WO2020082364A1 - 无人机的控制方法、装置、无人机及计算机可读存储介质 - Google Patents

无人机的控制方法、装置、无人机及计算机可读存储介质 Download PDF

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Publication number
WO2020082364A1
WO2020082364A1 PCT/CN2018/112201 CN2018112201W WO2020082364A1 WO 2020082364 A1 WO2020082364 A1 WO 2020082364A1 CN 2018112201 W CN2018112201 W CN 2018112201W WO 2020082364 A1 WO2020082364 A1 WO 2020082364A1
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WIPO (PCT)
Prior art keywords
drone
power line
distance
fault detection
information
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Ceased
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PCT/CN2018/112201
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English (en)
French (fr)
Inventor
丘力
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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Priority to PCT/CN2018/112201 priority Critical patent/WO2020082364A1/zh
Priority to CN201880042200.XA priority patent/CN110799924A/zh
Publication of WO2020082364A1 publication Critical patent/WO2020082364A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/08—Locating faults in cables, transmission lines, or networks
    • G01R31/081—Locating faults in cables, transmission lines, or networks according to type of conductors
    • G01R31/085—Locating faults in cables, transmission lines, or networks according to type of conductors in power transmission or distribution lines, e.g. overhead

Definitions

  • the invention relates to the technical field of unmanned aerial vehicles, in particular to a control method and device of an unmanned aerial vehicle, an unmanned aerial vehicle and a computer-readable storage medium.
  • the invention provides a control method and device for a drone, a drone and a computer-readable storage medium, which can control the drone in real time and ensure the safety and reliability of the drone operation.
  • the first aspect of the present invention is to provide a method for controlling a drone, including:
  • Fault detection of the power line is performed by a fault detection device provided on the drone.
  • the second aspect of the present invention is to provide a drone control device, including:
  • Memory used to store computer programs
  • a processor for running a computer program stored in the memory to realize: real-time acquisition of distance information between the power line and the drone through a sensing device provided on the drone; controlling the drone according to the distance information Flying along the power line; performing fault detection on the power line through a fault detection device provided on the drone.
  • the third aspect of the present invention is to provide a drone control device, including:
  • the acquisition module is used to acquire the distance information between the power line and the drone in real time through the sensor device installed on the drone;
  • a control module for controlling the drone to fly along the power line according to the distance information
  • the detection module is used to perform fault detection on the power line through a fault detection device provided on the drone.
  • the fourth aspect of the present invention is to provide a drone, including:
  • control device for a drone is provided on the fuselage.
  • a fifth aspect of the present invention is to provide a computer-readable storage medium in which program instructions are stored, and the program instructions are used to implement the drone control method described in the first aspect.
  • the control method and device for a drone provided by the present invention can obtain the distance information between the power line and the drone in real time through a sensing device provided on the drone, and then according to the distance
  • the information controls the drone to fly along the power line, which not only avoids the interference of the drone from the power resource line, but also realizes the real-time control of the drone, which improves the timeliness of the control of the drone And reliability, thereby ensuring the safety and reliability of the operation of the drone;
  • the fault detection device provided on the drone performs fault detection on the power line, which effectively improves the quality and efficiency of power line detection, It further ensures the safe, stable and reliable operation of the power grid and creates a good environment for economic and social development.
  • FIG. 1 is a schematic flowchart of a method for controlling a drone according to an embodiment of the present invention
  • FIG. 1a is a schematic diagram 1 of a position of a drone and a power line provided by an embodiment of the present invention
  • FIG. 1b is a schematic diagram 2 of a position of a drone and a power line provided by an embodiment of the present invention
  • FIG. 1c is a schematic diagram 3 of a position of a drone and a power line provided by an embodiment of the present invention
  • FIG. 2 is a schematic flow chart of fault detection of the power line by a fault detection device provided on the drone according to an embodiment of the present invention
  • FIG. 3 is a schematic flowchart of yet another drone control method according to an embodiment of the present invention.
  • FIG. 4 is a schematic structural diagram 1 of a control device for a drone according to an embodiment of the present invention.
  • FIG. 5 is a second schematic structural diagram of a control device for an unmanned aerial vehicle according to an embodiment of the present invention.
  • FIG. 1 is a schematic flowchart of a method for controlling a drone according to an embodiment of the present invention. referring to FIG. 1, this embodiment provides a method for controlling a drone, including:
  • S101 Real-time acquisition of distance information between the power line and the drone through the sensor device installed on the drone;
  • the specific shape and structure of the sensing device are not limited, and those skilled in the art can arbitrarily set according to the function and function of the sensor device.
  • the sensing device can be an ultrasonic distance sensor, or the sensing device can be The infrared ranging sensor, or the sensing device may be a radar device or the like.
  • the specific position of the sensor device on the drone is not limited in this embodiment, and those skilled in the art can set it according to specific design requirements.
  • the sensor device can be installed on the top and side of the drone Or lower end, etc .; more preferably, when the sensor device is installed and the distance information between the power line and the drone is acquired in real time through the sensor device, in order to ensure that the distance information between the power line and the drone is obtained Timely accuracy, to ensure that the detection field angle of the sensing device is not blocked.
  • the sensing device is set as a radar device, where the radar device is a microwave radar or a laser radar, based on the center of gravity and the field of view Considering the angle FOV, the radar device can be installed at the top, bottom, or side of the UAV.
  • the radar device when detecting the distance information between the top of the drone and the power line, the radar device can be set on the top of the drone; when detecting the distance information between the bottom of the drone and the power line, the radar device can be set At the bottom of the drone; when detecting the distance information between the side of the drone and the power line, the radar device can be installed on the side of the drone.
  • this embodiment is merely an exemplary description, and the radar device may be disposed at other suitable positions, as long as the detection field angle of the radar device is not blocked.
  • the distance information between the power line and the drone when the distance information between the power line and the drone is acquired in real time through a sensor device installed on the drone, the distance information between the power line and the drone here It can refer to the distance information between the top of the power line and the drone, the distance between the center of the power line and the drone, the distance between the bottom of the power line and the drone, or the side of the power line and the no.
  • the specific calculation method can be obtained according to needs; among them, a achievable way is:
  • S1011 Obtain the first real-time distance between the drone and the top of the power line through the radar device.
  • the power line is provided at the bottom of the drone.
  • the power line includes a plurality of spaced wires in the vertical direction.
  • the radar device can be installed at the bottom of the drone, and the first real-time distance between the drone and the top of the power line can be obtained by the radar device as h1, where the radar device is installed at the bottom of the drone Therefore, the first real-time distance between the bottom end of the drone and the top of the power line may be the distance between the bottom end of the radar device and the top of the power line.
  • a person skilled in the art can also obtain the real-time distance between the bottom of the drone body and the top of the power line through the radar device.
  • the specific acquisition method is similar to the above acquisition method, and will not be repeated here.
  • the power line is provided at the side end (left side and / or right side) of the drone, and the second real-time distance between the drone and the side end of the power line can be obtained through the radar device.
  • the radar device can be set at a suitable position on the drone, as long as the detection field angle of the radar device is not blocked.
  • the radar device is a microwave radar
  • the microwave radar may be fixed on the side of, for example, a drone. It can be understood that those skilled in the art may also set the microwave radar based on specific design requirements and circumstances In other suitable positions, for example: the appropriate position where the detection field angle of any radar device is not blocked.
  • the microwave radar may be a millimeter wave radar or a centimeter wave radar.
  • the microwave radar can be installed on the drone through a rotating shaft, and the microwave radar can rotate around the rotating shaft.
  • the microwave radar can perform horizontal rotation movement around the rotation axis (the rotation axis can be regarded as being perpendicular to the ground at this time), or can also perform vertical rotation movement (the rotation axis at this time can be regarded as being parallel to the ground).
  • the microwave radar can obtain the distance information of the power line relative to the drone in real time, generate corresponding point cloud information, and then feed back the point cloud information to the control terminal.
  • the microwave radar can also detect the distance, speed, direction, altitude and other information of the drone relative to other targets.
  • the distance information between the UAV and the power line is obtained through the radar device.
  • the measurement accuracy is high and the processing speed is fast.
  • the distance information obtained by the radar device can be sent to the UAV's flight control system in real time, further improving flight safety. Sex.
  • microwave radar will not be affected by environmental conditions such as rain, dust, smoke, fog or frost, and can work in complete darkness or direct sunlight, with high reliability and stability.
  • S102 control the drone to fly along the power line according to the distance information
  • controlling the drone to fly along the power line according to the distance information may include:
  • S1021 control the drone to maintain a preset distance from the power line according to the distance information; or,
  • the preset distance is preset distance information.
  • the specific value of the preset distance is not limited. Those skilled in the art can set according to specific setting requirements.
  • the line keeps flying at a preset distance of h meters, for example, the preset distance h can be 1m, 2m, 3m or 5m, etc. It should be noted that when controlling the drone to maintain a preset distance from the power line to fly, you need to Ensure the stability of the distance between the drone and the power line.
  • the drone when controlling the drone to fly, the drone can be controlled to fly along the tangent direction of the power line and maintain a preset distance from the power line; Alternatively, the drone can also be controlled to fly in other directions (the preset flight direction, the direction around the power line, etc.) and maintain a preset distance from the power line; in this way, the drone can be prevented from being affected by the power line
  • the interference can also guarantee the safety of drone flight.
  • S1022 Control the drone to fly along the tangent direction of the power line according to the distance information.
  • the tangent direction of the power line in this embodiment refers to a direction parallel to the tangent of the power line.
  • the installation direction of the power line is a horizontal direction.
  • the tangent direction of the power line includes parallel to the power line
  • the body structure is used as an example for description. Obtain a feature line segment at the bottom of the cylinder, and obtain all tangents passing through the feature line segment.
  • All tangents form a tangent plane.
  • the tangent plane includes the first tangent to the feature line segment.
  • Line, second tangent line, third tangent line, etc. wherein the extending direction of the first tangent line may be parallel to the extending direction of the feature line segment, and the extending direction of the second tangent line may form a preset acute angle with the extending direction of the feature line segment or Obtuse angle; the extension direction of the third tangent line can be the same as the extension direction of the characteristic line segment Straight.
  • the drone in order to realize the fault detection of the power line, it is more preferable to control the drone to fly along a tangent direction parallel to the transmission direction of the power line, that is, to control the drone to perform along the first tangent direction Flying, continue to refer to Figure 1a.
  • the direction of the first tangent line can be direction f; this can overcome not only the dangers existing in the prior art when conducting manual inspections of power lines, but also time-consuming and laborious inspections. The problem of low quality and accuracy further improves the practicability of the method.
  • the drone when the drone is controlled to fly, the drone can be controlled to fly along the tangential direction of the power line and maintain a preset distance from the power line; or, the drone can also be controlled along the tangential direction of the power line , And flying at a variable distance from the power line; for example, within a preset time period, you can control the tangent direction of the UAV along the power line in the first time period, and the Flying at a distance; controlling the tangent direction of the UAV along the tangent of the power line in the second time period, and flying at a second distance from the power line, where the first distance and the second distance are not the same. It can be understood that, those skilled in the art can set the first time period, the second time period, the first distance, and the second distance according to specific design requirements, and details are not described herein again.
  • the power line includes a plurality of power lines arranged at intervals, and the drone can be controlled to fly along the power line at the top in advance, or according to the distance between the drone and the multiple power lines Adjust in real time, for example, you can control the drone to fly along the closest power line. Further, the flying direction of the drone is adjusted in real time according to the coincidence rate of the flying direction of the drone and the tangent direction of the following power line to ensure that the drone can achieve accurate flight along the line.
  • the control method of the drone obtained in this embodiment obtains the distance information between the power line and the drone in real time through the sensor device installed on the drone, and then controls the drone to fly along the power line according to the distance information, In order to prevent the UAV from being interfered by the power resource line, it can also control the UAV in real time, improving the timeliness and reliability of the UAV control, thereby ensuring the safety and reliability of the UAV operation.
  • controlling the drone to fly along the power line according to the distance information in this embodiment may further include:
  • S1023 Control the flight status of the drone according to the distance information and the preset distance.
  • the preset distance is preset by the user, and those skilled in the art can set it according to specific design requirements.
  • the preset distance can be 1m, 1.5m, 2m, or 2.5m, etc.
  • the control terminal can control the drone according to the preset distance and distance information.
  • the flight status of the drone can be controlled according to the real-time distance and the preset distance.
  • the distance information of the power line and the drone acquired in real time includes: 0.5m, 1.2m, and 1m.
  • the distance information of 0.5m because the distance information is less than the Set the distance. At this time, it means that the drone is close to the power line. Therefore, in order to avoid the interference of the drone from the power line, it is necessary to increase the distance between the drone and the power line.
  • the distance between the drone and the power line is adjusted so that the distance between the drone and the power line is maintained at about 1m; for the distance information of 1.2m, since the distance information is greater than the preset distance, at this time, It means that the drone is far away from the power line.
  • the distance between the drone and the power line needs to be reduced, and then the drone and the power can be determined according to the preset distance
  • the distance between the lines is adjusted so that the distance between the drone and the power line is maintained at about 1m; for the distance information of 1m, since the distance information is equal to the preset distance, at this time, Out from the moderate power line UAV, the UAV does not require further adjustment.
  • the drone can effectively realize the timely adjustment of the flight status of the drone.
  • the drone When the drone is close to the power line, it can increase the unmanned The distance between the aircraft and the power line; when the drone is far away from the power line, the distance between the drone and the power line can be adjusted to ensure that the drone and the power line are kept at a suitable level. Distance, which in turn improves the safety and reliability of UAV flight.
  • S103 Perform fault detection on the power line through a fault detection device provided on the drone.
  • the fault detection device may be a photographing device, that is, the fault detection of the power line is realized by the photographing device, it can be understood that the fault detection of the power line may also be realized by other methods, for example, by detecting electromagnetic wave interference signals To determine whether the wire is faulty.
  • Realizing the fault detection of power lines through the above methods effectively improves the quality and efficiency of power line detection, further ensures the safety, stability and reliability of power grid operation, and creates a good environment for economic and social development.
  • FIG. 2 is a schematic flow chart of fault detection of the power line by a fault detection device provided on the drone provided by an embodiment of the present invention; on the basis of the foregoing embodiment, referring to FIG. 2, the fault detection device It may be a photographing device, and in this embodiment, the fault detection of the power line by the fault detection device provided on the drone may include:
  • the drone can be equipped with a shooting device, where the shooting device can be any of the following: a camera, a video camera, a terminal device with a camera function (mobile phone, tablet computer, etc.), etc.
  • the shooting device is preferably arranged toward the power line, so that the detection process of the power line can be realized by the shooting device installed on the drone.
  • the image information of the power line is acquired by the shooting device.
  • the drone is also provided with a gimbal, and the shooting device is connected to the drone through the gimbal. Further, the gimbal is provided with a motor and an inertial measurement sensor. For posture calculation and analysis, the drone can control the motor of the gimbal so that the shooting device always faces the direction of the power line.
  • the shooting device may be adjusted so that the shooting device can simultaneously shoot multiple parallel power lines to simultaneously acquire image information of multiple power lines.
  • S1032 Perform fault detection on the power line according to the image information.
  • the image information of the power line After the image information of the power line is acquired, the image information can be analyzed and processed to realize the fault detection of the power line.
  • the specific implementation process of analyzing and processing the image information is not limited, and those skilled in the art can set according to specific design requirements, for example, the image information and the pre-set standard image information can be analyzed and processed.
  • the standard image information is preset image information of normal power lines; therefore, whether the power line is faulty can be determined based on the standard image information and image information. For example, in the image information and standard images When the information matches, it means that the power line has not failed; when the image information does not match the standard image information, it means that the power line has failed.
  • the camera is adjusted so that the camera obtains image information of multiple power lines at the same time, so as to perform fault detection on the multiple power lines at the same time.
  • performing fault detection on the power line according to the image information may include:
  • S10321 Send the image information to the control terminal, so that the control terminal performs fault detection on the power line based on the image information.
  • the drone After the drone obtains the image information, it can send the image information to the control terminal, and the control terminal can perform fault detection on the power line based on the received image information, that is, at this time, perform the fault on the power line based on the image information
  • the main body of detection is the control end.
  • the main body that performs fault detection of the power line based on the image information is the drone.
  • the drone can also be connected to the control terminal.
  • the power line is based on the image information.
  • the method also includes:
  • S1033 Send the result of fault detection on the power line to the control end.
  • the UAV performs fault detection on the power line according to the image information
  • the result of the fault detection can be sent to the control side, so that the user can directly view and obtain through the control side
  • the results of the fault detection further improve the convenience of the method.
  • the image information of the power line is acquired through the shooting device installed on the drone, and then the power line fault is detected according to the image information, thereby effectively realizing the fault detection process of the power line and solving the manual power line.
  • the method in this embodiment further includes:
  • obstacles may include towers and other building materials or buildings carrying power lines.
  • the drone When the drone is controlled to fly along the power lines, obstacles may exist on the flight path where the drone is located, such as towers, etc. Therefore, In order to ensure the safety of the drone flight, it can detect whether there is an obstacle in real time.
  • This embodiment does not limit the implementation method of obstacle detection, and those skilled in the art can set it according to specific design requirements, for example: acquiring unmanned The image information of the aircraft when flying along the power line, based on the image information to detect whether there is an obstacle, through the analysis of the image information to detect whether there is an obstacle, etc .; or, you can also send a wireless signal through the radar device, through The wireless signal feeds back information to detect the presence of obstacles.
  • the pole tower includes a pole structure and a tower structure.
  • a line detection method can be used to identify the pole structure of the pole structure, or a learning algorithm can also be used to identify the pole structure of the tower structure. Extract the features of the tower for identification.
  • the drone can use an infrared sensor camera to identify the tower in the power line ahead. The principle of this method is that due to the presence of current in the power line, a certain amount of heat will be generated. Therefore, the temperature at the tower is high, so it can be recognized by an infrared sensor camera.
  • FIG. 3 is a schematic flowchart of another method for controlling a drone according to an embodiment of the present invention; on the basis of the foregoing embodiment, it can be seen from reference to FIG. 3 that the method in this embodiment further includes:
  • the obstacle position information of the obstacle can be obtained.
  • the obstacle position information can be determined through image information; or, the obstacle position information can also be determined according to the wireless signal fed back by the radar device .
  • a flight path that bypasses the position information of the obstacle may be generated, and the drone is controlled to fly according to the flight path, so that the drone effectively avoids the obstacle.
  • the course of the drone can be adjusted according to a preset strategy to avoid the obstacle, for example, when the position information of the obstacle is directly in front of the flight of the drone , You can adjust the course of the drone to the left or right according to the preset strategy, so that the flight direction of the drone bypasses the obstacle at the obstacle position information; thus ensuring the safety and reliability of the drone flight.
  • the UAV can autonomously fly along the power lines between multiple towers and perform fault detection on the power lines between multiple towers.
  • the drone can also fly along the power line between the two towers according to a preset method, and hover to avoid obstacles after encountering obstacles such as the tower or the
  • the set method controls the drone to return to the origin or land, which is not limited here.
  • the microwave radar is used as the sensing device as an example for description. Based on the center of gravity and FOV, the microwave radar can be fixed on the top of the drone. In some cases, the microwave radar can also be installed at other suitable locations.
  • the microwave radar After the microwave radar detects the distance information of the power line, it can feed back information to the control terminal through the CAN bus, and control the flight status of the drone through the control terminal, thereby ensuring that the drone uses the power line as a reference and always Maintain the preset distance from the power line, and when you encounter obstacles, you can also perform obstacle avoidance flights.
  • the drone when controlling the drone to fly with the power line as a reference, the drone can fly on the top of the power line, or the drone can also fly on both sides of the power line.
  • the microwave radar can be hung Loaded in the preset load area on the drone, such as the front of the drone, the distance information between the power line and the drone is scanned by microwave radar, and fed back to the control terminal in real time, processed by an algorithm to let the drone Always maintain the relative position with the power line and fly along the line.
  • FIG. 4 is a schematic structural diagram 1 of a control device for a drone according to an embodiment of the present invention; referring to FIG. 4, it can be seen that this embodiment provides a control device for a drone.
  • the control device for the drone can be The above control method is executed.
  • the control device may include:
  • the obtaining module 101 is used to obtain the distance information between the power line and the drone in real time through a sensor device installed on the drone;
  • the control module 102 is used to control the drone to fly along the power line according to the distance information.
  • the detection module 103 is configured to perform fault detection on the power line through a fault detection device provided on the drone.
  • the acquisition module 101, the control module 102, and the detection module 103 in the drone control device provided in this embodiment can be used to execute the control method of the drone corresponding to the embodiments in FIGS.
  • the beneficial effects are similar and will not be repeated here.
  • FIG. 5 is a schematic structural diagram 2 of a control device for a drone according to an embodiment of the present invention. Referring to FIG. 5, it can be seen that this embodiment provides another control device for a drone.
  • the control device for the drone The above control method may be executed.
  • the control device may include:
  • the memory 301 is used to store a computer program
  • the processor 302 is used to run the computer program stored in the memory 301 to realize: real-time acquisition of the distance information between the power line and the drone through the sensor device installed on the drone; the drone is controlled along the power line according to the distance information Flying; fault detection of the power line by a fault detection device provided on the drone.
  • the processor 302 controls the drone to fly along the power line according to the distance information, the processor 302 is used to:
  • control the drone to maintain a preset distance from the power line to fly;
  • the drone is controlled to fly along the tangent direction of the power line.
  • Another possible way is: when the processor 302 controls the drone to fly along the power line according to the distance information, the processor 302 is used to: control the flying state of the drone according to the distance information and the preset distance.
  • the processor 302 controls the flight status of the drone according to the real-time distance and the preset distance, the processor 302 is used to:
  • the flight state of the drone is adjusted based on the preset distance, so that the distance information is consistent with the preset distance.
  • the processor 302 when the processor 302 performs fault detection on the power line by a fault detection device provided on the drone, the processor 302 is further used to:
  • the shooting device installed on the drone acquires the image information of the power line; and performs fault detection on the power line according to the image information.
  • the imaging device is set toward the power line.
  • the drone is connected to the control terminal.
  • the processor 302 is also used to:
  • the result of fault detection on the power line is sent to the control terminal.
  • the drone is connected to the control terminal; when the processor 302 performs fault detection on the power line according to the image information, the processor 302 is also used to:
  • the image information is sent to the control terminal, so that the control terminal performs fault detection on the power line based on the image information.
  • the sensing device is a radar device; the radar device is a microwave radar or a laser radar.
  • the radar device is installed on the top of the drone.
  • the processor 302 obtains the distance information between the power line and the drone in real time through a sensor device installed on the drone, the processor 302 is also used to:
  • the sensing device is a radar device; when the processor 302 obtains the distance information between the power line and the drone through the real-time setting on the drone, the processor 302 is also used to:
  • the processor 302 controls the drone to fly along the power line according to the distance information
  • the processor 302 is also used to:
  • processor 302 is also used to:
  • the drone When the drone is located at the position information of the obstacle, the drone is controlled to perform obstacle avoidance flight; or the drone is controlled to hover and avoid obstacle, or the drone is controlled to return to the origin.
  • control device of the drone provided in this embodiment can be used to execute the control method of the drone corresponding to the embodiments of FIG. 1 to FIG. 3, and the specific implementation manner and beneficial effects are similar, and will not be repeated here.
  • Another aspect of this embodiment provides a drone, including:
  • the drone control device is installed on the fuselage.
  • the drone provided in this embodiment can execute the drone control method corresponding to the embodiments shown in FIGS. 1 to 3 through the drone control device.
  • the specific implementation method and the beneficial effects are similar, and are not repeated here.
  • Yet another aspect of this embodiment provides a computer-readable storage medium that stores program instructions in the computer-readable storage medium, and the program instructions are used to implement the control method of the drone corresponding to the embodiments of FIGS. 1-3 .
  • the disclosed related remote control device and method may be implemented in other ways.
  • the embodiments of the remote control device described above are only schematic.
  • the division of the module or unit is only a division of logical functions.
  • the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, remote control devices or units, and may be in electrical, mechanical, or other forms.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or software function unit.
  • the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it may be stored in a computer-readable storage medium.
  • the technical solution of the present invention essentially or part of the contribution to the existing technology or all or part of the technical solution can be embodied in the form of a software product, the computer software product is stored in a storage medium , Including several instructions to enable the computer processor 101 (processor) to perform all or part of the steps of the methods described in various embodiments of the present invention.
  • the foregoing storage media include various media that can store program codes, such as a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk, or an optical disk.
  • program codes such as a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk, or an optical disk.

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Abstract

一种无人机的控制方法、装置、无人机及计算机可读存储介质，方法包括：通过设置于无人机上的传感装置实时获取电力线路与无人机的距离信息；根据距离信息控制无人机沿所述电力线路进行飞行；通过设置于无人机上的故障检测装置对电力线路进行故障检测。通过设置于无人机上的传感装置实时获取电力线路与无人机的距离信息，而后根据距离信息控制无人机沿所述电力线路进行飞行，不仅避免了无人机受到电力资源线路的干扰，还可以实时对无人机进行控制，提高对无人机控制的及时性和可靠性，从而保证无人机运行的安全可靠性

Description

无人机的控制方法、装置、无人机及计算机可读存储介质 技术领域
本发明涉及无人机技术领域，尤其涉及一种无人机的控制方法、装置、无人机及计算机可读存储介质。
背景技术
随着科学技术的飞速发展，电力资源发展迅速，随之而来的是，电力资源的基建装置也越来越多。此时，在无人机运行或者进行作业的过程中，容易遇到电力资源(例如：电力线路等等)，这样容易使得无人机发生故障，影响作业和运行质量。
因此，为了避免无人机受到电力资源线路的干扰，并且保证无人机运行的安全可靠性，需要提高对无人机控制的及时性和可靠性。
发明内容
本发明提供了一种无人机的控制方法、装置、无人机及计算机可读存储介质，可以实时对无人机进行控制，保证无人机运行的安全可靠性。
本发明的第一方面是为了提供一种无人机的控制方法，包括：
通过设置于无人机上的传感装置实时获取电力线路与无人机的距离信息；
根据所述距离信息控制所述无人机沿所述电力线路进行飞行；
通过设置于所述无人机上的故障检测装置对所述电力线路进行故障检测。
本发明的第二方面是为了提供一种无人机的控制装置，包括：
存储器，用于存储计算机程序；
处理器，用于运行所述存储器中存储的计算机程序以实现：通过设置于无人机上的传感装置实时获取电力线路与无人机的距离信息；根据所述距离信息控制所述无人机沿所述电力线路进行飞行；通过设置于所述无人机上的故障检测装置对所述电力线路进行故障检测。
本发明的第三方面是为了提供一种无人机的控制装置，包括：
获取模块，用于通过设置于无人机上的传感装置实时获取电力线路与无人机的距离信息；
控制模块，用于根据所述距离信息控制所述无人机沿所述电力线路进行飞行；
检测模块，用于通过设置于所述无人机上的故障检测装置对所述电力线路进行故障检测。
本发明的第四方面是为了提供一种无人机，包括：
机身；
上述第二方面所述的无人机的控制装置，所述无人机的控制装置设置于所述机身上。
本发明的第五方面是为了提供一种计算机可读存储介质，该计算机可读存储介质中存储有程序指令，所述程序指令用于实现上述第一方面所述的无人机的控制方法。
本发明提供的无人机的控制方法、装置、无人机及计算机可读存储介质，通过设置于无人机上的传感装置实时获取电力线路与无人机的距离信息，而后根据所述距离信息控制所述无人机沿所述电力线路进行飞行，不仅避免了无人机受到电力资源线路的干扰，而且还实现了对无人机的实时控制，提高了对无人机控制的及时性和可靠性，从而保证无人机运行的安全可靠性；另外，通过设置于所述无人机上的故障检测装置对所述电力线路进行故障检测，有效地提高了电力线路检测的质量和效率，进一步保证了电网运行的安全稳定可靠，为经济社会发展创造了良好环境。
附图说明
图1为本发明实施例提供的一种无人机的控制方法的流程示意图；
图1a为本发明实施例提供的一种无人机与电力线路的位置示意图一；
图1b为本发明实施例提供的一种无人机与电力线路的位置示意图二；
图1c为本发明实施例提供的一种无人机与电力线路的位置示意图三；
图2为本发明实施例提供的通过设置于所述无人机上的故障检测装置对所述电力线路进行故障检测的流程示意图；
图3为本发明实施例提供的又一种无人机的控制方法的流程示意图；
图4为本发明实施例提供的一种无人机的控制装置的结构示意图一；
图5为本发明实施例提供的一种无人机的控制装置的结构示意图二。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。
下面结合附图，对本发明的一些实施方式作详细说明。在各实施例之间不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
图1为本发明实施例提供的一种无人机的控制方法的流程示意图；参考附图1所示，本实施例提供了一种无人机的控制方法，包括：
S101：通过设置于无人机上的传感装置实时获取电力线路与无人机的距离信息；
其中，本实施例对于传感装置的具体形状结构不做限定，本领域技术人员可以根据其实现的功能作用进行任意设置，例如：传感装置可以为超声波距离传感器，或者，传感装置可以为红外测距传感器，或者，传感装置可以为雷达装置等等。另外，本实施例对于传感装置设置于无人机上的具体位置不做限定，本领域技术人员可以根据具体的设计需求进行设置，例如：传感装置可以设置于无人机的顶端、侧端或者下端等等；较为优选的，在设置传感装置时，且通过传感装置实时获取电力线路与无人机之间的距离信息时，为了保证电力线路与无人机之间距离信息获取的及时准确性，要保证传感装置的检测视场角不受遮挡。
进一步的，为了保证实时获取电力线路与无人机的距离信息的稳定可靠性，本实施例中将传感装置设置为雷达装置，其中，雷达装置为微波雷达或 激光雷达，基于重心和视场角FOV的考虑，该雷达装置可以设置于无人机的顶端、底端或者侧端等等。例如，在检测无人机顶端与电力线路之间的距离信息时，雷达装置可以设置于无人机的顶端；在检测无人机底端与电力线路之间的距离信息时，雷达装置可以设置于无人机的底端；在检测无人机侧端与电力线路之间的距离信息时，雷达装置可以设置于无人机的侧端。可以理解的是，本实施例仅为示例性说明，雷达装置可以设置在其他合适的位置，只要保证雷达装置的检测视场角不受遮挡即可。
具体的，如图1b所示，以激光雷达为例，在通过设置于无人机上的传感装置实时获取电力线路与无人机的距离信息时，这里的电力线路与无人机的距离信息可以是指电力线路的顶部与无人机之间的距离信息、电力线路的中心与无人机之间的距离、电力线路的底部与无人机之间的距离或者电力线路的侧端与无人机之间的距离，具体的计算方式可以根据需要来得到；其中，一种可实现的方式为：
S1011：通过雷达装置获取无人机与电力线路顶部之间的第一实时距离。
本实施例中，电力线路设置于无人机的底端。在一种实施方式中，电力线路在垂直方向上包括多条间隔设置的电线。进一步地，雷达装置可以设置于无人机的底端，通过雷达装置可以获取到无人机与电力线路顶部之间的第一实时距离为h1，其中，由于雷达装置设置于无人机的底端，因此，无人机的底端与电力线路顶部之间的第一实时距离可以为雷达装置的底端与电力线路顶部之间的距离。当然的，本领域技术人员也可以通过雷达装置获取无人机的机体底端与电力线路顶部之间的实时距离，具体的获取方式与上述获取方式相类似，在此不再赘述。
如图1c所示，对于设置于无人机上的传感装置实时获取电力线路与无人机的距离信息而言，另一种可实现的方式为：
S1012：通过雷达装置获取无人机与电力线路侧端之间的第二实时距离。
本实施例中，电力线路设置于无人机的侧端(左侧端和/或右侧端)，通过雷达装置可以获取到无人机与电力线路侧端之间的第二实时距离。同样地，雷达装置可以设置在无人机上的合适位置，只要保证雷达装置的检测视场角不受遮挡。
在另一种实施方式中，雷达装置为微波雷达，微波雷达可以固定在例如 无人机的侧端，可以理解的是，本领域技术人员基于具体的设计需求和情况，也可以将微波雷达设置于其他合适的位置，例如：任何雷达装置的检测视场角不受阻挡的合适位置。具体地，微波雷达可以为毫米波雷达或者厘米波雷达。
进一步地，微波雷达可通过一转轴安装于无人机上，并且该微波雷达可围绕该转轴进行旋转运动。其中，微波雷达可围绕转轴进行水平旋转运动(此时的转轴可看做为垂直于地面)，或者，也可以进行竖直旋转运动(此时的转轴可看做为平行于地面)。进一步地，在微波雷达连续转动的过程中，微波雷达可以实时获取电力线路相对于无人机的距离信息，并生成相应的点云信息，然后将该点云信息反馈给控制端。在另一种实施例中，通过微波雷达还可以检测出无人机相对于其他目标物的距离、速度、方向、高度等信息。
通过雷达装置获取无人机与电力线路之间的距离信息，测量准确性高，处理速度快，能够将雷达装置获取的距离信息实时发送至无人机的飞控系统，进一步提高了飞行的安全性。此外，微波雷达不会受到雨、尘、烟、雾或霜等环境条件影响，可在完全黑暗或在阳光直射下工作，可靠性和稳定性高。
S102：根据距离信息控制无人机沿电力线路进行飞行；
在获取到电力线路与无人机之间的实时距离信息之后，可以依据该距离信息实时控制无人机沿电力线路进行飞行，从而保证了无人机飞行的安全可靠性。具体的，根据距离信息控制无人机沿电力线路进行飞行可以包括：
S1021：根据距离信息控制无人机与电力线路保持预设距离进行飞行；或者，
其中，预设距离为预先设置的距离信息，本实施例对于预设距离的具体数值不做限定，本领域技术人员可以根据具体的设置需求进行设置，如图1a所示，无人机与电力线路保持预设距离h米飞行，例如，预设距离h米可以为1m、2m、3m或者5m等等，需要说明的是，在控制无人机与电力线路保持预设距离进行飞行时，要保证无人机与电力线路之间距离的稳定性，具体的，在控制无人机进行飞行时，可以控制无人机沿着电力线路的切线方向、且与电力线路保持预设距离进行飞行；或者，也可以控制无人机沿着其他方向(预设的飞行方向、围绕电力线路的方向等等)、且与电力线路保持预设距离进行飞行；这样，既可以避免无人机受到电力线路的干扰，还可以保证 无人机飞行的安全性。
S1022：根据距离信息控制无人机沿电力线路的切线方向进行飞行。
其中，本实施例中的电力线路的切线方向是指平行于电力线路的切线方向，如图1a所示，电力线路的设置方向为水平方向，此时，电力线路的切线方向包括平行于电力线路传输方向的切线方向、垂直于电力线路传输方向的切线方向、与电力线路传输方向形成预设锐角的切线方向以及与电力线路传输方向形成预设钝角的切线方向；具体的，以电力线路为圆柱体结构为例进行说明，获取电力线路位于圆柱体底端的一个特征线段，获取经过该特征线段的所有切线，所有切线形成一个切线平面，在该切线平面内包括与特征线段相切的第一切线、第二切线、第三切线等等，其中，第一切线的延伸方向可以与特征线段的延伸方向相平行，第二切线的延伸方向可以与特征线段的延伸方向形成预设的锐角或者钝角；第三切线的延伸方向可以与特征线段的延伸方向相垂直。此时，为了实现对电力线路的故障检测，较为优选的，可以控制无人机沿平行于电力线路传输方向的切线方向进行飞行，也即，控制无人机沿着第一切线的方向进行飞行，继续参考图1a所示，此时，第一切线的方向可以为方向f；这样可以克服现有技术中人工对电力线路进行巡检时所存在的不仅危险，并且费时费力，巡检的质量和准确度不高的问题，进一步提高了该方法的实用性。
进一步的，在控制无人机进行飞行时，可以控制无人机沿着电力线路的切线方向、且与电力线路保持预设距离进行飞行；或者，也可以控制无人机沿电力线路的切线方向、且与电力线路之间为可变距离进行飞行；举例来说，在预设时间段内，可以在第一时间段控制无人机延电力线路的切线方向、且与电力线路之间为第一距离进行飞行；在第二时间段控制无人机延电力线路的切线方向、且与电力线路之间为第二距离进行飞行，其中，第一距离与第二距离不相同。可以理解的是，本领域技术人员可以根据具体的设计需求对第一时间段、第二时间段、第一距离和第二距离进行设置，在此不再赘述。
在一种实施方式中，电力线路包括有多条间隔设置的电力线路，可以预先控制无人机沿位于最顶部的电力线路飞行，或者也可以根据无人机与多条电力线路之间的距离实时进行调整，例如可以控制无人机沿最接近的电力线路进行飞行。进一步地，根据无人机的飞行方向与跟随的电力线路的切线方 向的重合率来实时调整无人机的飞行方向，以确保无人机能够实现精准沿线飞行。
本实施例提供的无人机的控制方法，通过设置于无人机上的传感装置实时获取电力线路与无人机的距离信息，而后根据距离信息控制无人机沿电力线路进行飞行，不仅避免了无人机受到电力资源线路的干扰，还可以实时对无人机进行控制，提高对无人机控制的及时性和可靠性，从而保证了无人机运行的安全可靠性。
进一步的，本实施例中的根据距离信息控制无人机沿电力线路进行飞行还可以包括：
S1023：根据距离信息和预设距离对无人机的飞行状态进行控制。
其中，预设距离为用户预先设置的，本领域技术人员可以根据具体的设计需求进行设置，例如，预设距离可以为1m、1.5m、2m或者2.5m等等，在实时获取到电力线路与无人机的距离信息之后，发送至控制端，控制端可以根据预设距离和距离信息对无人机进行控制，具体的，根据实时距离和预设距离对无人机的飞行状态进行控制可以包括：
S10231：在距离信息与预设距离不一致时，则基于预设距离对无人机的飞行状态进行调整，以使得距离信息与预设距离相一致。
举例来说，当预设距离为1m时，实时获取的电力线路与无人机的距离信息包括：0.5m、1.2m和1m时，对于0.5m的距离信息而言，由于该距离信息小于预设距离，此时，说明无人机距离电力线路较近，因此，为了避免无人机受到电力线路的干扰，需要增大无人机与电力线路之间的距离，进而可以依据预设距离对无人机与电力线路之间的距离进行调整，使得无人机与电力线路之间的距离保持在1m左右；对于1.2m的距离信息而言，由于该距离信息大于预设距离，此时，说明无人机距离电力线路较远，因此，为了实现无人机对电力线路的准确检测，需要减小无人机与电力线路之间的距离，进而可以依据预设距离对无人机与电力线路之间的距离进行调整，使得无人机与电力线路之间的距离保持在1m左右；对于1m的距离信息而言，由于该距离信息等于预设距离，此时，说明无人机距离电力线路适中，进而不需要对无人机进行调整。
通过所获取的距离信息和预设距离对无人机的飞行状态进行控制，有效 地实现了对无人机飞行状态的及时调整，在无人机距离电力线路较近时，可以增大无人机与电力线路之间的距离；在无人机距离电力线路较远时，可以调小无人机与电力线路之间的距离，从而保证了无人机与电力线路之间适中保持在合适的距离，进而提高了无人机飞行的安全可靠性。
S103：通过设置于所述无人机上的故障检测装置对所述电力线路进行故障检测。
其中，该故障检测装置可以为拍摄装置，也即，通过拍摄装置来实现对电力线路的故障检测，可以理解的是，也可以通过其他方法来实现电力线路的故障检测，例如通过检测电磁波干扰信号来判断电线是否有故障。
通过上述方式实现对电力线路的故障检测，有效地提高了电力线路检测的质量和效率，进一步保证了电网运行的安全稳定可靠，为经济社会发展创造了良好环境。
图2为本发明实施例提供的通过设置于所述无人机上的故障检测装置对所述电力线路进行故障检测的流程示意图；在上述实施例的基础上，参考附图2可知，故障检测装置可以为拍摄装置，进而本实施例中的通过设置于所述无人机上的故障检测装置对所述电力线路进行故障检测可以包括：
S1031：通过设置于无人机上的拍摄装置获取电力线路的图像信息；
无人机上可以设置有拍摄装置，其中，拍摄装置可以为以下任意一个：相机、摄像机、具有摄像功能的终端设备(手机、平板电脑等)等等，在将拍摄装置设置于无人机上时，该拍摄装置优选为朝向电力线路方向进行设置，从而可以通过设置于无人机上的拍摄装置可以实现对电力线路的检测过程，具体的，通过拍摄装置获取电力线路的图像信息。在一种实施方式中，无人机还设置有云台，拍摄装置通过云台与无人机连接，进一步地，云台上设置有电机和惯性测量传感器，通过对无人机姿态及云台姿态的计算分析，无人机可以通过控制云台的电机，使得拍摄装置始终朝向电力线路方向。
在一种实施例中，可以调整拍摄装置，以使得拍摄装置可以同时拍摄多条平行的电力线路，以同时获取多条电力线路的图像信息。
S1032：根据图像信息对电力线路进行故障检测。
在获取到电力线路的图像信息之后，可以对图像信息进行分析处理，以实现对电力线路的故障检测。其中，本实施例对于对图像信息进行分析处理 的具体实现过程不做限定，本领域技术人员可以根据具体的设计需求进行设置，例如：可以将图像信息与预先设置的标准图像信息进行分析处理，例如神经网络训练等，其中，标准图像信息为预先设置的正常电力线路的图像信息；因此，可以根据标准图像信息和图像信息来确定电力线路是否出现故障，举例来说，在图像信息与标准图像信息相匹配时，则说明电力线路未出现故障；在图像信息与标准图像信息不匹配时，则说明电力线路已出现故障，进一步的，可以获取到图像信息与标准图像信息之间的不同区域，基于不同区域来确定电力线路中出现故障的具体位置。当然的，本领域技术人员还可以采用其他的方式来实现根据图像信息对电力线路进行故障检测，例如，人为对图像信息进行分析识别，并根据分析识别结果对电力线路进行故障检测。
同样地，在另一种实施例中，通过调整拍摄装置使得拍摄装置同时获取多条电力线路的图像信息，以便同时对多条电力线路进行故障检测。
具体的，在根据图像信息对电力线路进行故障检测时，无人机可以与控制端连接；此时，根据图像信息对电力线路进行故障检测可以包括：
S10321：将图像信息发送至控制端，以使得控制端基于图像信息对电力线路进行故障检测。
在无人机获取到图像信息之后，可以将图像信息发送至控制端，控制端可以基于所接收到的图像信息对电力线路进行故障检测，也即，此时执行基于图像信息对电力线路进行故障检测的主体为控制端。
另一种可实现的方式为，执行基于图像信息对电力线路进行故障检测的主体为无人机，具体的，无人机还可以与控制端相连接，此时，在根据图像信息对电力线路进行故障检测之后，方法还包括：
S1033：将对电力线路进行故障检测的结果发送至控制端。
在无人机根据图像信息对电力线路进行故障检测时，获得对电力线路进行故障检测的结果之后，可以将进行故障检测的结果发送至控制端，从而使得用户可以通过控制端直接查看并获取到进行故障检测的结果，进而提高了该方法使用的方便程度。
通过设置于无人机上的拍摄装置获取电力线路的图像信息，而后根据图像信息对电力线路进行故障检测，从而有效地实现了对电力线路的故障检测过程，解决了现有技术中人工对电力线路进行巡检时所存在的不仅危险，并 且费时费力，巡检的质量和准确度不高的问题，进一步提高了该方法的实用性。
进一步的，在根据距离信息控制无人机沿电力线路进行飞行时，本实施例中的方法还包括：
S300：检测是否存在障碍物。
其中，障碍物可以包括杆塔及其他承载电力线路的建材或建筑物，在控制无人机沿电力线路进行飞行时，无人机所在的飞行路径上可能会存在障碍物，例如杆塔等，因此，为了保证无人机飞行的安全程度，可以实时检测是否存在障碍物，本实施例对于障碍物检测的实现方式不做限定，本领域技术人员可以根据具体的设计需求进行设置，例如：获取无人机沿电力线路进行飞行时的图像信息，基于该图像信息检测是否存在障碍物，通过对图像信息的分析识别，来检测是否存在障碍物等等；或者，也可以通过雷达装置发送无线信号，通过无线信号反馈的信息来检测是否存在障碍物。
举例来说，以杆塔作为障碍物为例进行说明，在对杆塔进行识别时，一种可实现的方式为，可以获取杆塔的图像信息；根据杆塔的图像信息对杆塔进行识别，具体的，无人机可以利用拍摄装置识别前方电力线路中的杆塔。通常，杆塔包括杆状结构和塔状结构，可以采用线段检测方法识别杆状结构的杆塔，或者，还可以采用学习算法识别塔状结构的杆塔，该学习算法通过对大量杆塔的图片进行学习，提取杆塔的特征进行识别。或者，另一种实施方式中，无人机可以利用红外感应相机识别前方电力线路中的杆塔。该方式的原理在于，电力线路中由于电流的存在，会产生一定热量，因此，杆塔处的温度较高，故而可以利用红外感应相机识别。
可以理解的是，本领域技术人员还可以采用其它方式对障碍物进行检测识别，本实施例对于具体的实现方式不做限定。
图3为本发明实施例提供的又一种无人机的控制方法的流程示意图；在上述实施例的基础上，继续参考附图3可知，本实施例中的方法还包括：
S301：在检测结果为存在障碍物时，获取障碍物的障碍物位置信息；
在确定存在障碍物之后，可以获取到障碍物的障碍物位置信息，具体的，可以通过图像信息来确定障碍物位置信息；或者，还可以根据雷达装置所反馈的无线信号来确定障碍物位置信息。
S302：在无人机位于障碍物位置信息时，控制无人机进行避障飞行；或者，控制无人机进行悬停避障，或者，控制所述无人机返回原点。
具体的，在获取到障碍物位置信息之后，可以生成绕开障碍物位置信息的飞行路径，控制无人机按照该飞行路径进行飞行，从而使得无人机有效地避开了障碍物。或者，在无人机位于障碍物位置信息时，可以按照预设的策略调整无人机的航向，以避开障碍物，举例来说，在障碍物位置信息位于无人机飞行的正前方时，可以按照预设的策略向左或者向右调整无人机的航向，使得无人机的飞行方向绕过障碍物位置信息处的障碍物；进而保证了无人机飞行的安全可靠性。如此，无人机可自主对多个杆塔之间的电力线路进行沿线飞行，并对多个杆塔之间的电力线路进行故障检测。
在另一种实施方式中，无人机也可以按照预设方式在两个杆塔之间沿电力线路进行飞行，在遇到杆塔等障碍物后，进行悬停避障，或者，也可以按照预设的方式控制无人机返回原点、或者降落，在此不作限定。
通过上述方式对无人机的飞行状态进行控制，保证了无人机飞行的安全可靠性，进而提高了该方法使用的稳定可靠性，有利于市场的推广与应用。
具体应用时，以微波雷达作为传感装置为例进行说明，基于重心和FOV的考虑，微波雷达可以固定在无人机的顶部，可以理解的是，本领域技术人员可以基于具体的设计需求和情况，也可将微波雷达设置于其他合适的位置。
进一步地，微波雷达探测到电力线路的距离信息后，可以通过CAN总线反馈信息给控制端，通过控制端对无人机的飞行状态进行控制，从而可以保证无人机以电力线路为参考，始终保持与电力线路的预设距离，遇到障碍物时，还可以进行避障飞行。
其中，在控制无人机以电力线路作为参考进行飞行时，无人机可以在电力线路的顶部飞行，或者，无人机还可以在电力线路的两侧进行飞行，此时，微波雷达可以挂载在无人机上的预设负载区内，例如无人机的前方，通过微波雷达扫描出电力线路与无人机之间的距离信息，实时反馈到控制端，通过算法处理，让无人机始终保持与电力线路的相对位置，沿线飞行。
基于上述方式控制无人机沿线飞行后，可以通过图传画面对电力线路进行故障检测，也可以进行机器训练实现对故障的自主识别检测；通过上述对无人机的控制，不仅保证了无人机飞行的安全可靠性，并且还有效地实现了 可以以更高的效率完成巡检工作，避免停电需要上塔进行检修的情况，使得电力线路检测更加安全，更好的保证输电线路的可靠性。
图4为本发明实施例提供的一种无人机的控制装置的结构示意图一；参考附图4可知，本实施例提供了一种无人机的控制装置，该无人机的控制装置可以执行上述的控制方法，具体的，该控制装置可以包括：
获取模块101，用于通过设置于无人机上的传感装置实时获取电力线路与无人机的距离信息；
控制模块102，用于根据距离信息控制无人机沿电力线路进行飞行。
检测模块103，用于通过设置于所述无人机上的故障检测装置对所述电力线路进行故障检测。
本实施例提供的无人机的控制装置中的获取模块101、控制模块102和检测模块103能够用于执行图1-图3实施例所对应的无人机的控制方法，其具体执行方式和有益效果类似，在这里不再赘述。
图5为本发明实施例提供的一种无人机的控制装置的结构示意图二，参考附图5可知，本实施例提供了另一种无人机的控制装置，该无人机的控制装置可以执行上述的控制方法，具体的，该控制装置可以包括：
存储器301，用于存储计算机程序；
处理器302，用于运行存储器301中存储的计算机程序以实现：通过设置于无人机上的传感装置实时获取电力线路与无人机的距离信息；根据距离信息控制无人机沿电力线路进行飞行；通过设置于所述无人机上的故障检测装置对所述电力线路进行故障检测。
其中，一种可实现的方式为：在处理器302根据距离信息控制无人机沿电力线路进行飞行时，处理器302用于：
根据距离信息控制无人机与电力线路保持预设距离进行飞行；或者，
根据距离信息控制无人机沿电力线路的切线方向进行飞行。
另一种可实现的方式为：在处理器302根据距离信息控制无人机沿电力线路进行飞行时，处理器302用于：根据距离信息和预设距离对无人机的飞行状态进行控制。
具体的，在处理器302根据实时距离和预设距离对无人机的飞行状态进行控制时，处理器302用于：
在距离信息与预设距离不一致时，则基于预设距离对无人机的飞行状态进行调整，以使得距离信息与预设距离相一致。
进一步的，在上述实施例的基础上，本实施例中，在处理器302通过设置于所述无人机上的故障检测装置对所述电力线路进行故障检测时，处理器302还用于：通过设置于无人机上的拍摄装置获取电力线路的图像信息；根据图像信息对电力线路进行故障检测。其中，拍摄装置朝向电力线路方向进行设置。
另外，无人机与控制端连接，此时，处理器302还用于：
在根据图像信息对电力线路进行故障检测之后，将对电力线路进行故障检测的结果发送至控制端。
或者，无人机与控制端连接；在处理器302根据图像信息对电力线路进行故障检测时，处理器302还用于：
将图像信息发送至控制端，以使得控制端基于图像信息对电力线路进行故障检测。
进一步的，传感装置为雷达装置；雷达装置为微波雷达或激光雷达。雷达装置设置于无人机的顶端。进而，在处理器302通过设置于无人机上的传感装置实时获取电力线路与无人机的距离信息时，处理器302还用于：
通过雷达装置获取无人机与电力线路顶部之间的第一实时距离。
或者，传感装置为雷达装置；在处理器302通过设置于无人机上的实时获取电力线路与无人机的距离信息时，处理器302还用于：
通过雷达装置获取无人机与电力线路侧端之间的第二实时距离。
进一步的，在处理器302根据距离信息控制无人机沿电力线路进行飞行时，处理器302还用于：
检测是否存在障碍物。
具体应用时，处理器302还用于：
在检测结果为存在障碍物时，获取障碍物的障碍物位置信息；
在无人机位于障碍物位置信息时，控制无人机进行避障飞行；或者，控制无人机进行悬停避障，或者，控制所述无人机返回原点。
本实施例提供的无人机的控制装置能够用于执行图1-图3实施例所对应的无人机的控制方法，其具体执行方式和有益效果类似，在这里不再赘述。
本实施例的另一方面提供了一种无人机，包括：
机身；
上述的无人机的控制装置，无人机的控制装置设置于机身上。
本实施例提供的无人机能够通过无人机的控制装置执行图1-图3实施例所对应的无人机的控制方法，其具体执行方式和有益效果类似，在这里不再赘述。
本实施例的又一方面提供了一种计算机可读存储介质，该计算机可读存储介质中存储有程序指令，程序指令用于实现图1-图3实施例所对应的无人机的控制方法。
以上各个实施例中的技术方案、技术特征在与本相冲突的情况下均可以单独，或者进行组合，只要未超出本领域技术人员的认知范围，均属于本申请保护范围内的等同实施例。
在本发明所提供的几个实施例中，应该理解到，所揭露的相关遥控装置和方法，可以通过其它的方式实现。例如，以上所描述的遥控装置实施例仅仅是示意性的，例如，所述模块或单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，遥控装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，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 发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或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计算机处理器101(processor)执行本发明各个实施例所述方法的全部或部分步骤。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)、随机存取存储器(RAM，Random Access Memory)、磁盘或者光盘等各种可以存储程序代码的介质。
以上所述仅为本发明的实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (30)

  1. 一种无人机的控制方法，其特征在于，包括：
    通过设置于无人机上的传感装置实时获取电力线路与无人机的距离信息；
    根据所述距离信息控制所述无人机沿所述电力线路进行飞行；
    通过设置于所述无人机上的故障检测装置对所述电力线路进行故障检测。
  2. 根据权利要求1所述的方法，其特征在于，根据所述距离信息控制所述无人机沿所述电力线路进行飞行，包括：
    根据所述距离信息控制所述无人机与所述电力线路保持预设距离进行飞行；或者，
    根据所述距离信息控制所述无人机沿所述电力线路的切线方向进行飞行。
  3. 根据权利要求1所述的方法，其特征在于，根据所述距离信息控制所述无人机沿所述电力线路进行飞行，包括：
    根据所述距离信息和预设距离对所述无人机的飞行状态进行控制。
  4. 根据权利要求3所述的方法，其特征在于，根据所述实时距离和预设距离对所述无人机的飞行状态进行控制，包括：
    在所述距离信息与所述预设距离不一致时，则基于所述预设距离对所述无人机的飞行状态进行调整，以使得所述距离信息与所述预设距离相一致。
  5. 根据权利要求1所述的方法，其特征在于，所述通过设置于所述无人机上的故障检测装置对所述电力线路进行故障检测包括：
    通过设置于所述无人机上的拍摄装置获取所述电力线路的图像信息；
    根据所述图像信息对所述电力线路进行故障检测。
  6. 根据权利要求5所述的方法，其特征在于，所述无人机与控制端连接，在根据所述图像信息对所述电力线路进行故障检测之后，所述方法还包括：
    将对所述电力线路进行故障检测的结果发送至所述控制端。
  7. 根据权利要求5所述的方法，其特征在于，所述无人机与控制端连接；根据所述图像信息对所述电力线路进行故障检测，包括：
    将所述图像信息发送至所述控制端，以使得所述控制端基于图像信息对所述电力线路进行故障检测。
  8. 根据权利要求5所述的方法，其特征在于，所述拍摄装置朝向所述电 力线路方向进行设置。
  9. 根据权利要求1所述的方法，其特征在于，所述传感装置为雷达装置；通过设置于无人机上的传感装置实时获取电力线路与无人机的距离信息，包括：
    通过所述雷达装置获取所述无人机与所述电力线路顶部之间的第一实时距离。
  10. 根据权利要求1所述的方法，其特征在于，所述传感装置为雷达装置；通过设置于无人机上的实时获取电力线路与无人机的距离信息，包括：
    通过所述雷达装置获取所述无人机与所述电力线路侧端之间的第二实时距离。
  11. 根据权利要求9或10所述的方法，其特征在于，所述雷达装置为微波雷达或激光雷达。
  12. 根据权利要求11所述的方法，其特征在于，所述雷达装置设置于所述无人机的顶端。
  13. 根据权利要求2-10中任意一项所述的方法，其特征在于，在根据所述距离信息控制所述无人机沿所述电力线路进行飞行时，所述方法还包括：
    检测是否存在障碍物。
  14. 根据权利要求13所述的方法，其特征在于，所述方法还包括：
    在检测结果为存在障碍物时，获取所述障碍物的障碍物位置信息；
    在所述无人机位于所述障碍物位置信息时，控制所述无人机进行避障飞行，或者，控制所述无人机悬停，或者，控制所述无人机返回原点。
  15. 一种无人机的控制装置，其特征在于，包括：
    存储器，用于存储计算机程序；
    处理器，用于运行所述存储器中存储的计算机程序以实现：通过设置于无人机上的传感装置实时获取电力线路与无人机的距离信息；根据所述距离信息控制所述无人机沿所述电力线路进行飞行；通过设置于所述无人机上的故障检测装置对所述电力线路进行故障检测。
  16. 根据权利要求15所述的装置，其特征在于，在所述处理器根据所述距离信息控制所述无人机沿所述电力线路进行飞行时，所述处理器用于：
    根据所述距离信息控制所述无人机与所述电力线路保持预设距离进行飞 行；或者，
    根据所述距离信息控制所述无人机沿所述电力线路的切线方向进行飞行。
  17. 根据权利要求15所述的装置，其特征在于，在所述处理器根据所述距离信息控制所述无人机沿所述电力线路进行飞行时，所述处理器用于：
    根据所述距离信息和预设距离对所述无人机的飞行状态进行控制。
  18. 根据权利要求17所述的装置，其特征在于，在所述处理器根据所述实时距离和预设距离对所述无人机的飞行状态进行控制时，所述处理器用于：
    在所述距离信息与所述预设距离不一致时，则基于所述预设距离对所述无人机的飞行状态进行调整，以使得所述距离信息与所述预设距离相一致。
  19. 根据权利要求15所述的装置，其特征在于，在所述处理器通过设置于所述无人机上的故障检测装置对所述电力线路进行故障检测时，所述处理器还用于：
    通过设置于所述无人机上的拍摄装置获取所述电力线路的图像信息；
    根据所述图像信息对所述电力线路进行故障检测。
  20. 根据权利要求19所述的装置，其特征在于，所述无人机与控制端连接，所述处理器还用于：
    在根据所述图像信息对所述电力线路进行故障检测之后，将对所述电力线路进行故障检测的结果发送至所述控制端。
  21. 根据权利要求19所述的装置，其特征在于，所述无人机与控制端连接；在所述处理器根据所述图像信息对所述电力线路进行故障检测时，所述处理器还用于：
    将所述图像信息发送至所述控制端，以使得所述控制端基于图像信息对所述电力线路进行故障检测。
  22. 根据权利要求19所述的装置，其特征在于，所述拍摄装置朝向所述电力线路方向进行设置。
  23. 根据权利要求15所述的装置，其特征在于，所述传感装置为雷达装置；在所述处理器通过设置于无人机上的传感装置实时获取电力线路与无人机的距离信息时，所述处理器还用于：
    通过所述雷达装置获取所述无人机与所述电力线路顶部之间的第一实时距离。
  24. 根据权利要求15所述的装置，其特征在于，所述传感装置为雷达装置；在所述处理器通过设置于无人机上的实时获取电力线路与无人机的距离信息时，所述处理器还用于：
    通过所述雷达装置获取所述无人机与所述电力线路侧端之间的第二实时距离。
  25. 根据权利要求23或24所述的装置，其特征在于，所述雷达装置为微波雷达或激光雷达。
  26. 根据权利要求25所述的装置，其特征在于，所述雷达装置设置于所述无人机的顶端。
  27. 根据权利要求16-24中任意一项所述的装置，其特征在于，在所述处理器根据所述距离信息控制所述无人机沿所述电力线路进行飞行时，所述处理器还用于：
    检测是否存在障碍物。
  28. 根据权利要求27所述的装置，其特征在于，所述处理器还用于：
    在检测结果为存在障碍物时，获取所述障碍物的障碍物位置信息；
    在所述无人机位于所述障碍物位置信息时，控制所述无人机进行避障飞行，或者，控制所述无人机悬停，或者，控制所述无人机返回原点。
  29. 一种无人机，其特征在于，包括：
    机身；
    权利要求15-28中任意一项所述的无人机的控制装置，所述无人机的控制装置设置于所述机身上。
  30. 一种计算机可读存储介质，其特征在于，该计算机可读存储介质中存储有程序指令，所述程序指令用于实现权利要求1-14中任意一项所述的无人机的控制方法。
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