in turn according to the inspection route.

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.

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.

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.

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.

Embodiment 2

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.

Specifically, as shown in FIG. 2, 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.

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.

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.

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.

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.

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.

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.

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.

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.

The following is an example of line inspection, transformer inspection and meter reading, respectively. The machine inspection method is further explained.

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.

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. 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.

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.

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.

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.

Specifically, the transformer can be photographed in all directions to perform inspection on the transformer.

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.

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.

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.

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.

Specifically, 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. 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.

Step 504: After the meter reading is completed, the end point is automatically returned according to the coordinate information of the end point.

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.

Embodiment 3

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.

As shown in FIG. 6, an embodiment of the present invention provides a drone inspection device, including:

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 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.

The processing module 62 includes:

The processing submodule includes:

Wherein, the calculation unit comprises:

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;

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.

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).

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.

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.

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.

Industrial applicability

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

A drone inspection method includes:

Obtaining at least one location information of the equipment to be inspected and end position information after the inspection is completed;

Determining the inspection route according to the location information of each device to be inspected;

Performing inspections on the equipment to be inspected in sequence according to the inspection route;

After all the inspections of the equipment to be inspected are completed, the end point is returned according to the end position information.
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 :

Sorting the devices to be inspected according to the position coordinates of each device to be inspected;

Determining the patrol route of the device to be inspected according to the position coordinates of the device to be inspected after the sorting.
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:

Calculating flight routes between adjacent to-be-patented devices according to position coordinates of adjacent to-be-patented devices after sorting;

Determining the flight route as a patrol route between adjacent devices to be inspected;

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.
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:

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;

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.
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.
A drone inspection device comprising:

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;

The processing module is configured to determine a patrol route according to location information of each device to be patrolled;

The patrol module is configured to perform patrol inspection on the device to be inspected in sequence according to the patrol route;

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.
The UAV inspection apparatus according to claim 6, wherein the processing module comprises:

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;

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.
The UAV inspection apparatus according to claim 7, wherein the processing submodule comprises:

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;

a first processing unit configured to determine the flight route as a patrol route between adjacent devices to be inspected;

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.
The drone inspection device according to claim 8, wherein the calculation unit comprises:

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;

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 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.
A drone comprising the unmanned aerial vehicle inspection apparatus according to any one of claims 6 to 10.
A computer storage medium having stored therein computer executable instructions configured to perform the drone inspection method of any of claims 1-5.